cv_qrcode module

QR code reader using ZBAR library

A telemetry message with the code content is sent when a QR code is detected when qrscan is called.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="cv_qrcode">
  b'<define name="QRCODE_CAMERA" value="front_camera|bottom_camera" />\n    '
  b'<define name="QRCODE_FPS" value="0" />\n    '
  b'<define name="QRCODE_DRAW_RECTANGLE" value="TRUE|FALSE" />\n  '
</module>

Module configuration options

Define Options

• name: QRCODE_CAMERA value: front_camera|bottom_camera
  Description: The V4L2 camera device that is used for searching a QR code
• name: QRCODE_FPS value: 0
  Description: The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate
• name: QRCODE_DRAW_RECTANGLE value: TRUE|FALSE
  Description: Whether or not to draw a rectangle around a found QR code

Module functions

Init Functions

These initialization functions are called once on startup.

• qrcode_init()

Files

Header Files

The following headers are automatically included in modules.h

• qr_code.h

Source Files

• modules/computer_vision/qrcode/qr_code.c
• /zbar/qrcode/bch15_5.c
• /zbar/qrcode/binarize.c
• /zbar/qrcode/isaac.c
• /zbar/qrcode/qrdec.c
• /zbar/qrcode/qrdectxt.c
• /zbar/qrcode/rs.c
• /zbar/qrcode/util.c
• /zbar/decoder/qr_finder.c
• /zbar/decoder/ean.c
• /zbar/error.c
• /zbar/image.c
• /zbar/scanner.c
• /zbar/symbol.c
• /zbar/refcnt.c
• /zbar/decoder.c
• /zbar/img_scanner.c

Raw cv_qrcode.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cv_qrcode" dir="computer_vision/qrcode">
  <doc>
    <description>
      QR code reader using ZBAR library
 
      A telemetry message with the code content is sent when a QR code is detected when qrscan is called.
    </description>
    <define name="QRCODE_CAMERA" value="front_camera|bottom_camera" description="The V4L2 camera device that is used for searching a QR code"/>
    <define name="QRCODE_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
    <define name="QRCODE_DRAW_RECTANGLE" value="TRUE|FALSE" description="Whether or not to draw a rectangle around a found QR code"/>
  </doc>
 
  <dep>
    <depends>video_thread</depends>
  </dep>
 
  <header>
    <file name="qr_code.h"/>
  </header>
  <init fun="qrcode_init()"/>
  <makefile target="ap">
    <file name="qr_code.c"/>
 
    <!-- zbar -->
    <configure name="EXTSW" value="$(PAPARAZZI_SRC)/sw/ext" />
    <configure name="LIBZBAR" value="$(EXTSW)/libzbar/zbar-0.10" />
 
    <file name="bch15_5.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="binarize.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="isaac.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="qrdec.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="qrdectxt.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="rs.c" dir="$(LIBZBAR)/zbar/qrcode"/>
    <file name="util.c" dir="$(LIBZBAR)/zbar/qrcode"/>
 
    <file name="qr_finder.c" dir="$(LIBZBAR)/zbar/decoder"/>
    <file name="ean.c" dir="$(LIBZBAR)/zbar/decoder"/>
 
 
    <file name="error.c" dir="$(LIBZBAR)/zbar"/>
    <file name="image.c" dir="$(LIBZBAR)/zbar"/>
    <file name="scanner.c" dir="$(LIBZBAR)/zbar"/>
    <file name="symbol.c" dir="$(LIBZBAR)/zbar"/>
    <file name="refcnt.c" dir="$(LIBZBAR)/zbar"/>
    <file name="decoder.c" dir="$(LIBZBAR)/zbar"/>
    <file name="img_scanner.c" dir="$(LIBZBAR)/zbar"/>
 
    <!-- libexif flags -->
    <include name="$(LIBZBAR)/zbar"/>
    <include name="$(LIBZBAR)/include"/>
 
    <!--define name="DEBUG_QR_FINDER" value="1"/-->
 
    <flag name="CFLAGS" value="Wno-cast-qual"/>
    <flag name="CFLAGS" value="Wno-parentheses"/>
    <flag name="CFLAGS" value="Wno-pointer-arith"/>
    <flag name="CFLAGS" value="Wno-missing-prototypes"/>
    <flag name="CFLAGS" value="Wno-shadow"/>
    <flag name="CFLAGS" value="Wno-missing-declarations"/>
  </makefile>
</module>