Take a look at the QR decoder. It uses the same finder patterns and has some cool algorithms to find them.
The top method is called 'detect' and it's calling 'processFinderPatternInfo' which returns the position of the 3 markers from the QRCode.
https://github.com/zxing/zxing/blob/master/core/src/main/java/com/google/zxing/qrcode/detector/Detector.java
I would recommend to start testing with an QRCode to get familiar with the way it works.
I don't know if this is your own format but you only need 3 markers to detect and determine the direction/position of the barcode.
Note that ZXing converts an image into black and white bitmaps because none of the supported images support colors.