craft_node.py¶
What is this?¶

Detect text region from image.
This is a ROS node for CRAFT: Character-Region Awareness For Text detection
.
In order to use this feature, you need to install pytorch (pytorch >= 1.9.0 is recommended). However, python2 user is not supposed to be able to install that version of torch. For python2 users, download the appropriate wheel file in your environment from https://download.pytorch.org/whl/cu90/torch_stable.html (melodic) and install with pip as follow:
pip install --user torch-1.1.0-cp27-cp27mu-linux_x86_64.whl
pip install --user torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl
Subscribing Topic¶
~input
(sensor_msgs/Image
)Raw image.
Publishing Topic¶
~output/cluster_indices
(jsk_recognition_msgs/ClusterPointIndices
)Image indices of each detected text region.
~output/rects
(jsk_recognition_msgs/RectArray
)Rectangles of detected texts.
~output/polygons
(jsk_recognition_msgs/PolygonArray
)Polygons of detected texts. Unlike
RectArray
, this is output as a list of points on a 2D plane.
Parameters¶
~gpu
(Int, default:0
)GPU id.
-1
represents CPU mode.~model_path
(String, required)Pretrained model path.
~refine_model_path
(String, required)Pretrained link refiner model path.
~text_threshold
(Double, default:0.70
)Text confidence threshold
~text_low_bound_score
(Double, default:0.40
)Text low bound score
~link_threshold
(Double, default:0.1
)Link confidence threshold
~mag_ratio
(Double, default:1.5
)Image magnification ratio.
~max_image_size
(Int, default:1280
)Max image size for inference
Sample¶
roslaunch jsk_perception sample_craft_node.launch