5.1.1.4. qr/qr_decode
This node handles the job to do the image processing of the image captured by 2D Camera
to identify the colour of packages on the shelf.
The image is cropped into 12 images, each image has one of the package in it. Then
QR code in these images are decoded to identify the colour of the packages at each row
and column of the shelf.
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class
qr.qr_decode.ShelfCamera[source]
Class to analyze 2D camera image and store the information regarding
colour of the packages
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callback(data)[source]
This is a callback function called when the 2D camera publishes its feed on the
ROS Topic “/eyrc/vb/camera_1/image_raw”
| Parameters: | data (sensor_msgs::Image) – feed from the 2D camera |
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| Returns: | None |
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get_pkg_colour_list()[source]
Returns the list of colours of the package.
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qr.qr_decode.decode_qr(arg_image)[source]
Decodes the QR code present in the image
| Parameters: | arg_image (sensor_msgs::Image) – image in which QR code is present |
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| Returns: | decoded data |
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| Return type: | str |
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qr.qr_decode.detect_colours()[source]
Detects the colours of the packages present on the shelf and publishes them on a ROS Topic.