from fpioa_manager import fm
from machine import UART
lcd.init(freq=15000000)
sensor.reset(dual_buff=1)
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect.
sensor.set_auto_whitebal(False) # close auto whitebal
sensor.set_hmirror(1)
sensor.set_vflip(1)
sensor.set_windowing((224, 224))
sensor.set_brightness(0) # 设置亮度
sensor.set_auto_gain(0)
sensor.run(1) # run automatically, call sensor.run(0) to stop
#串口初始化
fm.register(10, fm.fpioa.UART2_TX)
fm.register(11, fm.fpioa.UART2_RX)
uart_1 = UART(UART.UART1, 115200, 8, None, 1, timeout=1000, read_buf_len=4096)
clock = time.clock() # Create a clock object to track the FPS.
#发送打包函数
def send_data_packet(rho_err,
theta_err): #距离左边的距离rho_err范围0—210，角度theta_err范围0-180
checkout = (rho_err + theta_err) #校验位,为x坐标+y坐标 的低八位
data = bytearray([0xAA, 0x55, rho_err, theta_err, checkout, 0x54]) #转成16进制
uart_1.write(data) #通过串口发送给stm32
# Edge detection with Canny:
#
# This example demonstrates the Canny edge detector.
import sensor, image, time
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.RGB565
sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)
sensor.skip_frames(time=2000) # Let new settings take affect.
sensor.set_gainceiling(8)
sensor.run(1)
clock = time.clock() # Tracks FPS.
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
# Use Canny edge detector
#img.find_edges(image.EDGE_CANNY, threshold=(50, 80))
# Faster simpler edge detection
img.find_edges(image.EDGE_SIMPLE, threshold=(100, 255))
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
def set_key_state(*_):
global start_processing
start_processing = True
utime.sleep_ms(BOUNCE_PROTECTION)
key_gpio.irq(set_key_state, GPIO.IRQ_RISING, GPIO.WAKEUP_NOT_SUPPORT)
lcd.init() # 初始化lcd
lcd.rotation(2)
sensor.reset() #初始化sensor 摄像头
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(1) #设置摄像头镜像
sensor.set_vflip(1) #设置摄像头翻转
sensor.run(1) #使能摄像头
anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437, 6.92275,
6.718375, 9.01025) #anchor for face detect 用于人脸检测的Anchor
dst_point = [
(44, 59), (84, 59), (64, 82), (47, 105), (81, 105)
] #standard face key point position 标准正脸的5关键点坐标 分别为 左眼 右眼 鼻子 左嘴角 右嘴角
a = kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) #初始化人脸检测模型
img_lcd = image.Image() # 设置显示buf
img_face = image.Image(size=(128, 128)) #设置 128 * 128 人脸图片buf
a = img_face.pix_to_ai() # 将图片转为kpu接受的格式
record_ftr = [] #空列表 用于存储当前196维特征
record_ftrs = [] #空列表 用于存储按键记录下人脸特征，可以将特征以txt等文件形式保存到sd卡后，读取到此列表，即可实现人脸断电存储。
record_names = [] #空列表 用于存储按键记录下人脸名字，顺序与record_ftrs相一致。
#names = ['Mr.1', 'Mr.2', 'Mr.3', 'Mr.4', 'Mr.5', 'Mr.6', 'Mr.7', 'Mr.8', 'Mr.9' , 'Mr.10'] # 人名标签，与上面列表特征值一一对应。
if "names.txt" in os.listdir():
class Maix_dock_device:
TOF10120_addr = 0x52
VL53L0X_addr = 0x29
memaddr = 0xc2
nbytes = 1
VL53L0X_REG_IDENTIFICATION_MODEL_ID = 0xc0
VL53L0X_REG_IDENTIFICATION_REVISION_ID = 0xc2
VL53L0X_REG_RESULT_INTERRUPT_STATUS = 0x13
VL53L0X_REG_RESULT_RANGE_STATUS = 0x14
VL53L0X_REG_SYSRANGE_START = 0x00
pcf8591_addr = 0x48
#pcf8591_addr = 0x4f
fm.register(1, fm.fpioa.GPIO0)
fm.register(2, fm.fpioa.GPIO1)
fm.register(3, fm.fpioa.GPIO2)
fm.register(13, fm.fpioa.GPIO3)
fm.register(14, fm.fpioa.GPIO4)
fm.register(15, fm.fpioa.GPIOHS1)
fm.register(17, fm.fpioa.GPIOHS2)
UVC = GPIO(GPIO.GPIO0, GPIO.OUT)
LED_dis = GPIO(GPIO.GPIO1, GPIO.OUT)
BEE = GPIO(GPIO.GPIO2, GPIO.OUT)
TEMP_1 = GPIO(GPIO.GPIO3, GPIO.OUT)
TEMP_2 = GPIO(GPIO.GPIO4, GPIO.OUT)
KEY_start = GPIO(GPIO.GPIOHS1, GPIO.IN, GPIO.IRQ_FALLING)
#key = GPIO(GPIO.GPIOHS0, GPIO.IN, GPIO.PULL_NONE)
KEY_lock = GPIO(GPIO.GPIOHS2, GPIO.IN, GPIO.PULL_NONE)
tempBorder_times = 0
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.run(1)
task = kpu.load(
0x300000
) # you need put model(face.kfpkg) in flash at address 0x300000
# task = kpu.load("/sd/face.kmodel")
anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437,
6.92275, 6.718375, 9.01025)
a = kpu.init_yolo2(task, 0.5, 0.3, 5, anchor)
i2c = I2C(I2C.I2C0, mode=I2C.MODE_MASTER, freq=100000, scl=9,
sda=10) # software i2c
i2c_extend = I2C(I2C.I2C1,
mode=I2C.MODE_MASTER,
freq=100000,
scl=11,
sda=12) # software i2c
def __init__(self):
print("Maix_dock_device class")
self.infrared_range_left = 0
self.infrared_range_right = 0
self.temperature_sensor_left = 0
self.temperature_sensor_right = 0
self.ad48v = 0
self.face_detection = 0
self.readAdd_times = 0
def set_face_detection(self):
img = sensor.snapshot()
code = kpu.run_yolo2(self.task, img)
if code:
for i in code:
#print(i)
#a = img.draw_rectangle(i.rect())
print("find face")
self.face_detection = 1
else:
print("no face")
self.face_detection = 0
def get_face_detection(self):
return self.face_detection
def get_infrared_range_left(self):
return self.infrared_range_left
def get_infrared_range_right(self):
return self.infrared_range_right
def get_ad48v(self):
return self.ad48v
def get_temperature_sensor_left(self):
return self.temperature_sensor_left
def get_temperature_sensor_left(self):
return self.temperature_sensor_left
def set_UVC_OUT(self, value):
self.UVC.value(value)
def set_led(self, value):
self.LED_dis.value(value)
def get_temperature_sensor_left(self):
return 20.1
def get_keyValue_start(self):
if (self.KEY_start.value() == 1):
time.sleep_ms(10)
if (self.KEY_start.value() == 1):
#print("KEY_start close")
return 1
else:
#print("KEY_start open")
return 0
def show_deviceAddr(self):
devices = self.i2c.scan()
print(devices)
devices2 = self.i2c_extend.scan()
print(devices2)
def set_infrared_range_left(self):
try:
self.i2c.writeto_mem(0x29, 0x00, chr(1))
time.sleep_ms(10)
#time.sleep_ms(40)
data_i2c = self.i2c.readfrom_mem(0x29, 0x1e, 2)
data_i2c = data_i2c[0] << 8 | data_i2c[1]
if data_i2c != 20:
self.infrared_range_left = data_i2c
return data_i2c
else:
print("data_i2c == 20")
return None
except OSError as err:
if err.args[0] == errno.EIO:
print("i2c1 dis errno.EIO")
return None
else:
print("i2c1 abnormal")
return None
def set_infrared_range_right(self):
try:
self.i2c_extend.writeto_mem(0x29, 0x00, chr(1))
time.sleep_ms(10)
#time.sleep_ms(40)
data_i2c = self.i2c_extend.readfrom_mem(0x29, 0x1e, 2)
data_i2c = data_i2c[0] << 8 | data_i2c[1]
if data_i2c != 20:
self.infrared_range_right = data_i2c
return data_i2c
else:
print("data_i2c == 20")
return None
except OSError as err:
if err.args[0] == errno.EIO:
print("i2c2 errno.EIO")
return None
else:
print("i2c2 abnormal")
return None
def set_ad48v_chl(self, chn):
try:
if chn == 0:
self.i2c.writeto(self.pcf8591_addr, chr(0x40))
if chn == 1:
self.i2c.writeto(self.pcf8591_addr, chr(0x41))
if chn == 2:
self.i2c.writeto(self.pcf8591_addr, chr(0x42))
if chn == 3:
self.i2c.writeto(self.pcf8591_addr, chr(0x43))
self.i2c.readfrom(self.pcf8591_addr, 1)
ad_value = self.i2c.readfrom(self.pcf8591_addr, 1)
ad_value = ad_value[0] * 58 / 255
self.ad48v = ad_value - 1.2
return ad_value
except OSError as err:
if err.args[0] == errno.EIO:
print("i2c1 ad errno.EIO")
def set_ad48v(self):
self.set_ad48v_chl(0)
def set_tof10120_left(self):
try:
data_i2c = self.i2c.readfrom_mem(self.TOF10120_addr, 0x00, 2)
dis_left = data_i2c[0] * 256 + data_i2c[1]
print("dis_left", '%d' % dis_left)
except OSError as err:
if err.args[0] == errno.EIO:
print("i2c1 tof10120_left errno.EIO")
def set_tof10120_right(self):
try:
data_i2c = self.i2c.readfrom_mem(self.TOF10120_addr + 1, 0x00, 2)
dis_right = data_i2c[0] * 256 + data_i2c[1]
print("dis_left", '%d' % dis_right)
except OSError as err:
if err.args[0] == errno.EIO:
print("i2c1 tof10120_right errno.EIO")
def uvc_autoControl(self):
tempBorder_times = 0
if self.readAdd_times == 0:
self.readAdd_times += 1
self.show_deviceAddr()
self.set_infrared_range_left()
utime.sleep_ms(200)
self.set_ad48v()
utime.sleep_ms(200)
self.set_infrared_range_right()
utime.sleep_ms(200)
self.set_face_detection()
if self.get_keyValue_start():
if ((self.get_face_detection() == 0) and (self.get_ad48v() > 36)):
if ((tempBorder_times <= 3)
and ((self.get_infrared_range_left() < 500) or
(self.get_infrared_range_right() < 500))):
self.set_UVC_OUT(1)
self.set_led(1)
print("uvc_out: 1")
else:
self.set_UVC_OUT(0)
self.set_led(0)
print("uvc_out: 0")
print("key_start_down!")
else:
print("key_start_up!")
self.set_UVC_OUT(0)
self.set_led(0)
print("infrared_range_left = ", self.get_infrared_range_left())
print("infrared_range_right = ", self.get_infrared_range_right())
print("ad48v = ", self.get_ad48v())
print("face_detection = ", self.get_face_detection())
global key_pressed
val=key_gpio.value()
if last_key_state == 1 and val == 0:
key_pressed=1
else:
key_pressed=0
last_key_state = val
lcd.init() #LCD初期化
lcd.rotation(0) #センサーカメラを初期化する
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(1) #カメラミラーリングの設定
sensor.set_vflip(1) #カメラのフリップを設定する
sensor.run(1) #カメラを有効にする
anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437,
6.92275, 6.718375, 9.01025)
#顔検出用アンカー
#顔の5つのキーポイント座標、左目、右目、鼻、左口の角、右口の角
dst_point = [(44,59),(84,59),(64,82),(47,105),(81,105)]
a = kpu.init_yolo2(task_fd, 0.5, 0.3, 5, anchor) #顔検出モデルを初期化する
img_lcd=image.Image() #表示バッファを設定
img_face=image.Image(size=(128,128)) #顔画像バッファを設定
a=img_face.pix_to_ai() #画像をkpuの形式に変換
record_ftr=[] #196次元の特徴ベクトル保存用のリスト
record_ftrs=[] #顔の特徴の主要な特徴を保存する
names = ['Mr.1', 'Mr.2', 'Mr.3', 'Mr.4', 'Mr.5', 'Mr.6', 'Mr.7',
import sensor sensor.run()
from modules import ws2812 WIDTH = 320 HEIGHT = 240 INTERVAL_MS = 2000 lcd.init(freq=15000000) sensor.reset() # sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.set_windowing((WIDTH, HEIGHT)) sensor.set_vflip(True) sensor.set_hmirror(True) sensor.run(True) sensor.skip_frames() # UnitV の Grove ポートを通してシリアル通信する fm.register(35, fm.fpioa.UART1_TX, force=True) fm.register(34, fm.fpioa.UART1_RX, force=True) uart = UART(UART.UART1, 1152000, 8, 0, 0, timeout=2000, read_buf_len=4096) enabled = False # UnitV のボタンイベントを捕捉できるようにする fm.register(18, fm.fpioa.GPIO1) button_a = GPIO(GPIO.GPIO1, GPIO.IN, GPIO.PULL_DOWN) fm.register(19, fm.fpioa.GPIO2) button_b = GPIO(GPIO.GPIO2, GPIO.IN, GPIO.PULL_DOWN) # LED ランプを消す
