Havoc420mac/mi-task
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tmp: 启用 main.py 中的任务1执行，移除对 QReader 的引用并调整图像处理逻辑，以提升整体功能和代码清晰度。

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This commit is contained in:
havocrao 2025-08-17 10:30:20 +08:00
parent a43c287e65
commit b4031ca4c3
2 changed files with 5 additions and 4 deletions
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2
main.py
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@ -51,7 +51,7 @@ def main():
Ctrl.base_msg.stop() # BUG 垃圾指令 for eat Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
# time.sleep(100) # TEST, # time.sleep(100) # TEST,
# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
# arrow_direction = 'right' # TEST # arrow_direction = 'right' # TEST

7
utils/image_raw.py
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@ -6,7 +6,7 @@ from sensor_msgs.msg import Image
from cv_bridge import CvBridge from cv_bridge import CvBridge
import cv2 import cv2
from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
from qreader import QReader # from qreader import QReader
from threading import Thread, Lock from threading import Thread, Lock
import time import time
import queue import queue
@ -45,7 +45,7 @@ class ImageSubscriber(Node):
class ImageProcessor: class ImageProcessor:
def __init__(self): def __init__(self):
self.image_subscriber = ImageSubscriber() self.image_subscriber = ImageSubscriber()
self.qreader = QReader() # self.qreader = QReader()
self.spin_thread = None self.spin_thread = None
self.running = True self.running = True
self.log = get_logger("图像处理器") self.log = get_logger("图像处理器")
@ -83,7 +83,8 @@ class ImageProcessor:
def decode_qrcode(self, img = None): def decode_qrcode(self, img = None):
if img is None: if img is None:
img = self.get_current_image() img = self.get_current_image()
decoded_info = self.qreader.detect_and_decode(image=img) # decoded_info = self.qreader.detect_and_decode(image=img)
decoded_info = None
if decoded_info and len(decoded_info) > 0: if decoded_info and len(decoded_info) > 0:
return decoded_info[0] return decoded_info[0]
return None return None