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darthegg
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Mar 18, 2026
| #!/usr/bin/env python3 | ||
| """ | ||
| NavOCR with OCR Text Recognition (PaddleDetection + PaddleOCR) | ||
| Migrated from ultralytics YOLO to PaddleDetection (PPYOLOe) |
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Description does not need specific update log.
| self.declare_parameter('confidence_threshold', 0.5) | ||
| self.declare_parameter('output_dir', os.path.join(navocr_path, 'results/ros_result_ocr')) | ||
| self.declare_parameter('ocr_language', 'en') | ||
| self.declare_parameter('image_publish_rate', 2.0) |
| self.declare_parameter('output_dir', os.path.join(navocr_path, 'results/ros_result_ocr')) | ||
| self.declare_parameter('ocr_language', 'en') | ||
| self.declare_parameter('image_publish_rate', 2.0) | ||
| self.declare_parameter('save_image', False) |
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Flag for save image and benchmark.
Save images as default is too expensive.
| self.get_logger().info(f'Session name: {self.session_name}') | ||
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| # Rate limiting for image publishing | ||
| self.last_image_publish_time = self.get_clock().now() |
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| has_korean = any('\uac00' <= char <= '\ud7a3' for char in label) | ||
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| if has_korean: |
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Not sure if we should add Korean support or not.
Korean support is always welcome, but our following stacks(e.g., TextMap) do not support Korean.
| filename = os.path.join(self.output_dir, f"frame_{self.frame_id:06d}.png") | ||
| cv2.imwrite(filename, annotated_image) | ||
| # Save image periodically if save_image mode is on | ||
| if self.save_image: |
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Flag for expensive operation.
| def _draw_opencv_text(self, image, x1, y1, label_text): | ||
| """Helper function to draw text with OpenCV""" | ||
| font = cv2.FONT_HERSHEY_SIMPLEX | ||
| font_scale = 0.6 |
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Please avoid hard-coding constant.
Use config file is the best, but if it is too much, then at least declare it as a class member_variable.
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