What is this?


Optical Character Reader (OCR) node from image and text area. We recommend the python3 environment. For python2 users, please do pip install pytesseract==0.3.1 manually because the latest version of pytesseract is not installed automatically.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

    Polygon array representing a text area. If ~subscribe_polygon is True, subscribe ~input/polygons.

  • ~input/rects (jsk_recognition_msgs/RectArray)

    Rect array representing a text area. If ~subscribe_polygon is False, subscribe ~input/rects.

Publishing Topic

  • ~output (std_msgs/String)

    Recognized text.

  • ~output/viz (sensor_msgs/Image)

    Visuzalized OCR results.

  • ~output/labels (jsk_recognition_msgs/LabelArray)

    The recognized text is output as the label name in the order of the input polygon array or rect array.

  • ~output/debug/viz (sensor_msgs/Image)

    Tile image of cropped input image.

  • ~output/debug/binary_viz (sensor_msgs/Image)

    Tile image of a binarized cropped input image.


  • ~approximate_sync (Bool, default: False)

    Whether to use approximate for input topics.

  • ~queue_size (Int, default: 100)

    How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.

  • ~slop (Double, Default: 0.1)

    Slop for approximate sync.

  • ~language (Int, Default: eng)

    OCR target language. In current ocr_node.py uses tesseract-ocr.

    If you want to use a language other than English, please install the appropriate language data from packages and change the language argument.

    For example, if you want to use Japanese, please install tesseract-ocr-jpn (apt install tesseract-ocr-jpn in Ubuntu) and pass jpn as the language argument.

  • ~number_of_jobs (Int, Default: -1)

    Number of jobs for ocr. If this value is -1, use the value of multiprocessing.cpu_count().

  • ~font_path (String, default: "")

    Font path. Specify the font with the characters you want to display.

  • ~font_size (Int, default: 16)

    Font size for visualization

  • ~box_thickness (Int, default: 2)

    Thickness of bounding box (text areas).

  • ~resolution_factor (Double, default: 2.0)

    Factor for resolution of output image. When this option is set as 1.0, an output image has the same resolution as an input image.

  • ~interpolation_method (Enum[Int], default: INTER_LANCZOS4)

    Method for interpolation on input image resizing.

  • ~subscribe_polygon (Bool, Default: False)

    If ~subscribe_polygon is True, subscribe ~input/polygons. If ~subscribe_polygon is False, subscribe ~input/rects.


roslaunch jsk_perception sample_craft_node.launch