vpDetectorDataMatrixCode.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Base class for bar code detection.
 *
*****************************************************************************/
 
#include <assert.h>
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_DMTX
 
#include <dmtx.h>
 
#include <visp3/detection/vpDetectorDataMatrixCode.h>

vpDetectorDataMatrixCode::vpDetectorDataMatrixCode() { setTimeout(50); }

bool vpDetectorDataMatrixCode::detect(const vpImage<unsigned char> &I)
{
  bool detected = false;
  m_message.clear();
  m_polygon.clear();
  m_nb_objects = 0;
  DmtxRegion *reg;
  DmtxDecode *dec;
  DmtxImage *img;
  DmtxMessage *msg;
 
  DmtxTime *dmtx_timeout = NULL;
  if (m_timeout_ms) {
    dmtx_timeout = new DmtxTime;
    *dmtx_timeout = dmtxTimeNow();
    dmtx_timeout->usec += m_timeout_ms * 1000;
  }
 
  img = dmtxImageCreate(I.bitmap, (int)I.getWidth(), (int)I.getHeight(), DmtxPack8bppK);
  assert(img != NULL);
 
  dec = dmtxDecodeCreate(img, 1);
  assert(dec != NULL);
 
  bool end = false;
  do {
    reg = dmtxRegionFindNext(dec, dmtx_timeout);
 
    if (reg != NULL) {
      msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
      if (msg != NULL) {
 
        std::vector<vpImagePoint> polygon;
 
        DmtxVector2 p00, p10, p11, p01;
 
        p00.X = p00.Y = p10.Y = p01.X = 0.0;
        p10.X = p01.Y = p11.X = p11.Y = 1.0;
        dmtxMatrix3VMultiplyBy(&p00, reg->fit2raw);
        dmtxMatrix3VMultiplyBy(&p10, reg->fit2raw);
        dmtxMatrix3VMultiplyBy(&p11, reg->fit2raw);
        dmtxMatrix3VMultiplyBy(&p01, reg->fit2raw);
 
        polygon.push_back(vpImagePoint(I.getHeight() - p00.Y, p00.X));
        polygon.push_back(vpImagePoint(I.getHeight() - p10.Y, p10.X));
        polygon.push_back(vpImagePoint(I.getHeight() - p11.Y, p11.X));
        polygon.push_back(vpImagePoint(I.getHeight() - p01.Y, p01.X));
 
        m_polygon.push_back(polygon);
        detected = true;
        m_message.push_back((const char *)msg->output);
 
        m_nb_objects++;
      } else {
        end = true;
      }
      dmtxMessageDestroy(&msg);
    } else {
      end = true;
    }
    dmtxRegionDestroy(&reg);
 
  } while (!end);
 
  dmtxDecodeDestroy(&dec);
  dmtxImageDestroy(&img);
  if (dmtx_timeout) {
    delete dmtx_timeout;
  }
  return detected;
}
 
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning:
// libvisp_core.a(vpDetectorDataMatrixCode.cpp.o) has no symbols
void dummy_vpDetectorDataMatrixCode(){};
#endif