开发环境：Ubuntu 18.04 LTS + ROS Melodic + ViSP 3.3.1
文章内容主要参考ViSP官方教学文档：https://visp-doc.inria.fr/doxygen/visp-daily/tutorial_mainpage.html

  本文主要介绍了如何使用ViSP实现二维码检测，二维码包含QRCode和DataMatrixCode两个类型，本文主要参考了detection/barcode中的tutorial-barcode-detector.cpp例程。首先要获取这个例程文件并编译它

svn export https://github.com/lagadic/visp.git/trunk/tutorial/detection/barcode
cd barcode/
mkdir build
cd build 
cmake .. -DCMAKE_BUILD_TYPE=Release -DVISP_DIR=$VISP_WS/visp-build
make

  执行例程，查看效果

./tutorial-barcode-detector

  默认检测QRcode码
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./tutorial-barcode-detector --code-type 1

  通过修改code-type参数，可以检测DataMatrixCode码
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./tutorial-barcode-detector-live

  调用该程序可以通过摄像头检测二维码
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  下面介绍一下代码实现过程

#include <visp3/detection/vpDetectorDataMatrixCode.h>
#include <visp3/detection/vpDetectorQRCode.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
int main(int argc, const char **argv)
{
#if (defined(VISP_HAVE_ZBAR) || defined(VISP_HAVE_DMTX)) &&                                                            \
    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
  try {
    vpImage<unsigned char> I;
    vpImageIo::read(I, "bar-code.pgm");//读取二维码图像
#ifdef VISP_HAVE_X11
    vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I);
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV d(I);
#endif
    vpDetectorBase *detector = NULL;
#if (defined(VISP_HAVE_ZBAR) && defined(VISP_HAVE_DMTX))
    int opt_barcode = 0; // 0=QRCode, 1=DataMatrix 选择二维码类型
    for (int i = 0; i < argc; i++) {
      if (std::string(argv[i]) == "--code-type")
        opt_barcode = atoi(argv[i + 1]);
      else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
        std::cout << "Usage: " << argv[0] << " [--code-type <0 for QR code | 1 for DataMatrix code>] [--help] [-h]"
                  << std::endl;
        return 0;
      }
    }
    if (opt_barcode == 0)
      detector = new vpDetectorQRCode;//根据二维码类型创建检测容器
    else
      detector = new vpDetectorDataMatrixCode;
#elif defined(VISP_HAVE_ZBAR)
    detector = new vpDetectorQRCode;
    (void)argc;
    (void)argv;
#elif defined(VISP_HAVE_DMTX)
    detector = new vpDetectorDataMatrixCode;
    (void)argc;
    (void)argv;
#endif
    vpDisplay::display(I);
    bool status = detector->detect(I);//在图像I中检测二维码
    std::ostringstream legend;
    legend << detector->getNbObjects() << " bar code detected";//获取二维码数量
    vpDisplay::displayText(I, (int)I.getHeight() - 30, 10, legend.str(), vpColor::red);
    if (status) {
      for (size_t i = 0; i < detector->getNbObjects(); i++) {
        std::vector<vpImagePoint> p = detector->getPolygon(i);//获取二维码四个顶点
        vpRect bbox = detector->getBBox(i);//获取二维码的外接边框
        vpDisplay::displayRectangle(I, bbox, vpColor::green);
        vpDisplay::displayText(I, (int)(bbox.getTop() - 10), (int)bbox.getLeft(),
                               "Message: \"" + detector->getMessage(i) + "\"", vpColor::red);
                               //显示二维码内容
        for (size_t j = 0; j < p.size(); j++) {
          vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);
          std::ostringstream number;
          number << j;
          vpDisplay::displayText(I, p[j] + vpImagePoint(15, 5), number.str(), vpColor::blue);
        }
      }
      vpDisplay::displayText(I, (int)I.getHeight() - 15, 10, "A click to quit...", vpColor::red);
      vpDisplay::flush(I);
      vpDisplay::getClick(I);
    }
    delete detector;
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
  }
#else
  (void)argc;
  (void)argv;
#endif
}

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