qr_code_detector_ros

The Ros package to get QR code data and position in world. Written on Python Opencv + zbar + PnP + blur detector.

Install

Need install lib: http://zbar.sourceforge.net/

Run:

roslaunch qr_pose_estimation_ros qr_pose_estimation.lanch 

Subscribed Topics:

image_raw (sensor_msgs/Image): Raw image stream from the camera driver.
camera_info (sensor_msgs/CameraInfo): Camera metadata.

Publisher Topics:

find_qrqr_pose_estimation_ros_msgs/QrCode: Position and data of the found object relative "map_id"
tf2 (geometry_msgs/TransformStamped): Tf2 pose of find object

Parameters:

~rate (float, default: 10)
  Frame rate of node. If rate <= 0, work without delay
~blur_threshold (int, default: 300)
  Filter of blur detector. The higher the value, the more sensitive the filter.
~camera_name (string, default: "camera")
  Name of camera.
~frame_id (string, default: "object")
  Name of find object.
~map_id (string, default: "map")
  frame id relative to which pose_stamped is published .
~size_image (float, default: 0.1)
  The width of the image in meters.
~show_image (bool, default: true)
  Uses a known image.
~max_dist (float, default: "5.0" )
  Maximum distance (meter) of find object (need for filter).