static PyObject *
dmtx_decode(PyObject *self, PyObject *arglist, PyObject *kwargs)
{
int count=0;
int found=0;
int width;
int height;
int gap_size = DmtxUndefined;
int max_count = DmtxUndefined;
int timeout = DmtxUndefined;
int shape = DmtxUndefined;
int deviation = DmtxUndefined;
int threshold = DmtxUndefined;
int shrink = 1;
int corrections = DmtxUndefined;
int min_edge = DmtxUndefined;
int max_edge = DmtxUndefined;
PyObject *dataBuf = NULL;
Py_ssize_t dataLen;
PyObject *context = Py_None;
PyObject *output = PyList_New(0);
DmtxTime dmtx_timeout;
DmtxImage *img;
DmtxDecode *dec;
DmtxRegion *reg;
DmtxMessage *msg;
DmtxVector2 p00, p10, p11, p01;
const char *pxl; /* Input image buffer */
static char *kwlist[] = { "width", "height", "data", "gap_size",
"max_count", "context", "timeout", "shape",
"deviation", "threshold", "shrink", "corrections",
"min_edge", "max_edge", NULL };
/* Parse out the options which are applicable */
PyObject *filtered_kwargs;
filtered_kwargs = PyDict_New();
count = 3; /* Skip the first 3 keywords as they are sent in arglist */
while(kwlist[count]){
if(PyDict_GetItemString(kwargs, kwlist[count])) {
PyDict_SetItemString(filtered_kwargs, kwlist[count],
PyDict_GetItemString(kwargs, kwlist[count]));
}
count++;
}
/* Get parameters from Python for libdmtx */
if(!PyArg_ParseTupleAndKeywords(arglist, filtered_kwargs, "iiOi|iOiiiiiiii",
kwlist, &width, &height, &dataBuf, &gap_size, &max_count, &context,
&timeout, &shape, &deviation, &threshold, &shrink, &corrections,
&min_edge, &max_edge)) {
PyErr_SetString(PyExc_TypeError, "decode takes at least 3 arguments");
return NULL;
}
Py_INCREF(context);
/* Reset timeout for each new page */
if(timeout != DmtxUndefined)
dmtx_timeout = dmtxTimeAdd(dmtxTimeNow(), timeout);
if(dataBuf == NULL) {
PyErr_SetString(PyExc_TypeError, "Interleaved bitmapped data in buffer missing");
return NULL;
}
PyObject_AsCharBuffer(dataBuf, &pxl, &dataLen);
img = dmtxImageCreate((unsigned char *)pxl, width, height, DmtxPack24bppRGB);
if(img == NULL)
return NULL;
dec = dmtxDecodeCreate(img, shrink);
if(dec == NULL) {
dmtxImageDestroy(&img);
return NULL;
}
if(gap_size != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropScanGap, gap_size);
if(shape != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropSymbolSize, shape);
if(deviation != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropSquareDevn, deviation);
if(threshold != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropEdgeThresh, threshold);
if(min_edge != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropEdgeMin, min_edge);
if(max_edge != DmtxUndefined)
dmtxDecodeSetProp(dec, DmtxPropEdgeMax, max_edge);
for(count=1; ;count++) {
Py_BEGIN_ALLOW_THREADS
if(timeout == DmtxUndefined)
reg = dmtxRegionFindNext(dec, NULL);
else
reg = dmtxRegionFindNext(dec, &dmtx_timeout);
Py_END_ALLOW_THREADS
/* Finished file or ran out of time before finding another region */
if(reg == NULL)
break;
msg = dmtxDecodeMatrixRegion(dec, reg, corrections);
if(msg != NULL) {
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);
PyList_Append(output, Py_BuildValue("s#((ii)(ii)(ii)(ii))", msg->output, msg->outputIdx,
(int)((shrink * p00.X) + 0.5), height - 1 - (int)((shrink * p00.Y) + 0.5),
(int)((shrink * p10.X) + 0.5), height - 1 - (int)((shrink * p10.Y) + 0.5),
(int)((shrink * p11.X) + 0.5), height - 1 - (int)((shrink * p11.Y) + 0.5),
(int)((shrink * p01.X) + 0.5), height - 1 - (int)((shrink * p01.Y) + 0.5)));
Py_INCREF(output);
dmtxMessageDestroy(&msg);
found++;
}
dmtxRegionDestroy(®);
/* Stop if we've reached maximium count */
if(max_count != DmtxUndefined)
if(found >= max_count) break;
}
dmtxDecodeDestroy(&dec);
dmtxImageDestroy(&img);
Py_DECREF(context);
if(output == NULL) {
Py_INCREF(Py_None);
return Py_None;
}
return output;
}
bool Marker_DMTX::findPattern(const sensor_msgs::Image &img, std::vector<SMarker> &res)
{
int count=0;
DmtxImage *dimg = dmtxImageCreate((unsigned char*)&img.data[0], img.width, img.height, DmtxPack24bppRGB);
ROS_ASSERT(dimg);
DmtxDecode *dec = dmtxDecodeCreate(dimg, 1);
ROS_ASSERT(dec);
dmtxDecodeSetProp(dec, DmtxPropEdgeThresh, 1);
DmtxRegion *reg;
for(count=1; ;count++) {
DmtxTime timeout = dmtxTimeAdd(dmtxTimeNow(), timeout_);
reg = dmtxRegionFindNext(dec, &timeout);
/* Finished file or ran out of time before finding another region */
if(reg == NULL)
break;
if (reg != NULL)
{
DmtxMessage *msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
if (msg != NULL)
{
SMarker m;
m.code_ = std::string((const char*)msg->output,msg->outputSize);
m.format_ = "datamatrix";
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);
Eigen::Vector2i v;
v(0)=(int)((p01.X) + 0.5);
v(1)=img.height - 1 - (int)((p01.Y) + 0.5);
m.pts_.push_back(v);
v(0)=(int)((p00.X) + 0.5);
v(1)=img.height - 1 - (int)((p00.Y) + 0.5);
m.pts_.push_back(v);
v(0)=(int)((p11.X) + 0.5);
v(1)=img.height - 1 - (int)((p11.Y) + 0.5);
m.pts_.push_back(v);
v(0)=(int)((p10.X) + 0.5);
v(1)=img.height - 1 - (int)((p10.Y) + 0.5);
m.pts_.push_back(v);
res.push_back(m);
dmtxMessageDestroy(&msg);
}
dmtxRegionDestroy(®);
}
}
dmtxDecodeDestroy(&dec);
dmtxImageDestroy(&dimg);
return false;
}
