add pytesseract

Author: previ

..txt

@@ -0,0 +1,4 @@
+some text some text some
+some text some text some
+some text some text some
+

cv/image.py

@@ -23,6 +23,7 @@
 import cv2
 import cv2.aruco
 import cv.blob as blob
+import pytesseract
 
 tesseract_whitelists = {
     'alpha': "ABCDEFGHIJKLMNOPQRSTUVXYZ ",
@@ -31,10 +32,10 @@
     'unspec': "abcdefghijklmnopqrstuvxyzABCDEFGHIJKLMNOPQRSTUVXYZ1234567890 ",
 }
 
-try:
-    ocr = cv2.text.OCRTesseract_create(language="eng", char_whitelist=tesseract_whitelists['unspec'], oem=0, psmode=cv2.text.OCR_LEVEL_TEXTLINE)
-except:
-    logging.info("tesseract not availabe")
+#try:
+#    ocr = cv2.text.OCRTesseract_create(language="eng", char_whitelist=tesseract_whitelists['unspec'], oem=0, psmode=cv2.text.OCR_LEVEL_TEXTLINE)
+#except:
+#    logging.info("tesseract not availabe")
 
 MIN_MATCH_COUNT = 10
 
@@ -247,9 +248,10 @@ def find_rect(self, color):
         return rect_image
 
     def find_text(self, accept):
-        wlist = tesseract_whitelists.get(accept, None)
-        ocr.setWhiteList(wlist)
-        text = ocr.run(self._data, 60)
+        #wlist = tesseract_whitelists.get(accept, None)
+        #ocr.setWhiteList(wlist)
+        #text = ocr.run(self._data, 60)
+        text = pytesseract.image_to_string(self._data)
         return text
 
     def find_qr_code(self):

requirements_stub.txt

@@ -44,3 +44,4 @@ setuptools==42.0.1
 smbus2==0.3.0
 spidev==3.4
 cachetools==3.0.0
+pytesseract==0.3.4

rotary_encoder/motorencoder.py

@@ -176,8 +176,6 @@ def rotary_callback(self, tick):
             elapse = self._current_timer - self._start_timer # calculating time elapse
             # calculating current speed
             self._encoder_speed = self._ticks_threshold * 0.0981 / elapse  # (mm/s)
-            #print("Elapse: %f" % (elapse))
-            #print("Speed: %f" % (self._encoder_speed))
 
         self._ticks += tick  # updating ticks
         #self._distance = self._ticks * 0.0981  # (mm) travelled so far

rotary_encoder/wheelsaxel.py

@@ -140,12 +140,12 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
         #power_left_norm = power_left
         #power_right_norm = power_right
         # moving for certaing amount of distance
-        logging.info("moving? " + str(self._is_moving) + " distance: " + str(self.distance()) + " target: " + str(target_distance))
+        #logging.debug("moving? " + str(self._is_moving) + " distance: " + str(self.distance()) + " target: " + str(target_distance))
         while(abs(self.distance()) < target_distance and self._is_moving == True):
             # PI controller
-            logging.info("control_distance.1")
+            #logging.debug("control_distance.1")
             if(self._left_motor.speed() > 10 and self._right_motor.speed() > 10):
-                logging.info("control_distance.2")
+                #logging.debug("control_distance.2")
                 # relative error
                 left_error = (target_speed_left - self._left_motor.speed())/target_speed_left*100.0
                 right_error = (target_speed_right - self._right_motor.speed())/target_speed_right*100.0
@@ -168,10 +168,10 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
                 #print("Left POWER: %f" % (right_power))
                 #print("Right POWER: %f" % (left_power))
                 #print("")
-                print("ls:", int(self._left_motor.speed()), " rs: ", int(self._right_motor.speed()), 
-                      " le:", int(left_error), " re: ", int(right_error), 
-                      " lc: ", int(left_correction), " rc: ", int(right_correction), 
-                      " lp: ", int(power_left_norm), " rp: ", int(power_right_norm))
+                #logging.debug("ls:", int(self._left_motor.speed()), " rs: ", int(self._right_motor.speed()), 
+                #              " le:", int(left_error), " re: ", int(right_error), 
+                #              " lc: ", int(left_correction), " rc: ", int(right_correction), 
+                #              " lp: ", int(power_left_norm), " rp: ", int(power_right_norm))
 
                 # adjusting power on each motors
                 self._left_motor.adjust_power(power_left_norm)
@@ -189,7 +189,7 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
             # checking each SAMPLETIME seconds
             sleep(SAMPLETIME)
 
-        logging.info("control_distance.stop")
+        #logging.debug("control_distance.stop")
         # robot arrived
         self.stop()