Visual Servoing Platform version 3.6.0
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tutorial-barcode-detector-live.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/detection/vpDetectorDataMatrixCode.h>
#include <visp3/detection/vpDetectorQRCode.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
int main(int argc, const char **argv)
{
#if (defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO)) && (defined(VISP_HAVE_ZBAR) || defined(VISP_HAVE_DMTX))
int opt_device = 0;
int opt_barcode = 0; // 0=QRCode, 1=DataMatrix
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--device")
opt_device = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--code-type")
opt_barcode = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--device <camera number>] [--code-type <0 for QR code | "
"1 for DataMatrix code>] [--help] [-h]"
<< std::endl;
return EXIT_SUCCESS;
}
}
std::cout << "Use device: " << opt_device << std::endl;
try {
vpImage<unsigned char> I; // for gray images
#if defined(VISP_HAVE_V4L2)
std::ostringstream device;
device << "/dev/video" << opt_device;
g.setDevice(device.str());
g.setScale(1);
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
cv::VideoCapture cap(opt_device); // open the default camera
if (!cap.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
cap >> frame; // get a new frame from camera
#endif
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
vpDisplay::setTitle(I, "ViSP viewer");
vpDetectorBase *detector = NULL;
#if (defined(VISP_HAVE_ZBAR) && defined(VISP_HAVE_DMTX))
if (opt_barcode == 0)
detector = new vpDetectorQRCode;
else
detector = new vpDetectorDataMatrixCode;
#elif defined(VISP_HAVE_ZBAR)
detector = new vpDetectorQRCode;
(void)opt_barcode;
#elif defined(VISP_HAVE_DMTX)
detector = new vpDetectorDataMatrixCode;
(void)opt_barcode;
#endif
for (;;) {
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
cap >> frame; // get a new frame from camera
#endif
bool status = detector->detect(I);
std::ostringstream legend;
legend << detector->getNbObjects() << " bar code detected";
vpDisplay::displayText(I, 10, 10, legend.str(), vpColor::red);
if (status) {
for (size_t i = 0; i < detector->getNbObjects(); i++) {
std::vector<vpImagePoint> p = detector->getPolygon(i);
vpRect bbox = detector->getBBox(i);
vpDisplay::displayText(I, (int)bbox.getTop() - 20, (int)bbox.getLeft(),
"Message: \"" + detector->getMessage(i) + "\"", vpColor::red);
for (size_t j = 0; j < p.size(); j++) {
std::ostringstream number;
number << j;
vpDisplay::displayText(I, p[j] + vpImagePoint(10, 0), number.str(), vpColor::blue);
}
}
}
vpDisplay::displayText(I, (int)I.getHeight() - 25, 10, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) // a click to exit
break;
}
delete detector;
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#endif
}
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)