前言

libdmtx是一个开源的二维码解码工具，本文记录在ROS下以及直接使用g++编译器，配置和使用该工具对DM码进行解码的过程。

一、Libdmtx的下载安装

下载地址 GitHub - dmtx/libdmtx: libdmtx Library

先运行autogen.sh,输入如下命令：

./autogen.sh

运行后就出现了configure这个文件,然后依次输入如下命令安装：

./configuremakesudo make install

二、编写测试代码

1.编写测试代码exampleDecode.cpp

代码如下：

#include "opencv2/core.hpp"
#include <opencv2/highgui.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include <dmtx.h>
#include <iostream>
#include <stdio.h>
#include <sys/time.h>
using namespace cv;
using namespace std;int main(int argc, char *argv[])
{struct timezone tz;struct timeval tv;struct timezone tz1;struct timeval tv1;gettimeofday(&tv,&tz);cout << "micronsecond : \t" << tv.tv_sec*1000 +tv.tv_usec/1000 << endl;cv::Mat matImg = cv::imread("/home/{yourname}/catkin_ws/123.JPG", -1);//选择要解码的图片,这里确保有个DM码的图片if(matImg.empty()){return -1;}cv::Size size;cv::Point pt;matImg.locateROI(size, pt);DmtxImage      *img;DmtxDecode     *dec;DmtxRegion     *reg;DmtxMessage    *msg;img = dmtxImageCreate(matImg.data, size.width, size.height, DmtxPack24bppRGB);assert(img != NULL);dec = dmtxDecodeCreate(img, 1);assert(dec != NULL);reg = dmtxRegionFindNext(dec, NULL);if(reg != NULL){msg = dmtxDecodeMatrixRegion(dec, reg, DmtxUndefined);if(msg != NULL){fputs("output: \"", stdout);fwrite(msg->output, sizeof(unsigned char), msg->outputIdx, stdout);fputs("\"\n", stdout);dmtxMessageDestroy(&msg);}dmtxRegionDestroy(&reg);}dmtxDecodeDestroy(&dec);dmtxImageDestroy(&img);gettimeofday(&tv1,&tz1);cout << "micronsecond1 : \t" << tv1.tv_sec*1000 +tv1.tv_usec/1000 << endl;cout << "time(us): \t" << tv1.tv_sec*1000000 +tv1.tv_usec - tv.tv_sec*1000000 -tv.tv_usec << endl;return 0;
}

把以上代码文件放在你的src文件夹下

2.修改Cmakelist文件

修改如下：

cmake_minimum_required(VERSION 3.0.2)
project(cartographer_dev)find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs)find_package(OpenCV REQUIRED                        COMPONENTSopencv_coreopencv_imgprocopencv_imgcodecsCONFIG
)
include_directories(${OpenCV_INCLUDE_DIRS})catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES cartographer_dev
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)include_directories(
# include${catkin_INCLUDE_DIRS}
)add_executable(exampleDecode src/exampleDecode.cpp)target_link_libraries(exampleDecode  ${OpenCV_LIBS})
target_link_libraries(exampleDecode   dmtx)
target_link_libraries(exampleDecode ${catkin_LIBRARIES})

在你的工作空间

source devel/setup.bash

一下然后

catkin_make

然后运行以下

rosrun {your package name} exampleDecode

就可以解码和看出解码时间了。

3.直接通过g++编译器编译

在命令行输入以下命令

g++ exampleDecode.cpp -o exampleDecode `pkg-config --cflags --libs opencv libdmtx`

Cmakelist文件如下

# cmake needs this line
cmake_minimum_required(VERSION 3.1)# Define project name
project(opencv_example_project)# Find OpenCV, you may need to set OpenCV_DIR variable
# to the absolute path to the directory containing OpenCVConfig.cmake file
# via the command line or GUI
find_package(OpenCV 3.2.0 REQUIRED)
#INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/libdmtx)# If the package has been found, several variables will
# be set, you can find the full list with descriptions
# in the OpenCVConfig.cmake file.
# Print some message showing some of them
message(STATUS "OpenCV library status:")
message(STATUS "    config: ${OpenCV_DIR}")
message(STATUS "    version: ${OpenCV_VERSION}")
message(STATUS "    libraries: ${OpenCV_LIBS}")
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")# Declare the executable target built from your sources
add_executable(exampleDecode exampleDecode.cpp)# Link your application with OpenCV libraries
target_link_libraries(exampleDecode  PRIVATE ${OpenCV_LIBS})

输入以下命令

 ./exampleDecode

运行结果如下

总结

安装ROS后一般都同时安装了OpenCV，不建议再重新安装更高版本的OpenCV，否则会出现各种问题。

参考文献

Linux下使用libdmtx识别图片上的datamatrix_小袋鼠_Vicky的博客-CSDN博客_libdmtx 识别率低

Linux Ubuntu下安装libdmtx并在Linux下配置OpenCV和libdmtx的Cmakelist，同时对Data Matric码进行解码相关推荐

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前言