# Ocr-service

`ocr-service` 示例应用程序启用提供光学字符识别 (OCR) 功能的服务。

它从 ROS 系统采集图像主题并将结果发布到 `ocr_topic`。

此图显示了基本消息和数据传输通道，以及相关的客户端/服务器和 ROS 节点。

![../../_images/ocr-service-pipeline.png](data:image/png;base64,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)

**图：ocr 服务 pipeline**

关于 pipeline 流中使用的 ROS 节点和主题的信息，请参阅 [OCR-service 的 Pipeline 流](https://docs.qualcomm.com/doc/80-70018-265Y/topic/ocr-service_5_2_7.html#id-pipeline-flow-ocr-in-topic)。

## 用例

**前提条件：**

- 您已编译并安装了 QIRP SDK 和依赖项，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70018-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写并安装](https://docs.qualcomm.com/doc/80-70018-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 您已按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#use-ssh)中提到的步骤在“Permissive”模式下启用了 `SSH`。

**用例1：运行开箱即用的OCR-service**

**步骤：**

1. 启动三个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。

    `ROS_DOMAIN_ID` 的取值范围为：[0, 232]

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/opt
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) export ROS_DOMAIN_ID=xx
        (ssh) source /usr/bin/ros_setup.bash
        Copy to clipboard
2. 在终端窗口 1 中，启动 `ocr_server`。

(ssh) ros2 run ocr_service ocr_server
        Copy to clipboard
3. 在终端窗口 2，将镜像推送到设备并运行 `ocr_testnode`。

scp  qirp-samples/demos/platform/ocr_service/scripts/digital_720p.png root@[ip-addr]:/opt
        (ssh) ros2 run ocr_service ocr_testnode --topic imagetest --picture /opt/digital_720p.png
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4. 在终端窗口 3，运行 `ocr_client`。

(ssh) ros2 run ocr_service ocr_client imagetest
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    将看到以下日志：

![../../_images/ocr-results.png](data:image/png;base64,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)

**用例 2：编译并运行 OCR-service**

**步骤：**

1. 在主机上，编译 QIRP SDK 提供的 `ocr_msg and ocr_service`。

cd <qirp_decompressed_workspace>
        source setup.sh
        cd qirp-samples/demos/platform/ocr-service
        colcon build --merge-install --cmake-args \
          -DPython3_NumPy_INCLUDE_DIR=${Python3_NumPy_INCLUDE_DIR} \
          -DPYTHON_SOABI=cpython-312-aarch64-linux-gnu \
          -DCMAKE_STAGING_PREFIX=$(pwd)/install \
          -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
          -DBUILD_TESTING=OFF \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.12/site-packages/numpy/core/include
        Copy to clipboard
2. 将 `ocr_msg and ocr_service` 推送至设备。

cd qirp-samples/demos/platform/ocr-service/install
        tar -zcvf ocr_service.tar.gz include/ lib/ share/
        ssh root@[ip-addr]
        (ssh) mount -o remount rw /
        scp ocr_service.tar.gz root@[ip-addr]:/opt
        ssh ssh root@[ip-addr]
        (ssh) tar --no-same-owner -zxf /opt/ocr_service.tar.gz -C /usr/
        scp  <your pciture> root@[ip-addr]:/opt
        Copy to clipboard
3. 参考[用例1：运行开箱即用的 OCR 服务](https://docs.qualcomm.com/doc/80-70018-265Y/topic/ocr-service_5_2_7.html#id-case1-ocr)在设备上运行 `ocr_service`。

## OCR-service 的 Pipeline 流

表：OCR-service pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| OCR_CLIENT<br>    Copy to clipboard | 将 OCR 请求发送到 `ocr_server` 并获取服务器结果。 |
| OCR_SERVER<br>    Copy to clipboard | 从 `ocr_server` 获取 OCR 请求，并根据请求分叉 `ocr_rosnode`。 |
| OCR_ROSNODE<br>    Copy to clipboard | 根据请求订阅镜像主题。 |

表：OCR-service pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 发布方 |
| --- | --- | --- |
| /image_topic_name<br>    Copy to clipboard | < sensor_msgs.msg.Image ><br>    Copy to clipboard | 任何 ROS 节点 |
| /ocr_image_topic_name<br>    Copy to clipboard | < std_msgs/msg/String ><br>    Copy to clipboard | `ocr-rosnode` 节点 |

Last Published: May 12, 2025

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