'잡동사니'에 해당되는 글 13030건

  1. 2023.12.26 tesseract on arm
  2. 2023.12.25 캐논 br-e1
  3. 2023.12.24 개들은 무산 꿈을 꿀까
  4. 2023.12.23 약빨인가..
  5. 2023.12.21 elephant robotics cobot python api
  6. 2023.12.21 산업로봇과 협동로봇의 차이
  7. 2023.12.21 NXP i.mx8mp LF_v6.1.55-2.2.0 테스트
  8. 2023.12.21 ROS rviz
  9. 2023.12.21 오일러 각 / 짐벌락 / 쿼터니언
  10. 2023.12.21 tesseract ocr
프로그램 사용/tesseract ocr2023. 12. 26. 15:36

tesseract on arm

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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Posted by 구차니
개소리 왈왈/사진과 수다2023. 12. 25. 21:02

캐논 br-e1

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나온지 얼마안되서 인터벌 지원하는 리모컨 찾기가 힘들려나?

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개소리 왈왈/육아관련 주저리2023. 12. 24. 22:40

개들은 무산 꿈을 꿀까

앞뒷다리 버둥버듕 하면서

혼자 짖기도 하고

도대체 무산 뀸을 꾸는 걸까 ㅎㅎ

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개소리 왈왈/육아관련 주저리2023. 12. 23. 21:00

약빨인가..

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

elephant robotics cobot python api

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

[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.8_API.html#releaseallservos]

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embeded/robot2023. 12. 21. 17:57

산업로봇과 협동로봇의 차이

대충 요약(?)하자면

 

안전 측면에서 협동로봇은 산업로봇보다 힘이 약하고 느리며, 안전 펜스도 없어도 됨

설치 측면에서 협동로봇은 사용자가 학습을 시킬수 있으나, 산업로봇은 전문 프로그래머가 바꾸어야 함

 

반대로 생각하면 협동로봇은

힘이 약하고 느린대신(고출력 모터를 사용하지 않아 가격이 낮아짐?)

안전 펜스등을 통한 사용자와 분리할 필요가 없고(즉 안전관리자나 설치레벨에서의 안전 고려가 빠져도 된다)

사용자가 프로그래밍을 수정할 수 있다(학습/티칭) 정도고 구분이 될 듯

 

다만 사용자가 프로그램을 수정할 수 있도록 하기 위해

서보에 엔코더가 들어가서 외력에 의해서 움직이는 각도를 읽어낼수 있어야 하기 때문에

저출력으로 인한 가격 하락분이 상쇄될수도 있을 듯.

 

 

[링크 : https://www.myrobotsolution.com/contents/success-story/3aOp7xvmOuqBOjWsCbcR]

[링크 : https://blog.naver.com/universalrobots/221565530432]

[링크 : https://www.korearobot.or.kr/wp/wp-content/uploads/2021/06/특허청-로봇IP-협동로봇-특집편.pdf]

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embeded/i.mx 8m plus2023. 12. 21. 15:51

NXP i.mx8mp LF_v6.1.55-2.2.0 테스트

i.MX Machine Learning User's Guide에 있는거 테스트 해봄

The behavior is as follows:
• If USE_GPU_INFERENCE=1, the graph is executed on the GPU
• Otherwise, the graph is executed on the NPU (if available)
By default, the NPU is used for OpenVX graph execution.

 

전체 실행시간으로는 neon 이 가장 빨랐고, inference 시간으로는 NPU가 가장 빨랐다.

의외로 GPU 가속이 NEON만도 못하다는 충격적인(!) 결과가..

root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time ./label_image 
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
INFO: invoked
INFO: average time: 41.16 ms
INFO: 0.764706: 653 military uniform
INFO: 0.121569: 907 Windsor tie
INFO: 0.0156863: 458 bow tie
INFO: 0.0117647: 466 bulletproof vest
INFO: 0.00784314: 835 suit

real    0m0.173s
user    0m0.520s
sys     0m0.024s
root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time USE_GPU_INFERENCE=0 ./label_image --external_delegate_path=/usr/lib/libvx_delegate.so
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
Vx delegate: allowed_cache_mode set to 0.
Vx delegate: device num set to 0.
Vx delegate: allowed_builtin_code set to 0.
Vx delegate: error_during_init set to 0.
Vx delegate: error_during_prepare set to 0.
Vx delegate: error_during_invoke set to 0.
EXTERNAL delegate created.
INFO: Applied EXTERNAL delegate.
W [HandleLayoutInfer:291]Op 162: default layout inference pass.
INFO: invoked
INFO: average time: 2.861 ms
INFO: 0.768627: 653 military uniform
INFO: 0.105882: 907 Windsor tie
INFO: 0.0196078: 458 bow tie
INFO: 0.0117647: 466 bulletproof vest
INFO: 0.00784314: 835 suit

real    0m3.116s
user    0m2.916s
sys     0m0.195s
root@imx8mpevk:/usr/bin/tensorflow-lite-2.12.1/examples# time USE_GPU_INFERENCE=1 ./label_image --external_delegate_path=/usr/lib/libvx_delegate.so
INFO: Loaded model ./mobilenet_v1_1.0_224_quant.tflite
INFO: resolved reporter
Vx delegate: allowed_cache_mode set to 0.
Vx delegate: device num set to 0.
Vx delegate: allowed_builtin_code set to 0.
Vx delegate: error_during_init set to 0.
Vx delegate: error_during_prepare set to 0.
Vx delegate: error_during_invoke set to 0.
EXTERNAL delegate created.
INFO: Applied EXTERNAL delegate.
W [query_hardware_caps:89]Unsupported evis version
W [HandleLayoutInfer:291]Op 162: default layout inference pass.
INFO: invoked
INFO: average time: 171.261 ms
INFO: 0.784314: 653 military uniform
INFO: 0.105882: 907 Windsor tie
INFO: 0.0156863: 458 bow tie
INFO: 0.00784314: 466 bulletproof vest
INFO: 0.00392157: 835 suit

real    0m1.992s
user    0m1.377s
sys     0m0.103s
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embeded/robot2023. 12. 21. 15:34

ROS rviz

로봇 암 시뮬레이션해볼 수 있다고 해서 찾아보는 중

 

[링크 : https://pinkwink.kr/903]

[링크 : https://docs.elephantrobotics.com/docs/mycobot-pi-en/2-serialproduct/2.1-280/2.1.5.4-DevelopmentEnvironmentAndConstruction.html]

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embeded/robot2023. 12. 21. 13:46

오일러 각 / 짐벌락 / 쿼터니언

rx,ry,rz 에서 

rx = 90, ry = 0, rz = 0에서

rx = 90 , ry=90, rz = 0 해도 안움직이길래

90도라서 상쇄되서 그런가 아니면 못가는건가 싶었는데

 

짐벌락 때문에 그런건가 싶기도 하고.. 아직은 헷갈리는 중

[링크 : https://handhp1.tistory.com/3]

[링크 : https://www.youtube.com/watch?v=zc8b2Jo7mno]

 

쿼터니언(사원수)으로 하면 짐벌락을 피할수 있다고

[링크 : https://showmiso.tistory.com/57]

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프로그램 사용/tesseract ocr2023. 12. 21. 11:29

tesseract ocr

오픈소스 OCR로 우분투에 패키지로 설치가 가능하고

gimagereader 라는 frontend도 있으니 참고를..

[링크 : https://sourceforge.net/projects/gimagereader/]

 

간단한 사용법은 아래와 같이 파일명 - -l eng 해주면 되는데, 아마 -를 넣어서 stdout으로 출력하라는걸지도?

$ tesseract images/eurotext.png - -l eng

[링크 : https://tesseract-ocr.github.io/tessdoc/Command-Line-Usage.html]

 

psm은 어떤식으로 읽을지 모드를 설정해주는데 OSD(Orientation and Script Detection) 이라는게

있냐 없냐로, 2문자 까지 인식하게 할 순 있다(--psm 1)

+

psm 10으로 하면 단문자도 인식하게 설정이 가능하다

$ tesseract --help-extra
Usage:
  tesseract --help | --help-extra | --help-psm | --help-oem | --version
  tesseract --list-langs [--tessdata-dir PATH]
  tesseract --print-parameters [options...] [configfile...]
  tesseract imagename|imagelist|stdin outputbase|stdout [options...] [configfile...]

OCR options:
  --tessdata-dir PATH   Specify the location of tessdata path.
  --user-words PATH     Specify the location of user words file.
  --user-patterns PATH  Specify the location of user patterns file.
  --dpi VALUE           Specify DPI for input image.
  -l LANG[+LANG]        Specify language(s) used for OCR.
  -c VAR=VALUE          Set value for config variables.
                        Multiple -c arguments are allowed.
  --psm NUM             Specify page segmentation mode.
  --oem NUM             Specify OCR Engine mode.
NOTE: These options must occur before any configfile.

Page segmentation modes:
  0    Orientation and script detection (OSD) only.
  1    Automatic page segmentation with OSD.
  2    Automatic page segmentation, but no OSD, or OCR. (not implemented)
  3    Fully automatic page segmentation, but no OSD. (Default)
  4    Assume a single column of text of variable sizes.
  5    Assume a single uniform block of vertically aligned text.
  6    Assume a single uniform block of text.
  7    Treat the image as a single text line.
  8    Treat the image as a single word.
  9    Treat the image as a single word in a circle.
 10    Treat the image as a single character.
 11    Sparse text. Find as much text as possible in no particular order.
 12    Sparse text with OSD.
 13    Raw line. Treat the image as a single text line,
       bypassing hacks that are Tesseract-specific.

OCR Engine modes: (see https://github.com/tesseract-ocr/tesseract/wiki#linux)
  0    Legacy engine only.
  1    Neural nets LSTM engine only.
  2    Legacy + LSTM engines.
  3    Default, based on what is available.

Single options:
  -h, --help            Show minimal help message.
  --help-extra          Show extra help for advanced users.
  --help-psm            Show page segmentation modes.
  --help-oem            Show OCR Engine modes.
  -v, --version         Show version information.
  --list-langs          List available languages for tesseract engine.
  --print-parameters    Print tesseract parameters.

[링크 : https://kokokorin-bigbox.tistory.com/53]

 

테스트 해보니 1 문자는 어떻게 하든 안되는 것 같은데 회피가 가능하려나?

 

 

$ tesseract a5.png - --psm 3
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 406
ak

$ tesseract a5.png - --psm 2
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 406
Orientation: 0
WritingDirection: 0
TextlineOrder: 2
Deskew angle: 0.0000

$ tesseract a5.png - --psm 1
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 406
Too few characters. Skipping this page
OSD: Weak margin (0.00) for 2 blob text block, but using orientation anyway: 0
ak


$ tesseract a5.png - --psm 0
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 406
Too few characters. Skipping this page
Warning. Invalid resolution 0 dpi. Using 70 instead.
Too few characters. Skipping this page
Error during processing.

 

 

 

$ tesseract a6.png - --psm 0
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 294
Too few characters. Skipping this page
Warning. Invalid resolution 0 dpi. Using 70 instead.
Too few characters. Skipping this page
Error during processing.

$ tesseract a6.png - --psm 1
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 294
Too few characters. Skipping this page
OSD: Weak margin (0.00) for 1 blob text block, but using orientation anyway: 0
Empty page!!
Estimating resolution as 294
Too few characters. Skipping this page
OSD: Weak margin (0.00) for 1 blob text block, but using orientation anyway: 0
Empty page!!

$ tesseract a6.png - --psm 2
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 294
Empty page!!

$ tesseract a6.png - --psm 3
Warning: Invalid resolution 0 dpi. Using 70 instead.
Estimating resolution as 294
Empty page!!
Estimating resolution as 294
Empty page!!
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