datamatrix_detection_gray_node.cpp

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#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <dmtx.h>

// static const std::string OPENCV_WINDOW = "Image window";

class ImageConverter
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
//   image_transport::Publisher image_pub_;
    std::vector<std::string> leituras;
  
public:
  ImageConverter()
    : it_(nh_)
  {
    // Subscrive to input video feed and publish output video feed
    image_sub_ = it_.subscribe("/usb_cam/image_raw", 1, 
      &ImageConverter::imageCallback, this);
//     image_pub_ = it_.advertise("/image_converter/output_video", 1);

  }

  ~ImageConverter()
  {
//     cv::destroyWindow(OPENCV_WINDOW);
    uint total = leituras.size();
    std::cout << std::endl;
    std::cout << std::endl;
    std::cout << "Foram lidas: " << total << " DataMatrix" << std::endl;
    int error = 0;
    uint j;
    for ( j=0; j < leituras.size(); j++)
    {
      if (leituras[j] != "111222") error++;
//       std::cout << "leitura " << leituras[j] << std::endl;
    }
    
    std::cout << "Das quais: " << error << " foram lidas erradamente" << std::endl;
    std::cout << "Success rate: " << ((total - error)/static_cast<double>(total))*100. << " %" << std::endl;
    std::cout << std::endl;
  }

  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    cv_bridge::CvImagePtr cv_ptr;
    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }
    DatamatrixDecode(cv_ptr->image);
    
    // Draw an example circle on the video stream
//     if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
//       cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));

    // Update GUI Window
    cv::imshow("Imagem", cv_ptr->image);
    cv::waitKey(3);
    
    // Output modified video stream
//     image_pub_.publish(cv_ptr->toImageMsg());
  }
  void DatamatrixDecode(cv::Mat& cv_img)
  {
    static int i = 1;
    DmtxImage      *img;
    DmtxDecode     *dec;
    DmtxRegion     *reg;
    DmtxMessage    *msg;
    
    cv::Mat gray_img;
    cvtColor(cv_img, gray_img, CV_BGR2GRAY, 0);
    
        
//     É mais rápido ler em grayscale com DmtxPack8bppK
//     Porém é pior na leitura à distância
    img = dmtxImageCreate(gray_img.data, gray_img.cols, gray_img.rows, DmtxPack8bppK);
    assert(img != NULL);

    dec = dmtxDecodeCreate(img, 1);
    assert(dec != NULL);
    
    //    For single matrix reading =========================================================
    DmtxTime timeout = dmtxTimeAdd(dmtxTimeNow(),50);
    reg = dmtxRegionFindNext(dec, &timeout);
    if(reg != NULL) {
      msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
      if(msg != NULL) {
        
//      fputs("output: \"", stdout);
        
//         fwrite(msg->output, sizeof(unsigned char), msg->outputIdx, stdout);
        std::cout << "output " << i++ << ": " << msg->output << std::endl;
        leituras.push_back(std::string((char*)(msg->output)));
//      cout << "Código completo: " << msg->codeSize << endl;
//         fputs("\"\n", stdout);
        dmtxMessageDestroy(&msg);
      }
      
      int height = cv_img.rows-1;
      cv::circle(cv_img, cv::Point (reg->leftLoc.X, height - reg->leftLoc.Y), 10, CV_RGB(255,0,0));
      cv::circle(cv_img, cv::Point (reg->rightLoc.X, height - reg->rightLoc.Y), 10, CV_RGB(255,0,0));
      cv::circle(cv_img, cv::Point (reg->topLoc.X, height - reg->topLoc.Y), 10, CV_RGB(255,0,0));
      cv::circle(cv_img, cv::Point (reg->bottomLoc.X, height - reg->bottomLoc.Y), 10, CV_RGB(255,0,0));
      
      dmtxRegionDestroy(&reg);
    }
    
//     cv::imshow("Imagem", gray_img);
//     cv::waitKey(3);
    
    dmtxDecodeDestroy(&dec);
    dmtxImageDestroy(&img);
  }
  
};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "read_gray_datamatrix");
  ImageConverter ic;
  ros::spin();
  return 0;
}