static VALUE rdmtx_decode(VALUE self, VALUE image /* Image from RMagick (Magick::Image) */, VALUE timeout /* Timeout in msec */) {
VALUE rawImageString = rb_funcall(image, rb_intern("export_pixels_to_str"), 0);
VALUE safeImageString = StringValue(rawImageString);
char * imageBuffer = RSTRING_PTR(safeImageString);
int width = NUM2INT(rb_funcall(image, rb_intern("columns"), 0));
int height = NUM2INT(rb_funcall(image, rb_intern("rows"), 0));
DmtxImage *dmtxImage = dmtxImageCreate((unsigned char *)imageBuffer, width,
height, DmtxPack24bppRGB);
VALUE results = rb_ary_new();
/* Initialize decode struct for newly loaded image */
DmtxDecode * decode = dmtxDecodeCreate(dmtxImage, 1);
DmtxRegion * region;
DmtxMessage * message;
int intTimeout = NUM2INT(timeout);
DmtxTime dmtxTimeout = dmtxTimeAdd(dmtxTimeNow(), intTimeout);
for(;;) {
if (intTimeout == 0) {
region = dmtxRegionFindNext(decode, NULL);
} else {
region = dmtxRegionFindNext(decode, &dmtxTimeout);
}
if (region == NULL )
break;
message = dmtxDecodeMatrixRegion(decode, region, DmtxUndefined);
if (message != NULL) {
VALUE outputString = rb_str_new2((char *)message->output);
rb_ary_push(results, outputString);
dmtxMessageDestroy(&message);
}
dmtxRegionDestroy(®ion);
}
dmtxDecodeDestroy(&decode);
dmtxImageDestroy(&dmtxImage);
return results;
}
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;
}
/**
* Decode the image, returning tags found (as DMTXTag objects)
*/
JNIEXPORT jobjectArray JNICALL
Java_org_libdmtx_DMTXImage_getTags(JNIEnv *aEnv, jobject aImage,
jint aTagCount, jint lSearchTimeout)
{
jclass lImageClass, lTagClass, lPointClass;
jmethodID lTagConstructor, lPointConstructor;
jfieldID lWidth, lHeight, lData;
DmtxImage *lImage;
DmtxDecode *lDecode;
DmtxRegion *lRegion;
DmtxTime lTimeout;
int lW, lH, lI;
jintArray lJavaData;
jint *lPixels;
jobject *lTags;
jobjectArray lResult;
int lTagCount = 0;
/* Find DMTXImage class */
lImageClass = (*aEnv)->FindClass(aEnv, "org/libdmtx/DMTXImage");
if(lImageClass == NULL)
return NULL;
/* Find Tag class */
lTagClass = (*aEnv)->FindClass(aEnv, "org/libdmtx/DMTXTag");
if(lTagClass == NULL)
return NULL;
/* Find Point class */
lPointClass = (*aEnv)->FindClass(aEnv, "java/awt/Point");
if(lPointClass == NULL)
return NULL;
/* Find constructors */
lTagConstructor = (*aEnv)->GetMethodID(
aEnv, lTagClass, "<init>",
"(Ljava/lang/String;Ljava/awt/Point;Ljava/awt/Point;Ljava/awt/Point;Ljava/awt/Point;)V"
);
lPointConstructor = (*aEnv)->GetMethodID(aEnv, lPointClass, "<init>", "(II)V");
if(lTagConstructor == NULL || lPointConstructor == NULL)
return NULL;
/* Find fields */
lWidth = (*aEnv)->GetFieldID(aEnv, lImageClass, "width", "I");
lHeight = (*aEnv)->GetFieldID(aEnv, lImageClass, "height", "I");
lData = (*aEnv)->GetFieldID(aEnv, lImageClass, "data", "[I");
if(lWidth == NULL || lHeight == NULL || lData == NULL)
return NULL;
/* Get fields */
lW = (*aEnv)->GetIntField(aEnv, aImage, lWidth);
lH = (*aEnv)->GetIntField(aEnv, aImage, lHeight);
lJavaData = (*aEnv)->GetObjectField(aEnv, aImage, lData);
lPixels = (*aEnv)->GetIntArrayElements(aEnv, lJavaData, NULL);
/* Create DmtxImage object */
lImage = dmtxImageCreate((unsigned char *)lPixels, lW, lH, DmtxPack32bppRGBX);
if(lImage == NULL)
return NULL;
/* Create DmtxDecode object */
lDecode = dmtxDecodeCreate(lImage, 1);
if(lDecode == NULL)
return NULL;
/* Allocate temporary Tag array */
lTags = (jobject *)malloc(aTagCount * sizeof(jobject));
if(lTags == NULL)
return NULL;
/* Find all tags that we can inside timeout */
lTimeout = dmtxTimeAdd(dmtxTimeNow(), lSearchTimeout);
while(lTagCount < aTagCount && (lRegion = dmtxRegionFindNext(lDecode, &lTimeout))) {
jstring sStringID;
DmtxMessage *lMessage = dmtxDecodeMatrixRegion(lDecode, lRegion, DmtxUndefined);
if(lMessage != NULL) {
DmtxVector2 lCorner1, lCorner2, lCorner3, lCorner4;
jobject lJCorner1, lJCorner2, lJCorner3, lJCorner4;
/* Calculate position of Tag */
lCorner1.X = lCorner1.Y = lCorner2.Y = lCorner4.X = 0.0;
lCorner2.X = lCorner4.Y = lCorner3.X = lCorner3.Y = 1.0;
dmtxMatrix3VMultiplyBy(&lCorner1, lRegion->fit2raw);
dmtxMatrix3VMultiplyBy(&lCorner2, lRegion->fit2raw);
dmtxMatrix3VMultiplyBy(&lCorner3, lRegion->fit2raw);
dmtxMatrix3VMultiplyBy(&lCorner4, lRegion->fit2raw);
/* Create Location instances for corners */
lJCorner1 = (*aEnv)->NewObject(aEnv, lPointClass, lPointConstructor,
(int) lCorner1.X, (int) (lH - lCorner1.Y - 1));
lJCorner2 = (*aEnv)->NewObject(aEnv, lPointClass, lPointConstructor,
(int) lCorner2.X, (int) (lH - lCorner2.Y - 1));
lJCorner3 = (*aEnv)->NewObject(aEnv, lPointClass, lPointConstructor,
(int) lCorner3.X, (int) (lH - lCorner3.Y - 1));
lJCorner4 = (*aEnv)->NewObject(aEnv, lPointClass, lPointConstructor,
(int) lCorner4.X, (int) (lH - lCorner4.Y - 1));
/* Decode Message */
sStringID = (*aEnv)->NewStringUTF(aEnv, lMessage->output);
/* Create Tag instance */
lTags[lTagCount] = (*aEnv)->NewObject(aEnv, lTagClass, lTagConstructor,
sStringID, lJCorner1, lJCorner2, lJCorner3, lJCorner4);
if(lTags[lTagCount] == NULL)
return NULL;
/* Increment Count */
lTagCount++;
/* Free Message */
dmtxMessageDestroy(&lMessage);
}
/* Free Region */
dmtxRegionDestroy(&lRegion);
}
/* Free DMTX Structures */
dmtxDecodeDestroy(&lDecode);
dmtxImageDestroy(&lImage);
/* Release Image Data */
(*aEnv)->ReleaseIntArrayElements(aEnv, lJavaData, lPixels, 0);
/* Create result array */
lResult = (*aEnv)->NewObjectArray(aEnv, lTagCount, lTagClass, NULL);
for(lI = 0; lI < lTagCount; lI++) {
(*aEnv)->SetObjectArrayElement(aEnv, lResult, lI, lTags[lI]);
}
/* Free local references */
(*aEnv)->DeleteLocalRef(aEnv, lJavaData);
(*aEnv)->DeleteLocalRef(aEnv, lImageClass);
(*aEnv)->DeleteLocalRef(aEnv, lTagClass);
(*aEnv)->DeleteLocalRef(aEnv, lPointClass);
return lResult;
}
bool Detector::detect(cv::Mat& image, int timeout, unsigned int offsetx, unsigned int offsety){
bool detected = false;
lines_.clear();
message_.clear();
polygon_.clear();
DmtxRegion *reg;
DmtxDecode *dec;
DmtxImage *img;
DmtxMessage *msg;
DmtxTime t;
img = dmtxImageCreate(image.data, image.cols, image.rows, DmtxPack24bppRGB);
//dmtxImageSetProp(img, DmtxPropImageFlip, DmtxFlipY);
dec = dmtxDecodeCreate(img, 1);
assert(dec != NULL);
t = dmtxTimeAdd(dmtxTimeNow(), timeout);
reg = dmtxRegionFindNext(dec, &t);
if(reg != NULL) {
int height;
int dataWordLength;
int rotateInt;
double rotate;
DmtxVector2 p00, p10, p11, p01;
height = dmtxDecodeGetProp(dec, DmtxPropHeight);
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(cv::Point(p00.X + offsetx,image.rows-p00.Y + offsety));
polygon_.push_back(cv::Point(p10.X + offsetx,image.rows-p10.Y + offsety));
polygon_.push_back(cv::Point(p11.X + offsetx,image.rows-p11.Y + offsety));
polygon_.push_back(cv::Point(p01.X + offsetx,image.rows-p01.Y + offsety));
lines_.push_back(
std::pair<cv::Point,cv::Point>(
cv::Point(p00.X + offsetx,image.rows-p00.Y + offsety),
cv::Point(p10.X + offsetx,image.rows-p10.Y + offsety)
)
);
lines_.push_back(
std::pair<cv::Point,cv::Point>(
cv::Point(p10.X + offsetx,image.rows-p10.Y + offsety),
cv::Point(p11.X + offsetx,image.rows-p11.Y + offsety)
)
);
lines_.push_back(
std::pair<cv::Point,cv::Point>(
cv::Point(p11.X + offsetx,image.rows-p11.Y + offsety),
cv::Point(p01.X + offsetx,image.rows-p01.Y + offsety)
)
);
lines_.push_back(
std::pair<cv::Point,cv::Point>(
cv::Point(p01.X + offsetx,image.rows-p01.Y + offsety),
cv::Point(p00.X + offsetx,image.rows-p00.Y + offsety)
)
);
detected = true;
msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
if(msg != NULL) {
message_ = (const char*)msg->output;
dmtxMessageDestroy(&msg);
}
dmtxRegionDestroy(®);
}
dmtxDecodeDestroy(&dec);
dmtxImageDestroy(&img);
return detected;
}
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;
}
