Visual Servoing Platform  version 3.2.1 under development (2019-09-15) under development (2019-09-15)
vpDetectorDataMatrixCode.cpp
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30  *
31  * Description:
32  * Base class for bar code detection.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <assert.h>
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #ifdef VISP_HAVE_DMTX
44 
45 #include <dmtx.h>
46 
47 #include <visp3/detection/vpDetectorDataMatrixCode.h>
48 
54 
63 {
64  bool detected = false;
65  m_message.clear();
66  m_polygon.clear();
67  m_nb_objects = 0;
68  DmtxRegion *reg;
69  DmtxDecode *dec;
70  DmtxImage *img;
71  DmtxMessage *msg;
72 
73  DmtxTime *dmtx_timeout = NULL;
74  if (m_timeout_ms) {
75  dmtx_timeout = new DmtxTime;
76  *dmtx_timeout = dmtxTimeNow();
77  dmtx_timeout->usec += m_timeout_ms * 1000;
78  }
79 
80  img = dmtxImageCreate(I.bitmap, (int)I.getWidth(), (int)I.getHeight(), DmtxPack8bppK);
81  assert(img != NULL);
82 
83  dec = dmtxDecodeCreate(img, 1);
84  assert(dec != NULL);
85 
86  bool end = false;
87  do {
88  reg = dmtxRegionFindNext(dec, dmtx_timeout);
89 
90  if (reg != NULL) {
91  msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
92  if (msg != NULL) {
93 
94  std::vector<vpImagePoint> polygon;
95 
96  DmtxVector2 p00, p10, p11, p01;
97 
98  p00.X = p00.Y = p10.Y = p01.X = 0.0;
99  p10.X = p01.Y = p11.X = p11.Y = 1.0;
100  dmtxMatrix3VMultiplyBy(&p00, reg->fit2raw);
101  dmtxMatrix3VMultiplyBy(&p10, reg->fit2raw);
102  dmtxMatrix3VMultiplyBy(&p11, reg->fit2raw);
103  dmtxMatrix3VMultiplyBy(&p01, reg->fit2raw);
104 
105  polygon.push_back(vpImagePoint(I.getHeight() - p00.Y, p00.X));
106  polygon.push_back(vpImagePoint(I.getHeight() - p10.Y, p10.X));
107  polygon.push_back(vpImagePoint(I.getHeight() - p11.Y, p11.X));
108  polygon.push_back(vpImagePoint(I.getHeight() - p01.Y, p01.X));
109 
110  m_polygon.push_back(polygon);
111  detected = true;
112  m_message.push_back((const char *)msg->output);
113 
114  m_nb_objects++;
115  } else {
116  end = true;
117  }
118  dmtxMessageDestroy(&msg);
119  } else {
120  end = true;
121  }
122  dmtxRegionDestroy(&reg);
123 
124  } while (!end);
125 
126  dmtxDecodeDestroy(&dec);
127  dmtxImageDestroy(&img);
128  if (dmtx_timeout) {
129  delete dmtx_timeout;
130  }
131  return detected;
132 }
133 
134 #elif !defined(VISP_BUILD_SHARED_LIBS)
135 // Work arround to avoid warning:
136 // libvisp_core.a(vpDetectorDataMatrixCode.cpp.o) has no symbols
137 void dummy_vpDetectorDataMatrixCode(){};
138 #endif
unsigned long m_timeout_ms
Detection timeout.
Type * bitmap
points toward the bitmap
Definition: vpImage.h:141
void setTimeout(unsigned long timeout_ms)
size_t m_nb_objects
Number of detected objects.
unsigned int getHeight() const
Definition: vpImage.h:186
bool detect(const vpImage< unsigned char > &I)
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
unsigned int getWidth() const
Definition: vpImage.h:244
std::vector< std::string > m_message
Message attached to each object.