From e9a9e57bcea04e549b0ad5d0fdec70090ed8d4b5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 1 Jun 2021 20:45:57 +0300 Subject: [PATCH] Fix QR recognition test --- builder/image-validate.sh | 5 ++++- builder/test/qr.gif | Bin 1045 -> 0 bytes builder/test/qr.png | Bin 0 -> 1848 bytes builder/test/test_qr.py | 10 +++++----- 4 files changed, 9 insertions(+), 6 deletions(-) delete mode 100644 builder/test/qr.gif create mode 100644 builder/test/qr.png diff --git a/builder/image-validate.sh b/builder/image-validate.sh index 2e372fc1..8d13f0f6 100755 --- a/builder/image-validate.sh +++ b/builder/image-validate.sh @@ -20,13 +20,16 @@ export ROS_DISTRO='noetic' export ROS_IP='127.0.0.1' source /opt/ros/${ROS_DISTRO}/setup.bash source /home/pi/catkin_ws/devel/setup.bash +systemctl start roscore cd /home/pi/catkin_ws/src/clover/builder/test/ ./tests.sh ./tests.py ./tests_py3.py -./test_qr.py +[[ $(./test_qr.py) == "Found QRCODE with data Проверка Unicode with center at x=66.0, y=66.0" ]] [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]] # test backwards compatibility +systemctl stop roscore + echo "Move /etc/ld.so.preload back to its original position" mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload diff --git a/builder/test/qr.gif b/builder/test/qr.gif deleted file mode 100644 index 21abbb04fd8c90cd33b8b778f9f302946f879494..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 1045 zcmV+w1nT=oNk%v~VT1sL0Du4h|Ns90001li0001l0E7Sl0{(=LsmtvTqnxzbi?iOm z`wxcVNS5Y_rs~SJ?hD8AOxN~}=lag~{tpZaheTT7h)gP%OaxQuL`I*-DfPM}VYkr3 z)@pr*xmPWjJI;Eg>vH?-7Qw%7@jKl$%(3R`C5guX_{U~3C|6i<2wR_Fj9E&k%*QPIOpVM;myPS(3=MlG?Akm&oeRK)BK1(REwZ6*MxuB#=uO+V#NW7q^?G!d zv8W@S7(3!SEO+L`r;SG#9vhaGVvRV}@|AEI@nFhJKceMovNK@J5|gPu`gtem%&*N( zuDus^PTZT_-gX^2gk;l^3Cd(_mnB8kx;Y2GJ>0}-fya|42B}=7W6{`xT2F~-bJvqJ zfma6IJofL$*sq`dPS~mY4$tLBmm7$9{^f}Np(Cdq94O(Xwx4(N1^88U^D!k=d+RMm z7FgmDs9%LX>BEtPC#(ixXT4da6>TVR$k~I=8K>5SyJe`LYc3L}o@Lz$_}_~cTG)a_ zG|pzDb~v)2BT)B+*rO3~)%PB5Gr?8bCr6%FB8=%J=;Llgve)5<*|At9eNU3t0xSIl89z=S4ubIm%K@t-I{{6+2D;yn%88C8`3EvoPBn<myf!6tfHwJSSyaS8oFIuV9IA=m}*j3RkWWb zisYbqYP;pDd4`KAWPzgU8@4iP8XuspTKXn`oeD}RrR`?5;lcbWI9;{5Qe0?@l5A@w$Eu>3ZF{SlI5LJP zlPcSS+};Z;%MP9#=gp{`3uUXE0(qCTLCcEo3b9RFYST2o%y85uJ1un5DhO=#i3VdF z@WNH?%QbhpvL$g|0)zYOkJJj=>$fWF8L7>I%}saRcHfP6-g@uNci(>h4S3*!4^DXD Ph98c2;)*ZcK>+|ec#0Yi diff --git a/builder/test/qr.png b/builder/test/qr.png new file mode 100644 index 0000000000000000000000000000000000000000..4044d85d549952c5deec91a91697bed2dc1c314d GIT binary patch literal 1848 zcmZuy3s4hR6kUbNiiRw;ilUKhsP#k5id4anq>@AtM?NBHup$T=FbGKq!Gw<}8cei; z<5XmrLO`oUgA%`$e<(280wqPk4~VFN2tf)FlOaf;n`pI8*`0mw-uuow_uhB!n>`j3 z;ES<$wg&(Jc54wn-@=v z+{24v6UFg-3jiRCNvIgl7DnR5@p0Tll9)oUB1ougF(U-L6(Zb6A%yw|;psd98^4yg zinxkEwa4S}WWk` zOy&wB#VfgquJ1_xh2f_sB74gLa2Fr?7o^$LG)V0aR2K)x~6+ z!LyyPJ%%5ilL5V0>TH^Dq)BYCwltaDB1f8x|14uYs6XUN105a65C|{kGeEd5!)`j< zV3Q5P46ot!c!{{y5te{OyNfaTDg9@)q-3 zL8>!Ws|hI8b?+SNPir4dh841vx3TaUY*|M*xOGEZdG!H0KW1`Btp9~Sz%;v6|D@{t z7GZdvtJh>g^>&YTrh~0neZyiS%GF%pN6{-f3XL&otmw&Cx%wQ6;SEdA30#NRI+lky zz{I6MCl;3d-h2H3ec5=~{Wga^9Z|a@hlrH0myJ@GH2W~1Gr%W+KpCHm!njd%f<61@)5f@_2n_Fg` zg(|kV(8AX8+qs}co*e7&DGX3QNnSDUersXMT&1o%z8e>4Nd11QI^CYc9rgr7adTaI z)oCXJ4|cd!UyrF#Tz*|S7E75r2+`%rIsIx=ka}#dvL}|@;Zd^#t4V4~hASL#ixJ6u zYVF^z=`t=udiMrTrfUf?Hr$9+-ltgGLodrQ!l(Ew*`Es?^C|YD-^Ux^cKra6}?qZm(1a$6K%H3E|CegmiDn{L!~Ic zqjj@V$4t4yGPd0>9N&tL-8mz)GLSfeHVCFIeyN1-7^dZ+w}C#msl%~3? zEWGCt(JnVEKgcTlUo|I<3lEQmh>9u`OH9m~STi$~$-6~mtJ6-8(4bRIz0eE6^s8pb za+O?EaDb+%;L84GhDKGaa*R#wC`r3HbY_GmbS06)LHD#nUAg`FEQDAX(YXRz`tR9DX{5P{dY=fml+MA}Unf}*-MRUf5+SXI(fxS`@y o3MLa;oIX%RmnFFxoX70``0K~DU&`n2v;2qrHUuzAX}b>p12!-#yZ`_I literal 0 HcmV?d00001 diff --git a/builder/test/test_qr.py b/builder/test/test_qr.py index 438e18ac..ca9fa7db 100755 --- a/builder/test/test_qr.py +++ b/builder/test/test_qr.py @@ -23,17 +23,17 @@ 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() + rospy.signal_shutdown('done') image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1) # ============================================================================== # Publish test image -print('Testing QR code recognition') +rospy.sleep(2) import cv2 -img = cv2.imread('qr.gif') -image_pub = rospy.Publisher('main_camera/image_raw', Image) -image_pub.publish(bridge.cv2_to_imgmsg(img)) +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')) rospy.spin()