Work on qr code.

src/add_qr.py

@@ -2,6 +2,7 @@
 
 import rospy
 
+import json
 import time
 import os
 import qrcode
@@ -23,6 +24,21 @@ parser.add_option ("", "--test", action="store_true", dest="test", help="Test mo
 parser.add_option ("", "--qr", action="store_true", dest="qr", help="Time encoding qr code.")
 (options, args) = parser.parse_args()
 
+def header_to_json(data):
+    jobj = {
+        "seq": data.seq,
+        "stamp": stamp_to_json(data.stamp),
+        "frame_id": data.frame_id
+
+    }
+    return jobj
+
+def stamp_to_json(data):
+    jobj = {
+        "secs": data.secs,
+        "nsecs": data.nsecs
+    }
+    return jobj
 
 def image_callback(data):
     global fifo
@@ -33,6 +49,10 @@ def image_callback(data):
         else:
             img = bridge.imgmsg_to_cv2(data, desired_encoding='bgr8')
 
+        # print(data.header)
+        jobj = header_to_json(data.header)
+        print(json.dumps(jobj))
+            
         scaledimg = cv2.resize(img, (1024, 600))
 
         if options.qr:
@@ -42,7 +62,8 @@ def image_callback(data):
             
             timestamp = time.time()
             qr = qrcode.QRCode(box_size=2)
-            qr.add_data(str(timestamp))
+            # qr.add_data(str(timestamp))
+            qr.add_data(json.dumps(jobj))
             qr.make()
             img_qr = qr.make_image()
 
@@ -72,6 +93,10 @@ def image_callback(data):
             msg = bridge.cv2_to_compressed_imgmsg(final_image)
             image_pub.publish(msg)
 
+        decoded_data, _ , _ = detector.detectAndDecode(final_image)
+        print("DECODED DATA:", decoded_data)
+        
+
         #retval, points = detector.detect(final_image)
         #print("DETECT:", retval, points)
         #qr_timestamp, _ , _ = detector.detectAndDecode(final_image)
@@ -79,15 +104,15 @@ def image_callback(data):
             
     except Exception as exc:
         print("image_callback exception:", exc)
-        fifo.close()
-        fifo = open(options.fifo, 'wb')
-        print(f'FIFO RE-OPENED: {options.fifo}')
+        #fifo.close()
+        #fifo = open(options.fifo, 'wb')
+        #print(f'FIFO RE-OPENED: {options.fifo}')
         
 if __name__ == "__main__":
 
     rospy.init_node ("add_qr")
 
-    # detector = cv2.QRCodeDetector()
+    detector = cv2.QRCodeDetector()
 
     #try:
     #    os.mkfifo(options.fifo)