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43 lines
1.2 KiB
Python
Executable File
43 lines
1.2 KiB
Python
Executable File
#!/usr/bin/env python3
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# Test QG recognition example
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# Should be synced with the documentation: /docs/en/camera.md, /docs/ru/camera.md
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# TODO: use real ROS topics
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import rospy
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from pyzbar import pyzbar
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from cv_bridge import CvBridge
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from sensor_msgs.msg import Image
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bridge = CvBridge()
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# rospy.init_node('barcode_test')
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# Image subscriber callback function
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def image_callback(data):
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cv_image = bridge.imgmsg_to_cv2(data, 'bgr8') # OpenCV image
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barcodes = pyzbar.decode(cv_image)
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for barcode in barcodes:
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b_data = barcode.data.decode("utf-8")
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b_type = barcode.type
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(x, y, w, h) = barcode.rect
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xc = x + w/2
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yc = y + h/2
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print("Found {} with data {} with center at x={}, y={}".format(b_type, b_data, xc, yc))
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# rospy.signal_shutdown('done')
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# image_sub = rospy.Subscriber('main_camera/image_raw', Image, image_callback, queue_size=1)
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# ==============================================================================
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# Publish test image
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# rospy.sleep(2)
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import cv2
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img = cv2.imread('qr.png')
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image_callback(bridge.cv2_to_imgmsg(img, 'bgr8'))
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# image_pub = rospy.Publisher('/main_camera/image_raw', Image, queue_size=1, latch=True)
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# image_pub.publish(bridge.cv2_to_imgmsg(img, 'bgr8'))
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# rospy.spin()
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