def ISO_Tune(amount):
gain = sensor.get_gain_db()
# 感光度自动调节 范围11-16左右
if amount == 0 and gain > 11:
sensor.set_auto_gain(False,
gain_db=sensor.get_gain_db() * 0.9) # 画面明亮时调低gain
elif amount >= 3 and gain < 16:
sensor.set_auto_gain(False, gain_db=sensor.get_gain_db() *
1.3) # 画面过暗时调高gain,稳定性差
def init(self, robot_):
self.robot = robot_
if self.robot == self.ROBOT_O: #O_bot
self.thresholds = [
(35, 100, 26, 78, 22, 72), #Ball
(68, 100, -19, 27, 41, 81), #Yellow Goal
(20, 41, -6, 15, -55, -15)
] # Blue Goal
self.window = (59, 18, 184, 181)
elif self.robot == self.ROBOT_P2: #P2_bot
self.thresholds = [
(39, 100, 26, 78, 22, 72), #Ball
(68, 100, -19, 27, 41, 81), #Yellow Goal
(20, 41, -6, 25, -55, -15)
] # Blue Goal
self.window = (71, 4, 193, 191)
# sensor setup
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) #Resolution
sensor.set_windowing(self.window)
sensor.skip_frames(time=1000)
sensor.set_auto_exposure(False)
sensor.set_auto_whitebal(False)
# Need to let the above settings get in...
sensor.skip_frames(time=250)
# === GAIN ===
curr_gain = sensor.get_gain_db()
sensor.set_auto_gain(False, gain_db=curr_gain)
# === EXPOSURE ===
curr_exposure = sensor.get_exposure_us()
sensor.set_auto_exposure(False, exposure_us=int(curr_exposure * 0.5))
# === WHITE BAL ===
sensor.set_auto_whitebal(
False, rgb_gain_db=(-6.02073, -3.762909,
3.33901)) #Must remain false for blob tracking
sensor.set_brightness(2)
sensor.set_contrast(2)
sensor.set_saturation(2)
sensor.skip_frames(time=500)
def sensor_config(data):
global processing
sensor_regs = struct.unpack("<16I", data)
reg_list = [
0x00, 0x01, 0x02, 0x03, 0x08, 0x10, 0x2d, 0x2e, 0x2f, 0x33, 0x34, 0x35,
0x36, 0x37, 0x37, 0x38
]
i = 0
for sr in sensor_regs:
sensor.__write_reg(reg_list[i], sr)
i += 1
gain_db = sensor.get_gain_db()
exposure_us = sensor.get_exposure_us()
rgb_gain_db = sensor.get_rgb_gain_db()
processing = False
return struct.pack("<fIfff", gain_db, exposure_us, rgb_gain_db[0],
rgb_gain_db[1], rgb_gain_db[2])
x_diff1 = 0
x_err1 = [0, 0, 0, 0]
dist2center = 0
blobs1 = []
motor = 0
# Configure camera
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.GRAYSCALE) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QQVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect.
sensor.set_auto_gain(False, gain_db=9) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock() # Create a clock object to track the FPS.
print(sensor.get_gain_db())
## Control Values
# PID#2.5
Kp_max_s = 2.0
Kp = Kp_max_s
Kd_s = 0.012
Kd = Kd_s
turbo_pwm = 50
max_pwm = 35
min_pwm = 35
# brake control
straight_counter = 0
brake_wait_counter = 0
brake_wait = 50
brake_counter = 0
# here we always choose the QVGA format (320x240) inside a VGA image
img_width = 320
img_height = 240
sensor.reset()
sensor_format = sensor.GRAYSCALE # Grayscale is enough to find a chessboard
sensor_size = sensor.VGA
sensor.set_pixformat(sensor_format)
sensor.set_framesize(sensor_size)
if img_width != sensor.width() or img_height != sensor.height():
sensor.set_windowing((int((sensor.width()-img_width)/2),int((sensor.height()-img_height)/2),img_width,img_height))
sensor.skip_frames(time = 2000)
# get the current the current exposure and gains and send them to the remote cam so that the
# 2 cams have the same image settings
sensor.snapshot()
gain_db = sensor.get_gain_db()
exposure_us = sensor.get_exposure_us()
print("exposure is " + str(exposure_us))
rgb_gain_db = sensor.get_rgb_gain_db()
sensor.set_auto_gain(False, gain_db)
sensor.set_auto_exposure(False, exposure_us)
sensor.set_auto_whitebal(False, rgb_gain_db)
result = interface.call("sensor_config", struct.pack("<fIfff", gain_db, exposure_us,
rgb_gain_db[0], rgb_gain_db[1], rgb_gain_db[2]))
if result is not None:
gain_db, exposure_us, r_gain_db, g_gain_db, b_gain_db = struct.unpack("<fIfff", result)
print("ret is " + str(exposure_us))
else:
# apparently something went wrong with the remote cam
# stopping there in this case
sensor.snapshot().save("QR_%s.jpg" % NUM, quallity=100)
NUM += 1
else:
ch.pulse_width_percent(0)
state_flag = -1
NUM = 0
################
# 图像信息打印
img.draw_rectangle(roi)
img.draw_cross(WINDOW_CENTER_X, WINDOW_CENTER_Y)
img.draw_string(
2,
0 * SCALE,
"GAIN: %s" % sensor.get_gain_db(),
color=128,
scale=SCALE,
mono_space=False,
)
img.draw_string(2,
8 * SCALE,
"FPS: %s" % clock.fps(),
color=128,
scale=SCALE,
mono_space=False)
img.draw_string(
2,
16 * SCALE,
"STATE_FLAG: %s" % state_flag,
color=128,
yellowGoal = [(65, 85, -14, 21, 46, 83)]
curr_wbal = (-6.02073, -3.454361, 5.986629)
vwin_val = (40, 0, 249,240)
# ||| UART SETUP |||
uart = UART(3, 9600, timeout_char = 1000)
# ||| SENSOR SETUP |||
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 1000)
# ||| GAIN |||
curr_gain = sensor.get_gain_db()
sensor.set_auto_gain(False, gain_db=curr_gain)
# ||| EXPOSURE |||
curr_exposure = sensor.get_exposure_us()
sensor.set_auto_exposure(False, exposure_us = int(curr_exposure))
# ||| WHITE BAL |||
sensor.set_auto_whitebal(False,
rgb_gain_db=curr_wbal)
# ||| SET VALUES & WINDOWING |||
sensor.set_windowing(vwin_val)
sensor.set_saturation(3)
sensor.set_brightness(3) #Change to -3
sensor.set_contrast(3)
# higher exposure time. Gain control allows you to increase the output per
# pixel using analog and digital multipliers... however, it also amplifies
# noise. So, it's best to let the exposure increase as much as possible
# and then use gain control to make up any remaining ground.
import sensor, image, time
# Change this value to adjust the gain. Try 10.0/0/0.1/etc.
GAIN_SCALE = 1.0
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
# Print out the initial gain for comparison.
print("Initial gain == %f db" % sensor.get_gain_db())
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
# You have to turn automatic exposure control and automatic white blance off
# otherwise they will change the image exposure to undo any gain settings
# that you put in place...
sensor.set_auto_exposure(False)
sensor.set_auto_whitebal(False)
# Need to let the above settings get in...
sensor.skip_frames(time = 500)
current_gain_in_decibels = sensor.get_gain_db()
print("Current Gain == %f db" % current_gain_in_decibels)
sensor.set_pixformat(
sensor.GRAYSCALE
) # set camera format to grayscale (color not important in this example)
sensor.set_framesize(sensor.QVGA) # set camera resolution to QVGA 320 x 240
sensor.set_auto_whitebal(False) # Turn off white balance
sensor.set_auto_exposure(
False, exposure_us=user_exposure_time
) # set exposure time, user changable (user_exposure_time variable)
#these setting are manually set in order to prevent camera to change it during use (no automatic setting in machine vision!)
sensor.set_brightness(0) #set camera brightness
sensor.set_contrast(2) #set camera contrast
sensor.set_saturation(0) #set camera saturation
# Print out the initial gain for comparison.
print("Initial gain == %f db" % sensor.get_gain_db())
sensor.skip_frames(
time=2000) #small 2 seconds pause, so camera can update its settings
# calculating sensor gain
# user can change GAIN_SCALE factor in order to obtain more bright image
current_gain_in_decibels = sensor.get_gain_db() #current sensor gain
print("Current Gain == %f db" %
current_gain_in_decibels) #reporting current gain
sensor.set_auto_gain(False,
gain_db=current_gain_in_decibels * GAIN_SCALE) #new gain
print("New gain == %f db" % sensor.get_gain_db()) #reporting new sensor gain
sensor.skip_frames(
time=2000) #small 2 seconds pause, so camera can update its settings
#please note that this secod skip_frames is not an error
GAIN_SCALE = 0.1
#color = [[58, 87, 18, 65, -10, 52]]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.CIF)
sensor.skip_frames(time=2000)
clock = time.clock()
sensor.set_auto_whitebal(False)
sensor.set_auto_exposure(False)
sensor.skip_frames(time=500)
current_gain_in_decibels = sensor.get_gain_db()
sensor.set_auto_gain(False, \
gain_db = current_gain_in_decibels * GAIN_SCALE)
def cal():
tres = [0, 0, 0, 0, 0, 0]
tres[0] = image.rgb_to_lab(img.get_pixel(177, 144))[0]
tres[1] = image.rgb_to_lab(img.get_pixel(177, 144))[0]
tres[2] = image.rgb_to_lab(img.get_pixel(177, 144))[1]
tres[3] = image.rgb_to_lab(img.get_pixel(177, 144))[1]
tres[4] = image.rgb_to_lab(img.get_pixel(177, 144))[2]
tres[5] = image.rgb_to_lab(img.get_pixel(177, 144))[2]
nub = tres
from pyb import UART pixie = frc_pixie.frc_pixie() can = frc_can.frc_can(1) # Set the configuration for our OpenMV frcCAN device. can.set_config(2, 0, 0, 0) # Set the mode for our OpenMV frcCAN device. can.set_mode(1) sensor.reset() sensor.set_pixformat(sensor.RGB565) # Modify as you like. sensor.set_framesize(sensor.QVGA) # Modify as you like. sensor.skip_frames(time=3000) sensor.set_auto_gain(False, gain_db=int(sensor.get_gain_db() - 50)) sensor.set_auto_whitebal(False) original_exposure = sensor.get_exposure_us() sensor.set_auto_exposure(False, int(0.5 * original_exposure)) clock = time.clock() uart = UART(1, 115200) color = bytearray(3) color[0] = 0x00 color[1] = 0xFF color[2] = 0x80 roi = (0, 0, 332, 190)
# and then use gain control to make up any remaining ground.
# We can achieve the above by setting a gain ceiling on the automatic
# gain control algorithm. Once this is set the algorithm will have to
# increase the exposure time to meet any gain needs versus using gain
# to do so. However, this comes at the price of the exposure time varying
# more when the lighting changes versus the exposure being constant and
# the gain changing.
import sensor, image, time
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
# The gain db ceiling maxes out at about 24 db for the OV7725 sensor.
sensor.set_auto_gain(True, gain_db_ceiling = 16.0) # Default gain.
# Note! If you set the gain ceiling to low without adjusting the exposure control
# target value then you'll just get a lot of oscillation from the exposure
# control if it's on.
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
print("FPS %f, Gain %f dB, Exposure %d us" % \
(clock.fps(), sensor.get_gain_db(), sensor.get_exposure_us()))
# pixel using analog and digital multipliers... however, it also amplifies
# noise. So, it's best to let the exposure increase as much as possible
# and then use gain control to make up any remaining ground.
import sensor, image, time
# Change this value to adjust the gain. Try 10.0/0/0.1/etc.
GAIN_SCALE = 1.0
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.GRAYSCALE) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
# Print out the initial gain for comparison.
print("Initial gain == %f db" % sensor.get_gain_db())
sensor.skip_frames(time=2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
# You have to turn automatic exposure control and automatic white blance off
# otherwise they will change the image exposure to undo any gain settings
# that you put in place...
sensor.set_auto_exposure(False)
# Need to let the above settings get in...
sensor.skip_frames(time=500)
current_gain_in_decibels = sensor.get_gain_db()
print("Current Gain == %f db" % current_gain_in_decibels)
# Auto gain control (AGC) is enabled by default. Calling the below function
# and then use gain control to make up any remaining ground.
# We can achieve the above by setting a gain ceiling on the automatic
# gain control algorithm. Once this is set the algorithm will have to
# increase the exposure time to meet any gain needs versus using gain
# to do so. However, this comes at the price of the exposure time varying
# more when the lighting changes versus the exposure being constant and
# the gain changing.
import sensor, image, time
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
# The gain db ceiling maxes out at about 24 db for the OV7725 sensor.
sensor.set_auto_gain(True, gain_db_ceiling = 16.0) # Default gain.
# Note! If you set the gain ceiling to low without adjusting the exposure control
# target value then you'll just get a lot of oscillation from the exposure
# control if it's on.
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
print("FPS %f, Gain %f dB, Exposure %d us" % \
(clock.fps(), sensor.get_gain_db(), sensor.get_exposure_us()))
def findCubeCenter():
"""
find the cube roi position
"""
global roi
sensor.set_auto_whitebal(False)
sensor.set_contrast(2)
cnt = 1
LAB_THRESHOLD = (
(0, 60, -40, 50, -40, 10), # blue
(0, 40, -50, 40, -60, 30), # yellow orange red white
(0, 50, -40, 15, -25, 70))
#(0, 70, -25, 15, -60, 30)) # green
CENTER_THRESHOLD = roi[2] / 3 / 2
gain = 0
while (True):
if cnt > 12:
sensor.set_auto_gain(gain)
img = sensor.snapshot()
if cnt % 60 == 0:
cnt = 1
gain += 10
if (int(cnt / 24)) % 2 == 1:
lab_threshold = LAB_THRESHOLD[int(cnt / 12) - 2]
img = img.binary([lab_threshold])
img = img.dilate(2)
img = img.erode(2)
lcd.display(img)
center_roi = list(
map(int, [
roi[0] + roi[2] / 2 - CENTER_THRESHOLD * 2,
roi[1] + roi[3] / 2 - CENTER_THRESHOLD * 2,
CENTER_THRESHOLD * 4, CENTER_THRESHOLD * 4
]))
squares = []
for r in img.find_rects(roi=center_roi, threshold=500):
if (isSquare(r)):
squares.append(r)
img = img.draw_rectangle(r.rect())
for p in r.corners():
img = img.draw_circle(p[0], p[1], 5, color=(0, 255, 0))
lcd.display(img)
#time.sleep_ms(5000)
if not squares:
cnt += 1
print(cnt)
else:
roi = findCenter(squares, roi, CENTER_THRESHOLD * math.sqrt(2))
center_roi = list(
map(int, [
roi[0] + roi[2] / 2 - CENTER_THRESHOLD * 2,
roi[1] + roi[3] / 2 - CENTER_THRESHOLD * 2,
CENTER_THRESHOLD * 4, CENTER_THRESHOLD * 4
]))
img = img.draw_rectangle(center_roi)
img = img.draw_rectangle(roi)
lcd.display(img)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_auto_whitebal(False)
sensor.skip_frames(time=60)
gain = sensor.get_gain_db()
sensor.set_auto_gain(0, gain)
sensor.skip_frames(time=60)
sensor.set_auto_exposure(0, 80000)
sensor.skip_frames(time=60)
return 1
