Visual Servoing Platform version 3.5.0
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
13int main(int argc, const char **argv)
14{
15#if (VISP_HAVE_OPENCV_VERSION >= 0x020100) && (defined(VISP_HAVE_ZBAR) || defined(VISP_HAVE_DMTX))
16 int opt_device = 0;
17 int opt_barcode = 0; // 0=QRCode, 1=DataMatrix
18
19 for (int i = 0; i < argc; i++) {
20 if (std::string(argv[i]) == "--device")
21 opt_device = atoi(argv[i + 1]);
22 else if (std::string(argv[i]) == "--code-type")
23 opt_barcode = atoi(argv[i + 1]);
24 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
25 std::cout << "Usage: " << argv[0]
26 << " [--device <camera number>] [--code-type <0 for QR code | "
27 "1 for DataMatrix code>] [--help] [-h]"
28 << std::endl;
29 return 0;
30 }
31 }
32 std::cout << "Use device: " << opt_device << std::endl;
33
34 try {
35 vpImage<unsigned char> I; // for gray images
36
38#if defined(VISP_HAVE_V4L2)
40 std::ostringstream device;
41 device << "/dev/video" << opt_device;
42 g.setDevice(device.str());
43 g.setScale(1);
44 g.acquire(I);
45#elif defined(VISP_HAVE_OPENCV)
46 cv::VideoCapture cap(opt_device); // open the default camera
47 if (!cap.isOpened()) { // check if we succeeded
48 std::cout << "Failed to open the camera" << std::endl;
49 return -1;
50 }
51 cv::Mat frame;
52 cap >> frame; // get a new frame from camera
54#endif
56
57#if defined(VISP_HAVE_X11)
58 vpDisplayX d(I);
59#elif defined(VISP_HAVE_GDI)
60 vpDisplayGDI d(I);
61#elif defined(VISP_HAVE_OPENCV)
62 vpDisplayOpenCV d(I);
63#endif
64 vpDisplay::setTitle(I, "ViSP viewer");
65
66 vpDetectorBase *detector = NULL;
67#if (defined(VISP_HAVE_ZBAR) && defined(VISP_HAVE_DMTX))
68 if (opt_barcode == 0)
69 detector = new vpDetectorQRCode;
70 else
71 detector = new vpDetectorDataMatrixCode;
72#elif defined(VISP_HAVE_ZBAR)
73 detector = new vpDetectorQRCode;
74 (void)opt_barcode;
75#elif defined(VISP_HAVE_DMTX)
76 detector = new vpDetectorDataMatrixCode;
77 (void)opt_barcode;
78#endif
79
80 for (;;) {
82#if defined(VISP_HAVE_V4L2)
83 g.acquire(I);
84#else
85 cap >> frame; // get a new frame from camera
87#endif
90
91 bool status = detector->detect(I);
92 std::ostringstream legend;
93 legend << detector->getNbObjects() << " bar code detected";
94 vpDisplay::displayText(I, 10, 10, legend.str(), vpColor::red);
95
96 if (status) {
97 for (size_t i = 0; i < detector->getNbObjects(); i++) {
98 std::vector<vpImagePoint> p = detector->getPolygon(i);
99 vpRect bbox = detector->getBBox(i);
101 vpDisplay::displayText(I, (int)bbox.getTop() - 20, (int)bbox.getLeft(),
102 "Message: \"" + detector->getMessage(i) + "\"", vpColor::red);
103 for (size_t j = 0; j < p.size(); j++) {
104 vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);
105 std::ostringstream number;
106 number << j;
107 vpDisplay::displayText(I, p[j] + vpImagePoint(10, 0), number.str(), vpColor::blue);
108 }
109 }
110 }
111
112 vpDisplay::displayText(I, (int)I.getHeight() - 25, 10, "Click to quit...", vpColor::red);
114 if (vpDisplay::getClick(I, false)) // a click to exit
115 break;
116 }
117 delete detector;
118 } catch (const vpException &e) {
119 std::cout << "Catch an exception: " << e << std::endl;
120 }
121#else
122 (void)argc;
123 (void)argv;
124#endif
125}
static const vpColor red
Definition: vpColor.h:217
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
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).
Definition: vpDisplayGDI.h:129
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:135
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 emited by ViSP classes.
Definition: vpException.h:72
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: vpImagePoint.h:88
unsigned int getHeight() const
Definition: vpImage.h:188
Defines a rectangle in the plane.
Definition: vpRect.h:80
double getLeft() const
Definition: vpRect.h:174
double getTop() const
Definition: vpRect.h:193
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)