Add test for QR recognition

builder/test/qr.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+# Test QG recognition example
+# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
+
+import rospy
+from pyzbar import pyzbar
+from cv_bridge import CvBridge
+from sensor_msgs.msg import Image
+
+bridge = CvBridge()
+
+rospy.init_node('barcode_test')
+
+# Image subscriber callback function
+def image_callback(data):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')  # OpenCV image
+    barcodes = pyzbar.decode(cv_image)
+    for barcode in barcodes:
+        b_data = barcode.data.encode("utf-8")
+        b_type = barcode.type
+        (x, y, w, h) = barcode.rect
+        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()
+
+image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
+
+# ==============================================================================
+# Publish test image
+
+print('Testing QR code recognition')
+import cv2
+img = cv2.imread('qr.gif')
+image_pub = rospy.Publisher('main_camera/image_raw', Image, image_callback, queue_size=1)
+image_pub.publish(bridge.cv2_to_imgmsg(img))
+
+rospy.spin()

builder/test/tests.py

@@ -29,3 +29,5 @@ import pigpio
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())
+
+from . import qr