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Don’t use ROS for QR recognition test

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This commit is contained in:
Oleg Kalachev
2021-06-02 07:00:18 +03:00
parent e9a9e57bce
commit 2b36de5dfe
1 changed files with 10 additions and 7 deletions
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17
builder/test/test_qr.py
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@@ -2,6 +2,7 @@
# Test QG recognition example
# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
# TODO: use real ROS topics
import rospy
from pyzbar import pyzbar
@@ -10,7 +11,7 @@ from sensor_msgs.msg import Image
bridge = CvBridge()
rospy.init_node('barcode_test')
# rospy.init_node('barcode_test')
# Image subscriber callback function
def image_callback(data):
@@ -23,17 +24,19 @@ def image_callback(data):
xc = x + w/2
yc = y + h/2
print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
rospy.signal_shutdown('done')
# rospy.signal_shutdown('done')
image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
# ==============================================================================
# Publish test image
# rospy.sleep(2)
rospy.sleep(2)
import cv2
img = cv2.imread('qr.png')
image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
rospy.spin()
# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
# rospy.spin()