qrcode_detection

Detects and decodes the QR codes (cv::QRCodeDetector).

opencv_apps	3.0.0 and later
ROS	ROS One, jazzy, kilted, lyrical and later
OpenCV	OpenCV 4.5.4 or later
Group	Codes and markers, the nodes of which publish `~/detections` (DetectionArrayStamped), with the decoded data and the corners

Usage

# ROS 2
ros2 launch opencv_apps qrcode_detection.launch.xml image:=/camera/image_raw debug_view:=false
# ROS 1
roslaunch opencv_apps qrcode_detection.launch image:=/camera/image_raw debug_view:=false

Try it with the demo video

Download the input video of the demo above, publish it as image with image_publisher, and run the node on it, in the terminals:

wget https://raw.githubusercontent.com/ros-perception/opencv_apps/indigo/test/codes.mp4
# terminal 1: publish the video as image in a loop
ros2 run image_publisher image_publisher_node codes.mp4 --ros-args -p publish_rate:=10.0 -r image_raw:=image
# terminal 2: run the node
ros2 launch opencv_apps qrcode_detection.launch.xml image:=image
# terminal 3: view the result
ros2 run rqt_image_view rqt_image_view /qrcode_detection/image

In ROS 1:

# terminal 1
rosrun image_publisher image_publisher codes.mp4 _publish_rate:=10 __name:=camera
# terminal 2
roslaunch opencv_apps qrcode_detection.launch image:=camera/image_raw

See Credits of the demo videos for the license of the video.

Subscribed topics

Topic	Type
`image`	`sensor_msgs/msg/Image`

Published topics

Topic	Type
`~/detections`	opencv_apps/msg/DetectionArrayStamped
`~/image`	`sensor_msgs/msg/Image`

Parameters

Source

src/nodelet/qrcode_detection_nodelet.cpp, launch/qrcode_detection.launch.xml