From a7941a0785c2eedb807c9009e74094ac8e19bd47 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 1 Jun 2021 04:36:30 +0300
Subject: [PATCH] Add test for QR recognition

---
 builder/test/qr.gif   | Bin 0 -> 1045 bytes
 builder/test/qr.py    |  39 +++++++++++++++++++++++++++++++++++++++
 builder/test/tests.py |   2 ++
 3 files changed, 41 insertions(+)
 create mode 100644 builder/test/qr.gif
 create mode 100644 builder/test/qr.py

diff --git a/builder/test/qr.gif b/builder/test/qr.gif
new file mode 100644
index 0000000000000000000000000000000000000000..21abbb04fd8c90cd33b8b778f9f302946f879494
GIT binary patch
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diff --git a/builder/test/qr.py b/builder/test/qr.py
new file mode 100644
index 00000000..4f3a4982
--- /dev/null
+++ b/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()
diff --git a/builder/test/tests.py b/builder/test/tests.py
index 319bdc64..fc9bd971 100755
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -29,3 +29,5 @@ import pigpio
 from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())
+
+from . import qr