Visual Servoing Platform  version 3.6.1 under development (2024-10-15)
vpDetectorDataMatrixCode.cpp
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31  * Description:
32  * Base class for bar code detection.
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34 *****************************************************************************/
35 
36 #include <assert.h>
37 
38 #include <visp3/core/vpConfig.h>
39 
40 #ifdef VISP_HAVE_DMTX
41 
42 #include <dmtx.h>
43 
44 #include <visp3/detection/vpDetectorDataMatrixCode.h>
45 
46 BEGIN_VISP_NAMESPACE
52 
61 {
62  bool detected = false;
63  m_message.clear();
64  m_polygon.clear();
65  m_nb_objects = 0;
66  DmtxRegion *reg;
67  DmtxDecode *dec;
68  DmtxImage *img;
69  DmtxMessage *msg;
70 
71  DmtxTime *dmtx_timeout = nullptr;
72  if (m_timeout_ms) {
73  dmtx_timeout = new DmtxTime;
74  *dmtx_timeout = dmtxTimeNow();
75  dmtx_timeout->usec += m_timeout_ms * 1000;
76  }
77 
78  img = dmtxImageCreate(I.bitmap, (int)I.getWidth(), (int)I.getHeight(), DmtxPack8bppK);
79  assert(img != nullptr);
80 
81  dec = dmtxDecodeCreate(img, 1);
82  assert(dec != nullptr);
83 
84  bool end = false;
85  do {
86  reg = dmtxRegionFindNext(dec, dmtx_timeout);
87 
88  if (reg != nullptr) {
89  msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
90  if (msg != nullptr) {
91 
92  std::vector<vpImagePoint> polygon;
93 
94  DmtxVector2 p00, p10, p11, p01;
95 
96  p00.X = p00.Y = p10.Y = p01.X = 0.0;
97  p10.X = p01.Y = p11.X = p11.Y = 1.0;
98  dmtxMatrix3VMultiplyBy(&p00, reg->fit2raw);
99  dmtxMatrix3VMultiplyBy(&p10, reg->fit2raw);
100  dmtxMatrix3VMultiplyBy(&p11, reg->fit2raw);
101  dmtxMatrix3VMultiplyBy(&p01, reg->fit2raw);
102 
103  polygon.push_back(vpImagePoint(I.getHeight() - p00.Y, p00.X));
104  polygon.push_back(vpImagePoint(I.getHeight() - p10.Y, p10.X));
105  polygon.push_back(vpImagePoint(I.getHeight() - p11.Y, p11.X));
106  polygon.push_back(vpImagePoint(I.getHeight() - p01.Y, p01.X));
107 
108  m_polygon.push_back(polygon);
109  detected = true;
110  m_message.push_back((const char *)msg->output);
111 
112  m_nb_objects++;
113  }
114  else {
115  end = true;
116  }
117  dmtxMessageDestroy(&msg);
118  }
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 END_VISP_NAMESPACE
134 #elif !defined(VISP_BUILD_SHARED_LIBS)
135 // Work around to avoid warning:
136 // libvisp_core.a(vpDetectorDataMatrixCode.cpp.o) has no symbols
137 void dummy_vpDetectorDataMatrixCode() { };
138 #endif
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
void setTimeout(unsigned long timeout_ms)
size_t m_nb_objects
Number of detected objects.
unsigned long m_timeout_ms
Detection timeout.
bool detect(const vpImage< unsigned char > &I) VP_OVERRIDE
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
unsigned int getWidth() const
Definition: vpImage.h:242
Type * bitmap
points toward the bitmap
Definition: vpImage.h:135
unsigned int getHeight() const
Definition: vpImage.h:181