'잡동사니'에 해당되는 글 13670건
- 2023.12.30 폭설
- 2023.12.29 높았던 방문자수여 안녕
- 2023.12.28 잠
- 2023.12.27 tesseract 버전별 차이?
- 2023.12.27 tesseract 학습 데이터
- 2023.12.26 tesseract on arm
- 2023.12.25 캐논 br-e1
- 2023.12.24 개들은 무슨 꿈을 꿀까
- 2023.12.23 약빨인가..
- 2023.12.21 elephant robotics cobot python api
개소리 왈왈/육아관련 주저리2023. 12. 30. 19:49
개소리 왈왈/블로그2023. 12. 29. 16:14
일단 1000도 안오는걸 보면
임베디드로 검색될게 없다는거고.. 반대로 생각하면 이쪽 분야가 죽었다고 봐야하려나..
쩝.. 그래도 나름 20년 가까이 먹고 있는데 분야를 바꾸어야 하나.. 씁쓸하다.
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개소리 왈왈/육아관련 주저리2023. 12. 28. 23:49
프로그램 사용/tesseract ocr2023. 12. 27. 11:46
왼쪽은 PC(ubuntu 22.04)
오른쪽은 arm에서 소스 받아서 직접 빌드.
동일한 tessdata 를 이용했는데 인식율에 차이가 어마어마하게 난다 -_-
| $ tesseract --dpi 132 스크린샷\ 2023-12-26\ 17-19-43.png - -v tesseract 4.1.1 leptonica-1.82.0 libgif 5.1.9 : libjpeg 8d (libjpeg-turbo 2.1.1) : libpng 1.6.37 : libtiff 4.3.0 : zlib 1.2.11 : libwebp 1.2.2 : libopenjp2 2.4.0 Found AVX2 Found AVX Found FMA Found SSE Found libarchive 3.6.0 zlib/1.2.11 liblzma/5.2.5 bz2lib/1.0.8 liblz4/1.9.3 libzstd/1.4.8 Warning:guessing pitch as xheight on row 1, block 1 Pec ea a ach Seer OEE PC LU) Pee at Pere EEC Rae ientcee Prete meee ceed aa MEL ig Pace Pace Cra ur ue ecg feta Reset ERTL Ee a Peay |
# ./tesseract /home/root/a.png - -v tesseract 5.3.3 leptonica-1.84.0 libjpeg 6b (libjpeg-turbo 2.1.5.1) : libpng 1.6.39 : zlib 1.2.13 : libopenjp2 2.5.0 Found NEON Found libarchive 3.6.2 zlib/1.2.13 liblzma/5.4.4 bz2lib/1.0.8 libzstd/1.5.4 Found libcurl/8.0.1 OpenSSL/3.1.3 zlib/1.2.13 libidn2/2.3.4 Error in pixReadMemTiff: function not present Error in pixReadMem: tiff: no pix returned Error in pixaGenerateFontFromString: pix not made Error in bmfCreate: font pixa not made Estimating resolution as 132 Warning:guessing pitch as xheight on row 1, block 1 1.MX8MP Evaluation Kit .MxeMP 1.50 GHz 2020-06-07 2848 MB RAM > Console Options wait, 65535 means Select Language <Standard English> Reset > Device Manager > Boot Manager > Boot Maintenance Manager Continue Reset ay=Move Highlight <Enter>=Select Entry |
--dpi 옵션 유용..한가?
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프로그램 사용/tesseract ocr2023. 12. 27. 10:37
strace로 추적해보니 신기한(?) 파일 발견
eng는 그냥 data인데
osd.traineddata는 Matlab v4 mat-file로 나온다. 맞나.. 우연인가?
| $ ls -alh /usr/share/tesseract-ocr/4.00/tessdata 합계 15M drwxr-xr-x 4 root root 4.0K 12월 21 10:48 . drwxr-xr-x 3 root root 4.0K 5월 30 2023 .. drwxr-xr-x 2 root root 4.0K 5월 30 2023 configs -rw-r--r-- 1 root root 4.0M 9월 16 2017 eng.traineddata -rw-r--r-- 1 root root 11M 9월 16 2017 osd.traineddata -rw-r--r-- 1 root root 572 2월 9 2022 pdf.ttf drwxr-xr-x 2 root root 4.0K 5월 30 2023 tessconfigs $ file *.traineddata eng.traineddata: data osd.traineddata: Matlab v4 mat-file (little endian) , text, rows 4294967295, columns 4294967295, imaginary $ tree /usr/share/tesseract-ocr/4.00/tessdata . ├── configs │ ├── alto │ ├── ambigs.train │ ├── api_config │ ├── bigram │ ├── box.train │ ├── box.train.stderr │ ├── digits │ ├── get.images │ ├── hocr │ ├── inter │ ├── kannada │ ├── linebox │ ├── logfile │ ├── lstm.train │ ├── lstmbox │ ├── lstmdebug │ ├── makebox │ ├── quiet │ ├── rebox │ ├── strokewidth │ ├── tsv │ ├── txt │ ├── unlv │ └── wordstrbox ├── eng.traineddata ├── osd.traineddata ├── pdf.ttf └── tessconfigs ├── batch ├── batch.nochop ├── matdemo ├── msdemo ├── nobatch └── segdemo 2 directories, 34 files |
kor 은 15메가
[링크 : https://github.com/tesseract-ocr/tessdata]
+
실행하니 당연히(?) tesseract용 데이터가 없다고 오류가 발생한다.
혹시나 해서 변수는 확인해도 비어있고
pc에서 복사해서 설정해주니 ok
| ~/tesseract-main/build/bin# ./tesseract /home/root/a.png - Error in pixReadMemTiff: function not present Error in pixReadMem: tiff: no pix returned Error in pixaGenerateFontFromString: pix not made Error in bmfCreate: font pixa not made Error opening data file ./eng.traineddata Please make sure the TESSDATA_PREFIX environment variable is set to your "tessdata" directory. Failed loading language 'eng' Tesseract couldn't load any languages! Could not initialize tesseract. root@imx8mpevk:~/tesseract-main/build/bin# echo $TESSDATA_PREFIX # export TESSDATA_PREFIX=/home/root/tessdata |
아래 이미지를 인식시킴(pc는 dpi가 이상하다고 인식을 못함)
의외로 잘 인식한다.
그런데 pc 에서는 인식을 이상하게 했지만 0.2초
i.mx8 에서는 인식을 잘했지만 1.6초. 흐음.. 실시간으로 돌리기에는 무리군..
| # time ./tesseract /home/root/a.png - Error in pixReadMemTiff: function not present Error in pixReadMem: tiff: no pix returned Error in pixaGenerateFontFromString: pix not made Error in bmfCreate: font pixa not made Estimating resolution as 132 Warning:guessing pitch as xheight on row 1, block 1 1.MX8MP Evaluation Kit .MxeMP 1.50 GHz 2020-06-07 2848 MB RAM > Console Options wait, 65535 means Select Language <Standard English> Reset > Device Manager > Boot Manager > Boot Maintenance Manager Continue Reset ay=Move Highlight <Enter>=Select Entry real 0m1.646s user 0m1.578s sys 0m0.060s |
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프로그램 사용/tesseract ocr2023. 12. 26. 15:36
빌드 하려고 해도 빡세다
tesseact 빌드 하려니 leptonica라는게 필요하다고 에러나고
| # cmake .. -- Configuring tesseract version 5.3.3... -- IPO / LTO not supported: <Change Dir: /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin Run Build Command(s):/usr/bin/make -f Makefile && /usr/bin/cmake -S/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/src -B/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin/CMakeFiles /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin//CMakeFiles/progress.marks /usr/bin/make -f CMakeFiles/Makefile2 all make[1]: Entering directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' /usr/bin/make -f CMakeFiles/foo.dir/build.make CMakeFiles/foo.dir/depend make[2]: Entering directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' cd /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/src /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/src /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin/CMakeFiles/foo.dir/DependInfo.cmake make[2]: Leaving directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' /usr/bin/make -f CMakeFiles/foo.dir/build.make CMakeFiles/foo.dir/build make[2]: Entering directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' [ 25%] Building CXX object CMakeFiles/foo.dir/foo.cpp.o /usr/bin/c++ -flto=auto -fno-fat-lto-objects -o CMakeFiles/foo.dir/foo.cpp.o -c /home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/src/foo.cpp [ 50%] Linking CXX static library libfoo.a /usr/bin/cmake -P CMakeFiles/foo.dir/cmake_clean_target.cmake /usr/bin/cmake -E cmake_link_script CMakeFiles/foo.dir/link.txt --verbose=1 "CMAKE_CXX_COMPILER_AR-NOTFOUND" cr libfoo.a CMakeFiles/foo.dir/foo.cpp.o Error running link command: No such file or directory make[2]: *** [CMakeFiles/foo.dir/build.make:100: libfoo.a] Error 2 make[2]: Leaving directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' make[1]: *** [CMakeFiles/Makefile2:88: CMakeFiles/foo.dir/all] Error 2 make[1]: Leaving directory '/home/root/tesseract-main/build/CMakeFiles/_CMakeLTOTest-CXX/bin' make: *** [Makefile:94: all] Error 2 > -- CMAKE_SYSTEM_PROCESSOR=<aarch64> -- LTO build is not supported on arm/RBPi. -- Could NOT find Leptonica (missing: Leptonica_DIR) -- Checking for module 'lept>=1.74' -- No package 'lept' found CMake Error at CMakeLists.txt:404 (message): Cannot find required library Leptonica. Quitting! -- Configuring incomplete, errors occurred! See also "/home/root/tesseract-main/build/CMakeFiles/CMakeOutput.log". See also "/home/root/tesseract-main/build/CMakeFiles/CMakeError.log". |
[링크 : https://github.com/tesseract-ocr/tesseract]
leptonica 라는거 빌드하려니 이젠 openjp2가 없다고 -_-
| # cmake .. -- Could NOT find GIF (missing: GIF_LIBRARY GIF_INCLUDE_DIR) (Required is at least version "5") -- Could NOT find TIFF (missing: TIFF_LIBRARY TIFF_INCLUDE_DIR) -- Could NOT find WebP (missing: WebP_DIR) -- WebP_INCLUDE_DIR : WebP_INCLUDE_DIR-NOTFOUND WebP_MUX_INCLUDE_DIR: WebP_MUX_INCLUDE_DIR-NOTFOUND WebP_LIBRARY: WebP_LIBRARY-NOTFOUND WebP_MUX_LIBRARY: WebP_MUX_LIBRARY-NOTFOUND CMake Error at /usr/lib/openjpeg-2.5/OpenJPEGTargets.cmake:95 (message): The imported target "openjp2_static" references the file "/usr/lib/libopenjp2.a" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/openjpeg-2.5/OpenJPEGTargets.cmake" but not all the files it references. Call Stack (most recent call first): /usr/lib/openjpeg-2.5/OpenJPEGConfig.cmake:28 (include) CMakeLists.txt:186 (find_package) -- Configuring incomplete, errors occurred! See also "/home/root/leptonica-master/build/CMakeFiles/CMakeOutput.log". |
귀찮으니(!) 걍 주석으로 막고 인자가 3개인 녀석으로 강제 빌드!
| //#if OPJ_VERSION_MINOR == 0 // opj_stream_set_user_data(l_stream, fp); //#else opj_stream_set_user_data(l_stream, fp, (opj_stream_free_user_data_fn)NULL); //#endif |
[링크 : https://github.com/danbloomberg/leptonica]
[링크 : http://www.leptonica.org/]
openjpeg는 별다른 에러없이 빌드 완료
[링크 : https://github.com/uclouvain/openjpeg]
leptonica 에서
src/jp2kio.c 에서 아래의 부분에서 MINOR가 0으로 되면서 구버전(?) 소스를 호출하는지 함수의 형태가 달라서 에러난다.
| /home/root/leptonica-master/src/jp2kio.c: In function 'opjCreateStream': /home/root/leptonica-master/src/jp2kio.c:938:5: error: too few arguments to function 'opj_stream_set_user_data' 938 | opj_stream_set_user_data(l_stream, fp); | ^~~~~~~~~~~~~~~~~~~~~~~~ |
tesseract 다시 하려니 pangocairo 패키지가 없다고 에러.. 젠장.. 이거 이전에 weston 할때
개고생(?) 시키던 이름이 악몽으로 떠오르는데?
| -- No package 'pangocairo' found |
meson 깔고
| # pip3 install meson Collecting meson Downloading meson-1.3.0-py3-none-any.whl (976 kB) ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 976.4/976.4 kB 3.5 MB/s eta 0:00:00 Installing collected packages: meson Successfully installed meson-1.3.0 |
pango 빌드 하려는데 git 필요하대서 git 깔고
| WARNING: CMake Toolchain: Failed to determine CMake compilers state Run-time dependency fribidi found: NO (tried pkgconfig and cmake) Looking for a fallback subproject for the dependency fribidi ../meson.build:218:14: ERROR: Git program not found, cannot download fribidi.wrap via git. |
아래 링크에서 받아서 빌드..
| $ wget https://www.kernel.org/pub/software/scm/git/git-2.43.0.tar.gz |
pango 다시 빌드하는데 ninja 없으면 배쨈! 시전하고
| $ mkdir build $ cd build $ meson .. ERROR: Could not detect Ninja v1.8.2 or newer |
ninja 빌드하고 설치하려는데 또 백태클 -_-
그러니 cmake를 멀리하고
| 12%] Building CXX object CMakeFiles/libninja.dir/src/dyndep_parser.cc.o In file included from /home/root/ninja-master/build/_deps/googletest-src/googletest/src/gtest-all.cc:42: /home/root/ninja-master/build/_deps/googletest-src/googletest/src/gtest-death-test.cc: In function 'bool testing::internal::StackGrowsDown()': /home/root/ninja-master/build/_deps/googletest-src/googletest/src/gtest-death-test.cc:1301:24: error: 'dummy' may be used uninitialized [-Werror=maybe-uninitialized] 1301 | StackLowerThanAddress(&dummy, &result); | ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~ |
파이썬으로 빌드하는게 낫....
| # python3 configure.py --bootstrap |
[링크 : https://github.com/ninja-build/ninja]
다시 pango으로 돌아와서
| $ meson .. Found ninja-1.12.0.git at /usr/bin/ninja WARNING: Running the setup command as `meson [options]` instead of `meson setup [options]` is ambiguous and deprecated. |
build 안에서 ninja 치니 알아서 빌드. + 설치
| ~/pango-main/build# ninja ~/pango-main/build# ninja install |
pango도 했는데 tesseract 다시 빌드 하려니 안된다 -_-
그냥 설치하는게 아니라 패키지로 만들어서 했어야 했나?
| -- Checking for modules 'pango>=1.38.0;cairo;pangoft2;pangocairo;fontconfig' -- No package 'pango' found -- No package 'pangoft2' found -- No package 'pangocairo' found |
귀찮으니(!) cmake에서 패키지 확인하지 않도록 수정
| ~/tesseract-main/build# vi ../src/training/CMakeLists.txt if(PKG_CONFIG_FOUND OR SW_BUILD) if(PKG_CONFIG_FOUND) pkg_check_modules( PANGO REQUIRED IMPORTED_TARGET # pango>=1.38.0 # cairo # pangoft2 # pangocairo fontconfig) endif() |
| [ 95%] Building CXX object src/training/CMakeFiles/pango_training.dir/pango/ligature_table.cpp.o In file included from /home/root/tesseract-main/src/training/pango/ligature_table.cpp:24: /home/root/tesseract-main/src/training/pango/pango_font_info.h:27:10: fatal error: pango/pango-font.h: No such file or directory 27 | #include "pango/pango-font.h" | ^~~~~~~~~~~~~~~~~~~~ [ 96%] Building CXX object src/training/CMakeFiles/pango_training.dir/pango/tlog.cpp.o In file included from /home/root/tesseract-main/src/training/pango/stringrenderer.cpp:20: /home/root/tesseract-main/src/training/pango/stringrenderer.h:33:10: fatal error: pango/pango-layout.h: No such file or directory 33 | #include "pango/pango-layout.h" | ^~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:118: src/training/CMakeFiles/pango_training.dir/pango/stringrenderer.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/root/tesseract-main/src/training/pango/ligature_table.cpp:24: /home/root/tesseract-main/src/training/pango/pango_font_info.h:27:10: fatal error: pango/pango-font.h: No such file or directory 27 | #include <pango/pango-font.h> | ^~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:90: src/training/CMakeFiles/pango_training.dir/pango/ligature_table.cpp.o] Error 1 In file included from /home/root/tesseract-main/src/training/pango/pango_font_info.cpp:32: /home/root/tesseract-main/src/training/pango/pango_font_info.h:27:10: fatal error: pango/pango-font.h: No such file or directory 27 | #include <pango/pango-font.h> | ^~~~~~~~~~~~~~~~~~~~ compilation terminated. |
아마 패키지에서 배째는거 같은데 수작업으로 변경.. -_-
| #include "pango/pango-font.h" #include "pango/pango.h" #include "pango/pangocairo.h" #include <pango/pango-font.h> #include <pango/pango.h> #include <pango/pangocairo.h> |
밑도 끝도 없네 -_-
| [ 96%] Building CXX object src/training/CMakeFiles/pango_training.dir/pango/pango_font_info.cpp.o In file included from /usr/local/include/pango/pango-font.h:25, from /usr/local/include/pango/pango-attributes.h:25, from /usr/local/include/pango/pango-layout.h:25, from /home/root/tesseract-main/src/training/pango/stringrenderer.h:33, from /home/root/tesseract-main/src/training/pango/stringrenderer.cpp:20: /usr/local/include/pango/pango-coverage.h:25:10: fatal error: glib-object.h: No such file or directory 25 | #include <glib-object.h> | ^~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:118: src/training/CMakeFiles/pango_training.dir/pango/stringrenderer.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /usr/local/include/pango/pango-font.h:25, from /home/root/tesseract-main/src/training/pango/pango_font_info.h:27, from /home/root/tesseract-main/src/training/pango/ligature_table.cpp:24: /usr/local/include/pango/pango-coverage.h:25:10: fatal error: glib-object.h: No such file or directory 25 | #include <glib-object.h> | ^~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:90: src/training/CMakeFiles/pango_training.dir/pango/ligature_table.cpp.o] Error 1 In file included from /usr/local/include/pango/pango-font.h:25, from /home/root/tesseract-main/src/training/pango/pango_font_info.h:27, from /home/root/tesseract-main/src/training/pango/pango_font_info.cpp:32: /usr/local/include/pango/pango-coverage.h:25:10: fatal error: glib-object.h: No such file or directory 25 | #include <glib-object.h> | ^~~~~~~~~~~~~~~ compilation terminated. |
| [ 96%] Building CXX object src/training/CMakeFiles/pango_training.dir/pango/stringrenderer.cpp.o In file included from /usr/local/include/pango/pango-coverage.h:25, from /usr/local/include/pango/pango-font.h:25, from /usr/local/include/pango/pango-attributes.h:25, from /usr/local/include/pango/pango-layout.h:25, from /home/root/tesseract-main/src/training/pango/stringrenderer.h:33, from /home/root/tesseract-main/src/training/pango/stringrenderer.cpp:20: /usr/include/glib-2.0/glib-object.h:24:10: fatal error: gobject/gbinding.h: No such file or directory 24 | #include <gobject/gbinding.h> | ^~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:118: src/training/CMakeFiles/pango_training.dir/pango/stringrenderer.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /usr/local/include/pango/pango-coverage.h:25, from /usr/local/include/pango/pango-font.h:25, from /home/root/tesseract-main/src/training/pango/pango_font_info.h:27, from /home/root/tesseract-main/src/training/pango/ligature_table.cpp:24: /usr/include/glib-2.0/glib-object.h:24:10: fatal error: gobject/gbinding.h: No such file or directory 24 | #include <gobject/gbinding.h> | ^~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/training/CMakeFiles/pango_training.dir/build.make:90: src/training/CMakeFiles/pango_training.dir/pango/ligature_table.cpp.o] Error 1 In file included from /usr/local/include/pango/pango-coverage.h:25, from /usr/local/include/pango/pango-font.h:25, from /home/root/tesseract-main/src/training/pango/pango_font_info.h:27, from /home/root/tesseract-main/src/training/pango/pango_font_info.cpp:32: /usr/include/glib-2.0/glib-object.h:24:10: fatal error: gobject/gbinding.h: No such file or directory 24 | #include <gobject/gbinding.h> | ^~~~~~~~~~~~~~~~~~~~ compilation terminated. |
inclue path를 찾는데 Makefile에 없어서 뒤져보니.. 저게 맞길..
| # grep -rn "\-I" . ./CMakeFiles/libtesseract.dir/flags.make:7:CXX_INCLUDES = -I/home/root/tesseract-main/include -I/home/root/tesseract-main/src/arch -I/home/root/tesseract-main/src/ccmain -I/home/root/tesseract-main/src/ccstruct -I/home/root/tesseract-main/src/ccutil -I/home/root/tesseract-main/src/classify -I/home/root/tesseract-main/src/cutil -I/home/root/tesseract-main/src/dict -I/home/root/tesseract-main/src/lstm -I/home/root/tesseract-main/src/opencl -I/home/root/tesseract-main/src/textord -I/home/root/tesseract-main/src/viewer -I/home/root/tesseract-main/src/wordrec -I/home/root/tesseract-main/src/training -I/home/root/tesseract-main/src -I/usr/local/include/leptonica -I/home/root/tesseract-main/build -I/home/root/tesseract-main/build/include ./CMakeFiles/tesseract.dir/flags.make:7:CXX_INCLUDES = -I/usr/local/include/leptonica -I/home/root/tesseract-main/build -I/home/root/tesseract-main/build/include -I/home/root/tesseract-main/include -I/home/root/tesseract-main/src/arch -I/home/root/tesseract-main/src/ccmain -I/home/root/tesseract-main/src/ccstruct -I/home/root/tesseract-main/src/ccutil -I/home/root/tesseract-main/src/classify -I/home/root/tesseract-main/src/cutil -I/home/root/tesseract-main/src/dict -I/home/root/tesseract-main/src/lstm -I/home/root/tesseract-main/src/opencl -I/home/root/tesseract-main/src/textord -I/home/root/tesseract-main/src/viewer -I/home/root/tesseract-main/src/wordrec -I/home/root/tesseract-main/src/training |
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개소리 왈왈/사진과 수다2023. 12. 25. 21:02
eos r50용 리모컨
나온지 얼마안되서 인터벌 지원하는 리모컨 찾기가 힘들려나?
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아주 잠만 잔다 -_ㅠ
항히스타민제가 들어있다고 한데 기절하기 보다는
깨워져만 있는 수준이기도 한것 같고..(회사에서는)
집에서는 그나마도 마음 놔버리기 기절하는건가..
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embeded/robot2023. 12. 21. 18:02
좌표계를 이해할 시간에
차라리 get_coords() 함수로 x,y,z,rx,ry,rz를 읽어서 저장하고
send_coords()를 이용하여 저장된 위치로 이동시키면 간단하게 만들수 있다.
| get_coords Prototype: get_coords() Description: Get the Coords from robot arm, coordinate system based on base. Returns: list: A float list of coord - [x, y, z, rx, ry, rz] send_coords Prototype: send_coords(coords, speed, mode) Description: Send all coords to robot arm. Parameters coords: a list of coords value(List[float]), length 6. speed: (int) 0 ~ 100 mode: (int): 0 - angular, 1 - linear Example from pymycobot.mycobot import MyCobot from pymycobot.genre import Coord mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0) |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.8_API.html#getcoords]
atom 버튼을 눌러서 자동으로 좌표 나오게 한다거나
서보의 힘을 빼는게 아니라 약하게 해서 위치를 살짝 트는건 안되려나?
release_all_servo()는 전원 끈마냥 훅 쓰러지니 주의
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