Visual Servoing Platform version 3.6.0
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tutorial-barcode-detector-live.cpp
1
2#include <visp3/core/vpConfig.h>
3#include <visp3/core/vpImageConvert.h>
4#include <visp3/detection/vpDetectorDataMatrixCode.h>
5#include <visp3/detection/vpDetectorQRCode.h>
6#include <visp3/gui/vpDisplayGDI.h>
7#include <visp3/gui/vpDisplayOpenCV.h>
8#include <visp3/gui/vpDisplayX.h>
9#ifdef VISP_HAVE_MODULE_SENSOR
10#include <visp3/sensor/vpV4l2Grabber.h>
11#endif
12
13#if defined(HAVE_OPENCV_VIDEOIO)
14#include <opencv2/videoio.hpp>
15#endif
16
17int main(int argc, const char **argv)
18{
19#if (defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO)) && (defined(VISP_HAVE_ZBAR) || defined(VISP_HAVE_DMTX))
20 int opt_device = 0;
21 int opt_barcode = 0; // 0=QRCode, 1=DataMatrix
22
23 for (int i = 0; i < argc; i++) {
24 if (std::string(argv[i]) == "--device")
25 opt_device = atoi(argv[i + 1]);
26 else if (std::string(argv[i]) == "--code-type")
27 opt_barcode = atoi(argv[i + 1]);
28 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
29 std::cout << "Usage: " << argv[0]
30 << " [--device <camera number>] [--code-type <0 for QR code | "
31 "1 for DataMatrix code>] [--help] [-h]"
32 << std::endl;
33 return EXIT_SUCCESS;
34 }
35 }
36 std::cout << "Use device: " << opt_device << std::endl;
37
38 try {
39 vpImage<unsigned char> I; // for gray images
40
42#if defined(VISP_HAVE_V4L2)
44 std::ostringstream device;
45 device << "/dev/video" << opt_device;
46 g.setDevice(device.str());
47 g.setScale(1);
48 g.acquire(I);
49#elif defined(HAVE_OPENCV_VIDEOIO)
50 cv::VideoCapture cap(opt_device); // open the default camera
51 if (!cap.isOpened()) { // check if we succeeded
52 std::cout << "Failed to open the camera" << std::endl;
53 return EXIT_FAILURE;
54 }
55 cv::Mat frame;
56 cap >> frame; // get a new frame from camera
58#endif
60
61#if defined(VISP_HAVE_X11)
62 vpDisplayX d(I);
63#elif defined(VISP_HAVE_GDI)
64 vpDisplayGDI d(I);
65#elif defined(HAVE_OPENCV_HIGHGUI)
66 vpDisplayOpenCV d(I);
67#endif
68 vpDisplay::setTitle(I, "ViSP viewer");
69
70 vpDetectorBase *detector = NULL;
71#if (defined(VISP_HAVE_ZBAR) && defined(VISP_HAVE_DMTX))
72 if (opt_barcode == 0)
73 detector = new vpDetectorQRCode;
74 else
75 detector = new vpDetectorDataMatrixCode;
76#elif defined(VISP_HAVE_ZBAR)
77 detector = new vpDetectorQRCode;
78 (void)opt_barcode;
79#elif defined(VISP_HAVE_DMTX)
80 detector = new vpDetectorDataMatrixCode;
81 (void)opt_barcode;
82#endif
83
84 for (;;) {
86#if defined(VISP_HAVE_V4L2)
87 g.acquire(I);
88#elif defined(HAVE_OPENCV_VIDEOIO)
89 cap >> frame; // get a new frame from camera
91#endif
94
95 bool status = detector->detect(I);
96 std::ostringstream legend;
97 legend << detector->getNbObjects() << " bar code detected";
98 vpDisplay::displayText(I, 10, 10, legend.str(), vpColor::red);
99
100 if (status) {
101 for (size_t i = 0; i < detector->getNbObjects(); i++) {
102 std::vector<vpImagePoint> p = detector->getPolygon(i);
103 vpRect bbox = detector->getBBox(i);
105 vpDisplay::displayText(I, (int)bbox.getTop() - 20, (int)bbox.getLeft(),
106 "Message: \"" + detector->getMessage(i) + "\"", vpColor::red);
107 for (size_t j = 0; j < p.size(); j++) {
108 vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);
109 std::ostringstream number;
110 number << j;
111 vpDisplay::displayText(I, p[j] + vpImagePoint(10, 0), number.str(), vpColor::blue);
112 }
113 }
114 }
115
116 vpDisplay::displayText(I, (int)I.getHeight() - 25, 10, "Click to quit...", vpColor::red);
118 if (vpDisplay::getClick(I, false)) // a click to exit
119 break;
120 }
121 delete detector;
122 }
123 catch (const vpException &e) {
124 std::cout << "Catch an exception: " << e << std::endl;
125 }
126#else
127 (void)argc;
128 (void)argv;
129#endif
130}
static const vpColor red
Definition vpColor.h:211
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
std::vector< std::vector< vpImagePoint > > & getPolygon()
vpRect getBBox(size_t i) const
std::vector< std::string > & getMessage()
size_t getNbObjects() const
virtual bool detect(const vpImage< unsigned char > &I)=0
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getHeight() const
Definition vpImage.h:184
Defines a rectangle in the plane.
Definition vpRect.h:76
double getLeft() const
Definition vpRect.h:170
double getTop() const
Definition vpRect.h:189
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)