datamatrix_detection_node.cpp

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#include <iostream>
#include <string>

#include <ros/ros.h>

#include <datamatrix_detection/DatamatrixMsg.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>

class ImageConverter
{
  ros::NodeHandle nh_;
  ros::Publisher datamatrix_pub;
  
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  
  std::vector<double> elapsed_time;
  
//   std::vector<std::string> leituras;
  
public:
  ImageConverter()
    : it_(nh_)
  {
    // Subscribe to input video feed and publish output video feed
    image_sub_ = it_.subscribe("usb_cam_reader/image_rect_color", 1,
      &ImageConverter::imageCallback, this);
    datamatrix_pub = nh_.advertise<datamatrix_detection::DatamatrixMsg>("datamatrix_detection/datamatrix_msg",1);
  }

  ~ImageConverter()
  {
      
      double sum_time=0, max_time = 0.0, min_time = 1000;
        
        for( int i = 0 ; i<elapsed_time.size();i++)
        {
            sum_time = sum_time + elapsed_time[i];
            if (elapsed_time[i] < min_time)
                min_time = elapsed_time[i];
            if (elapsed_time[i] > max_time)
                max_time = elapsed_time[i];
        }
        
        std::cout << "Detection: " << std::endl;
        std::cout << "max time: " << max_time*1000 << " min time: " << min_time*1000 << " mean time: " << sum_time*1000/elapsed_time.size() << std::endl;
      
//     uint total = leituras.size();
//     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 << "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;
    }
//     ros::Time start = ros::Time::now();
    DatamatrixDecode(cv_ptr->image,cv_ptr->header);
//     elapsed_time.push_back( fabs((ros::Time::now() - start).toSec()) );

    // Update GUI Window
//     cv::imshow("Image", cv_ptr->image);
//     cv::waitKey(3);
    
  }
  
  void DatamatrixDecode(cv::Mat& cv_ori_img, std_msgs::Header image_header)
  {
    ros::Time start = ros::Time::now();
    
//     static int i = 1;
    DmtxImage      *img;
    DmtxDecode     *dec;
    DmtxRegion     *reg;
    DmtxMessage    *msg;
//     int height = cv_img.rows-1;
    
//     Rotate image
    
    cv::Mat rot_img;
    cv::Mat rot_mat = getRotationMatrix2D(cv::Point(cv_ori_img.cols/2, cv_ori_img.rows/2), 180, 1);
    cv::warpAffine(cv_ori_img, rot_img, rot_mat, cv_ori_img.size());
    
    cv::Mat cv_img = rot_img.rowRange(rot_img.rows/4, 3 * rot_img.rows/4);
    int height = cv_img.rows-1 + rot_img.rows/4;
    
//     cv::Mat cv_img = cv_ori_img.rowRange(cv_ori_img.rows/4, 3 * cv_ori_img.rows/4);
//     int height = cv_img.rows-1 + cv_ori_img.rows/4;
    
//     ImageFilter
//     cv::Mat imgHSV;
//     cv::cvtColor(cv_img, imgHSV, cv::COLOR_BGR2HSV); //Convert the captured frame from BGR to HSV
//     
//     cv::Mat imgThresholded;
//     cv::inRange(imgHSV, cv::Scalar(0, 0, 0), cv::Scalar(179, 255, 100), imgThresholded); //Threshold the image
//     
//     cv_img = imgThresholded.clone();
    
    
    datamatrix_detection::DatamatrixMsg datamatrix_msg;
    datamatrix_detection::DatamatrixData datamatrix_data;
    datamatrix_msg.header = image_header;
    
    img = dmtxImageCreate(cv_img.data, cv_img.cols, cv_img.rows, DmtxPack24bppRGB);
    assert(img != NULL);
    
    dec = dmtxDecodeCreate(img, 1);
    assert(dec != NULL);
    
    //    For multiple matrix reading =========================================================
    int delay = 80;     // Delay in miliseconds
    DmtxTime timeout = dmtxTimeAdd(dmtxTimeNow(),delay);   //    adds 50 miliseconds to the timeout time [now + 50ms]
    reg = dmtxRegionFindNext(dec, &timeout);
    while(reg != NULL) {
      msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);
      if(msg != NULL) {
          datamatrix_data.code = std::string((char*)(msg->output));
          
          datamatrix_data.left.x = reg->leftLoc.X;
          datamatrix_data.left.y = height - reg->leftLoc.Y;
          datamatrix_data.left.z = 0;
          datamatrix_data.right.x = reg->rightLoc.X;
          datamatrix_data.right.y = height - reg->rightLoc.Y;
          datamatrix_data.right.z = 0;
          datamatrix_data.top.x = reg->topLoc.X;
          datamatrix_data.top.y = height - reg->topLoc.Y;
          datamatrix_data.top.z = 0;
          datamatrix_data.bottom.x = reg->bottomLoc.X;
          datamatrix_data.bottom.y = height - reg->bottomLoc.Y;
          datamatrix_data.bottom.z = 0;
          
          datamatrix_msg.decoded_matrices.push_back(datamatrix_data);
          
          dmtxMessageDestroy(&msg);
      }
      
      timeout = dmtxTimeAdd(dmtxTimeNow(),delay); //  It searches for matrixes in the image for delay miliseconds each one
      reg = dmtxRegionFindNext(dec, &timeout);

    }
    
//       datamatrix_detection::DatamatrixMsg datamatrix_msg Publish
    datamatrix_pub.publish(datamatrix_msg);
    
    dmtxDecodeDestroy(&dec);
    dmtxImageDestroy(&img);
    dmtxRegionDestroy(&reg);
    
    if ( msg !=NULL)
        elapsed_time.push_back( fabs((ros::Time::now() - start).toSec()) );
//     cv::imshow("ROImage",cv_img);
  }
      
};

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