From 2b36de5dfec54fce78d787d31ecfe2dc82b55748 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 2 Jun 2021 07:00:18 +0300 Subject: [PATCH] =?UTF-8?q?Don=E2=80=99t=20use=20ROS=20for=20QR=20recognit?= =?UTF-8?q?ion=20test?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- builder/test/test_qr.py | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/builder/test/test_qr.py b/builder/test/test_qr.py index ca9fa7db..99f0fd2f 100755 --- a/builder/test/test_qr.py +++ b/builder/test/test_qr.py @@ -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()