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feat: qrcode 默认采用 ai 相机

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This commit is contained in:
havocrao 2025-08-20 00:18:02 +08:00
parent 9d041d1882
commit 5e14311103
1 changed files with 8 additions and 14 deletions
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22
utils/image_raw.py
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@ -57,7 +57,6 @@ class ImageSubscriber(Node):
self.image_sub_ai= self.create_subscription(
Image, '/image', self.image_callback_ai, 10
)
# 工具初始化
self.bridge = CvBridge()
@ -144,7 +143,6 @@ class ImageSubscriber(Node):
self.get_logger().error(f"保存{prefix}图像失败: {str(e)}")
return False
def image_callback_rgb(self, msg):
# """安全的图像回调"""
# if getattr(self, '_shutdown_flag', False):
@ -162,9 +160,6 @@ class ImageSubscriber(Node):
except Exception as e:
self.get_logger().error(f"RGB图像处理错误: {str(e)}")
def image_callback_left(self, msg):
try:
self.cv_image_left = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
@ -192,7 +187,6 @@ class ImageSubscriber(Node):
except Exception as e:
self.get_logger().error(f"ai图像处理错误: {str(e)}")
def safe_spin(self):
"""安全spin循环"""
while rclpy.ok() and not getattr(self, '_shutdown_flag', False):
@ -251,7 +245,7 @@ class ImageProcessor:
self.image_subscriber.stop_camera()
self.image_subscriber.destroy_node()
def get_current_image(self,text):
def get_current_image(self, text):
if text=='ai':
return self.image_subscriber.cv_image_ai
if text=='left':
@ -265,7 +259,7 @@ class ImageProcessor:
def decode_all_qrcodes(self, img=None):
"""使用pyzbar解码QR码"""
if img is None:
img = self.get_current_image()
img = self.get_current_image('ai')
if img is None:
return None
@ -317,7 +311,7 @@ class ImageProcessor:
interval: 扫描间隔，单位秒
"""
if self.scan_thread is not None and self.scan_thread.is_alive():
# self.log.warning("异步扫描已经在运行中", "警告")
self.log.warning("异步扫描已经在运行中", "警告")
print('scan,warn')
return
@ -326,7 +320,7 @@ class ImageProcessor:
self.scan_thread = Thread(target=self._async_scan_worker, args=(interval,))
self.scan_thread.daemon = True # 设为守护线程，主线程结束时自动结束
self.scan_thread.start()
# self.log.info("启动异步 QR 码扫描线程", "启动")
self.log.info("启动异步 QR 码扫描线程", "启动")
print('start')
def stop_async_scan(self):
@ -334,7 +328,7 @@ class ImageProcessor:
self.enable_async_scan = False
if self.scan_thread and self.scan_thread.is_alive():
self.scan_thread.join(timeout=1.0)
# self.log.info("异步 QR 码扫描线程已停止", "停止")
self.log.info("异步 QR 码扫描线程已停止", "停止")
print('stop')
def _async_scan_worker(self, interval):
@ -346,7 +340,7 @@ class ImageProcessor:
# 按指定间隔扫描
if current_time - last_scan_time >= interval:
img = self.get_current_image()
img = self.get_current_image('ai')
if img is not None:
try:
self.is_scanning = True
@ -358,11 +352,11 @@ class ImageProcessor:
if qr_data:
self.last_qr_result = qr_data
self.last_qr_time = current_time
# self.log.success(f"异步扫描到 QR 码: {qr_data}", "扫描")
self.log.success(f"异步扫描到 QR 码: {qr_data}", "扫描")
print(f"异步扫描到 QR 码: {qr_data}")
except Exception as e:
self.is_scanning = False
# self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
self.log.error(f"异步 QR 码扫描出错: {e}", "错误")
print(f"异步 QR 码扫描出错: {e}")
else:
print('no img')