def main(model_addr=0x300000, lcd_rotation=0, sensor_hmirror=False, sensor_vflip=False):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(sensor_hmirror)
sensor.set_vflip(sensor_vflip)
sensor.run(1)
lcd.init(type=1)
lcd.rotation(lcd_rotation)
lcd.clear(lcd.WHITE)
task = kpu.load(model_addr)
anchors = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437, 6.92275, 6.718375, 9.01025)
kpu.init_yolo2(task, 0.5, 0.3, 5, anchors) # threshold:[0,1], nms_value: [0, 1]
try:
while(True):
img = sensor.snapshot()
t = time.ticks_ms()
objects = kpu.run_yolo2(task, img)
t = time.ticks_ms() - t
if objects:
for obj in objects:
img.draw_rectangle(obj.rect())
img.draw_string(0, 200, "t:%dms" %(t), scale=2)
lcd.display(img)
except Exception as e:
sys.print_exception(e)
finally:
kpu.deinit(task)
def run(argv):
mode = argv
if (mode == 0):
#check Arrow
sensor.reset()
'''sensor.set_auto_gain(False)
sensor.set_contrast(1)
sensor.set_gainceiling(16)
#sensor.set_windowing((200, 200)) # 240x240 center pixels of VGA
sensor.set_framesize(sensor.QQVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_auto_whitebal(False)
'''
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.skip_frames(time=2000)
findArrow()
else:
#check signal mode
sensor.reset()
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(True)
sensor.set_contrast(-3)
sensor.set_brightness(-3)
sensor.set_gainceiling(8)
sensor.set_pixformat(sensor.RGB565)
sensor.set_vflip(True)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((240, 240)) # 240x240 center pixels of VGA
#sensor.set_windowing((200, 200)) # 200x200 center pixels of VGA
sensor.skip_frames(time=800)
checkSignal()
def main(labels=None,
model_addr="/sd/m.kmodel",
sensor_window=(224, 224),
lcd_rotation=0,
sensor_hmirror=False,
sensor_vflip=False):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing(sensor_window)
sensor.set_hmirror(sensor_hmirror)
sensor.set_vflip(sensor_vflip)
sensor.run(1)
lcd.init(type=1)
lcd.rotation(lcd_rotation)
lcd.clear(lcd.WHITE)
if not labels:
with open('labels.txt', 'r') as f:
exec(f.read())
if not labels:
print("no labels.txt")
img = image.Image(size=(320, 240))
img.draw_string(90, 110, "no labels.txt", color=(255, 0, 0), scale=2)
lcd.display(img)
return 1
try:
img = image.Image("startup.jpg")
lcd.display(img)
except Exception:
img = image.Image(size=(320, 240))
img.draw_string(90,
110,
"loading model...",
color=(255, 255, 255),
scale=2)
lcd.display(img)
task = kpu.load(model_addr)
try:
while (True):
img = sensor.snapshot()
t = time.ticks_ms()
fmap = kpu.forward(task, img)
t = time.ticks_ms() - t
plist = fmap[:]
pmax = max(plist)
max_index = plist.index(pmax)
img.draw_string(0,
0,
"%.2f : %s" % (pmax, labels[max_index].strip()),
scale=2)
img.draw_string(0, 200, "t:%dms" % (t), scale=2)
lcd.display(img)
except Exception as e:
raise e
finally:
kpu.deinit(task)
def __init__(self,
out_range=10,
ignore_limit=0.02,
hmirror=False,
vflip=False,
lcd_rotation=2,
lcd_mirror=True):
self.pitch = 0
self.roll = 0
self.out_range = out_range
self.ignore = ignore_limit
self.task_fd = kpu.load(0x300000) # face model addr in flash
anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658,
5.155437, 6.92275, 6.718375, 9.01025)
kpu.init_yolo2(self.task_fd, 0.5, 0.3, 5, anchor)
lcd.init()
lcd.rotation(lcd_rotation)
lcd.mirror(lcd_mirror)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
if hmirror:
sensor.set_hmirror(1)
if vflip:
sensor.set_vflip(1)
def check(self):
try:
self.btn.expand_event()
if self.btn.home() == 2:
sipeed_led.w.value(0)
Report.RearSensor_Test = True
sample_page.next()
if self.isconnected == False:
try:
sensor.reset()
sensor.set_pixformat(sensor.YUV422)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(1)
sensor.set_vflip(1)
sensor.run(1)
sensor.skip_frames()
self.isconnected = True
sipeed_led.w.value(0)
except Exception as e:
Report.RearSensor_Test = False
Report.isError = str(e)
print(e)
except Exception as e:
Report.RearSensor_Test = False
Report.isError = str(e)
print(e)
def reset_sensor(self):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_vflip(True)
sensor.set_hmirror(True)
self.logger.trace("skipping frames...")
sensor.skip_frames(time=2000)
def init():
sensor.reset(dual_buff=obj.is_dual_buff)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(1)
sensor.set_vflip(1)
sensor.run(1)
sensor.skip_frames()
def init_sensor():
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) # VGA is over
sensor.set_hmirror(1)
sensor.set_windowing((WINDOW_SIZE, WINDOW_SIZE))
sensor.set_vflip(1)
sensor.run(1)
def init():
sensor.reset(dual_buff=__class__.is_dual_buff)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing((320, 224))
sensor.set_hmirror(1)
sensor.set_vflip(1)
sensor.run(1)
sensor.skip_frames()
def reset_sensor():
sensor.reset()
sensor.set_pixformat(
sensor.RGB565 if COLOR_LINE_FOLLOWING else sensor.GRAYSCALE)
sensor.set_framesize(FRAME_SIZE)
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_windowing((int((sensor.width() / 2) - ((sensor.width() / 2) * FRAME_WIDE)), int(sensor.height() * (1.0 - FRAME_REGION)), \
int((sensor.width() / 2) + ((sensor.width() / 2) * FRAME_WIDE)), int(sensor.height() * FRAME_REGION) - BOTTOM_PX_TO_REMOVE))
sensor.skip_frames(time=200)
if COLOR_LINE_FOLLOWING: sensor.set_auto_gain(False)
if COLOR_LINE_FOLLOWING: sensor.set_auto_whitebal(False)
def camera_init():
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
# ov2640 id:9794 ,ov5642 id:22082
if sensor.get_id() == 9794:
sensor.set_hmirror(1)
sensor.set_vflip(1)
else:
sensor.set_hmirror(0)
sensor.set_vflip(1)
lcd.rotation(1)
def shoot(shutdown = False):
import sensor
if not Camera.isOn:
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(Camera.mode)
sensor.set_framesize(Camera.frame)
sensor.skip_frames(10)
pic = sensor.snapshot()
sensor.shutdown(shutdown)
Camera.isOn = not shutdown
return pic
def __init__(self):
"""Initialize the LED to show state and setup the camera sensor"""
self._red_led = pyb.LED(1) # Turns led on (red color)
self._red_led.on()
# Setup sensor settings
# https://docs.openmv.io/library/omv.sensor.html#constants
sensor.reset()
sensor.set_vflip(True) # Reverse image on vertical axis
sensor.set_hmirror(True) # Reverse image on horizontal axis
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_auto_gain(False) # Must be turned off for color tracking
# Must be turned off for color tracking
sensor.set_auto_whitebal(False)
def main(anchors, labels = None, model_addr="/sd/m.kmodel", sensor_window=(224, 224), lcd_rotation=0, sensor_hmirror=False, sensor_vflip=False):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing(sensor_window)
sensor.set_hmirror(sensor_hmirror)
sensor.set_vflip(sensor_vflip)
sensor.run(1)
lcd.init(type=1)
lcd.rotation(lcd_rotation)
lcd.clear(lcd.WHITE)
if not labels:
with open('labels.txt','r') as f:
exec(f.read())
if not labels:
print("no labels.txt")
img = image.Image(size=(320, 240))
img.draw_string(90, 110, "no labels.txt", color=(255, 0, 0), scale=2)
lcd.display(img)
return 1
try:
img = image.Image("startup.jpg")
lcd.display(img)
except Exception:
img = image.Image(size=(320, 240))
img.draw_string(90, 110, "loading model...", color=(255, 255, 255), scale=2)
lcd.display(img)
task = kpu.load(model_addr)
kpu.init_yolo2(task, 0.5, 0.3, 5, anchors) # threshold:[0,1], nms_value: [0, 1]
try:
while 1:
img = sensor.snapshot()
t = time.ticks_ms()
objects = kpu.run_yolo2(task, img)
t = time.ticks_ms() - t
if objects:
for obj in objects:
pos = obj.rect()
img.draw_rectangle(pos)
img.draw_string(pos[0], pos[1], "%s : %.2f" %(labels[obj.classid()], obj.value()), scale=2, color=(255, 0, 0))
img.draw_string(0, 200, "t:%dms" %(t), scale=2, color=(255, 0, 0))
lcd.display(img)
except Exception as e:
raise e
finally:
kpu.deinit(task)
def uarm_setup(grayscale=False, resolution=2):
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE if grayscale else sensor.RGB565)
# image resolution affects the calibration data
size_lookup = [
sensor.QQQQVGA, sensor.QQQVGA, sensor.QQVGA, sensor.QVGA, sensor.VGA
]
sensor.set_framesize(size_lookup[resolution])
# both rotate & mirror the image, so it's coordinates match the uArm's
sensor.set_hmirror(True)
# chop off the extra black spaces after rotation
sensor.set_windowing((int((sensor.width() - sensor.height()) / 2), 0,
sensor.height(), sensor.height()))
# any other sensor configurations go here...
# finally, skip some frames after configuring
sensor.skip_frames()
def initialize(uart_timeout):
"""Initialize the camera and lcd."""
lcd.init(freq=15000000)
sensor.reset(freq=20000000, set_regs=True, dual_buff=True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(False)
sensor.set_vflip(False)
sensor.skip_frames(time=2000)
fm.register(board_info.PIN15, fm.fpioa.UART1_TX)
uart_A = UART(UART.UART1,
115200,
8,
0,
0,
timeout=uart_timeout,
read_buf_len=4096)
last_time = time()
return uart_A, last_time
def init(self,
gain_db=0,
shutter_us=500000,
framesize=sensor.WQXGA2,
force_reset=True,
flip=False):
if self.simulate:
self.shutter = shutter_us
self.gain = gain_db
self.snap_started = False
return
if force_reset or self.has_error or self.gain != gain_db or self.shutter != shutter_us or self.framesize != framesize or self.flip != flip:
sensor.reset()
sensor.set_pixformat(self.pixfmt)
sensor.set_framesize(framesize)
if flip: # upside down camera
sensor.set_vflip(True)
sensor.set_hmirror(True)
self.flip = flip
self.framesize = framesize
if shutter_us < 0:
sensor.set_auto_exposure(True)
else:
if shutter_us > 500000:
sensor.__write_reg(0x3037, 0x08) # slow down PLL
if shutter_us > 1000000:
pyb.delay(100)
sensor.__write_reg(0x3037, 0x18) # slow down PLL
if shutter_us > 1500000:
pyb.delay(100)
sensor.__write_reg(0x3036, 80) # slow down PLL
# warning: doesn't work well, might crash
pyb.delay(200)
sensor.set_auto_exposure(False, shutter_us)
self.shutter = shutter_us
if gain_db < 0:
sensor.set_auto_gain(True)
else:
sensor.set_auto_gain(False, gain_db)
self.gain = gain_db
self.wait_init = 2
self.width = sensor.width()
self.height = sensor.height()
def main(model_addr=0x300000,
lcd_rotation=0,
sensor_hmirror=False,
sensor_vflip=False):
try:
sensor.reset()
except Exception as e:
raise Exception(
"sensor reset fail, please check hardware connection, or hardware damaged! err: {}"
.format(e))
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(sensor_hmirror)
sensor.set_vflip(sensor_vflip)
sensor.run(1)
lcd.init(type=1)
lcd.rotation(lcd_rotation)
lcd.clear(lcd.WHITE)
anchors = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437,
6.92275, 6.718375, 9.01025)
try:
task = None
task = kpu.load(model_addr)
kpu.init_yolo2(task, 0.5, 0.3, 5,
anchors) # threshold:[0,1], nms_value: [0, 1]
while (True):
img = sensor.snapshot()
t = time.ticks_ms()
objects = kpu.run_yolo2(task, img)
t = time.ticks_ms() - t
if objects:
for obj in objects:
img.draw_rectangle(obj.rect())
img.draw_string(0, 200, "t:%dms" % (t), scale=2)
lcd.display(img)
except Exception as e:
raise e
finally:
if not task is None:
kpu.deinit(task)
def initialize_camera():
err_counter = 0
while 1:
try:
sensor.reset() #Reset sensor may failed, let's try some times
break
except:
err_counter = err_counter + 1
if err_counter == 20:
lcd.draw_string(lcd.width() // 2 - 100,
lcd.height() // 2 - 4,
"Error: Sensor Init Failed", lcd.WHITE,
lcd.RED)
time.sleep(0.1)
continue
sensor.set_hmirror(1)
sensor.set_vflip(1)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.VGA) #QVGA=320x240, VGA is max!!!
sensor.run(1)
def shoot(shutdown = False):
import sensor
if not Camera.isOn:
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(Camera.mode)
sensor.set_framesize(Camera.frame)
sensor.skip_frames(10)
pic = sensor.snapshot()
pic.gamma_corr(1, Camera.contrast, Camera.brightness)
if Camera.filter1 > 0:
postProcess.applyFilter(Camera.filter1, pic)
if Camera.filter2 > 0:
postProcess.applyFilter(Camera.filter2, pic)
if Camera.postproc == 1:
postProcess.faceDetect(pic)
sensor.shutdown(shutdown)
Camera.isOn = not shutdown
return pic
def main(labels = None, model_addr="/sd/m.kmodel", lcd_rotation=0, sensor_hmirror=False, sensor_vflip=False):
gc.collect()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing((224, 224))
sensor.set_hmirror(sensor_hmirror)
sensor.set_vflip(sensor_vflip)
sensor.run(1)
lcd.init(type=1)
lcd.rotation(lcd_rotation)
lcd.clear(lcd.WHITE)
if not labels:
raise Exception("no labels.txt")
task = kpu.load(model_addr)
try:
while(True):
img = sensor.snapshot()
t = time.ticks_ms()
fmap = kpu.forward(task, img)
t = time.ticks_ms() - t
plist=fmap[:]
pmax=max(plist)
max_index=plist.index(pmax)
img.draw_string(0,0, "%.2f\n%s" %(pmax, labels[max_index].strip()), scale=2, color=(255, 0, 0))
img.draw_string(0, 200, "t:%dms" %(t), scale=2, color=(255, 0, 0))
lcd.display(img)
except Exception as e:
sys.print_exception(e)
finally:
kpu.deinit(task)
# Sensor Horizontal Mirror Example
#
# This example shows off horizontally mirroring the image in hardware
# from the camera sensor.
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)
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
# Change this to False to undo the mirror.
sensor.set_hmirror(True)
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
print(clock.fps()) # Note: OpenMV Cam runs about half as fast when connected
# to the IDE. The FPS should increase once disconnected.
import sensor
import image
import lcd
import time
clock = time.clock()
#lcd.direction(lcd.YX_RLUD)
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_vflip(1)
sensor.set_hmirror(1)
sensor.run(1)
sensor.skip_frames(30)
#sensor.set_brightness(17)
while True:
clock.tick()
img = sensor.snapshot()
res = img.find_qrcodes()
fps = clock.fps()
if len(res) > 0:
#img.draw_string(2,2, res[0].payload(), color=(0,128,0), scale=2)
tupleboxa = res[0].rect()
img.draw_string(40, 20, res[0].payload(), (236, 36, 36), scale=1.5)
img.draw_rectangle(tupleboxa, (236, 36, 36))
print(res[0].payload())
lcd.display(img)
if last_key_state == 1 and val == 0:
key_pressed = 1
else:
key_pressed = 0
last_key_state = val
fm.register(7, fm.fpioa.UART1_RX, force=True) #配置uart 7接收
uart = UART(UART.UART1, 115200, 8, None, 1, timeout=1000,
read_buf_len=4096) #配置uart
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(0) #设置摄像头镜像
sensor.set_vflip(0) #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。
names = [] # 人名标签，与上面列表特征值一一对应。
with open("/sd/recordftr3.txt", "r") as f:
pulse = 0
counter = 0
# HALL EFFECT SENSOR PIN
pin = pyb.Pin("P9", pyb.Pin.IN)
#time.sleep(500)
extint = pyb.ExtInt(pin, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_DOWN, callback=callback1)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.skip_frames(time = 2000)
clock = time.clock()
# Using line object, following function returns shortest distance from center of image window
# to extended line's left boundary, as well as two important deviations: theta_deviation, which is the deviation
# of the camera alignment from the straight line, and rho_deviation, which is the deviation
# of the alignment from the perpendicular normal to the left boundary of the line. Both angular deviations could
# be more aptly described as the "SHORTEST TURN ANGLE TO ALIGN WITH RESPECTIVE DIRECTION",
# where the two directions in question are clearly orthogonal.
# "distance" = SHORTEST DISTANCE FROM POSITION TO INNER TURN (+8 PX) OF DISCOVERED LINE. This
# is so that car stays on the inside track (going left).
if OV77XX_EN:
#sensor.reset(freq=20000000, set_regs=True, dual_buff=False) #OV7740 Loop Time :155ms, run fps:6.451613
sensor.reset(freq=20000000,
dual_buff=True) #OV7740 Loop Time :91ms, run fps:10.98901
#sensor.reset(freq=20000000)
else:
sensor.reset() # OV2640 Reset and initialize the sensor. It will
# run automatically, call sensor.run(0) to stop
#sensor.shutdown(enable)
gc.collect()
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.VGA)
#sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
#sensor.set_auto_whitebal(True) #OV2640
sensor.set_hmirror(1) #for unit V
sensor.set_vflip(1) #for unit V
img_w = sensor.width()
img_h = sensor.height()
sensor_ID = sensor.get_id()
print("image sensor is " + str(sensor_ID) + ", with size " + str(img_w) +
" x " + str(img_h))
sensor.run(1)
sensor.skip_frames(time=1000) # Wait for settings take effect.
#sensor.skip_frames(30) #Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
Zeit_end = 600 * 1000
condition = True
Zeit_Anfang = time.ticks_ms()
run_cnt = 0
# AprilTags
#
# Rotates the image based on the AprilTag
# Tested with TAG36H11
import sensor, image, time, math, pyb
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(
sensor.QQVGA) # we run out of memory if the resolution is much bigger...
flipped = True
sensor.set_hmirror(flipped)
sensor.set_vflip(flipped)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
def degrees(radians):
return (180 * radians) / math.pi
def line_filter_call_back(src, dst):
global length
length = len(src)
for i in range(len(src)):
dst[i] = src[i >> 1]
import sensor
import image
import lcd
import time
from fpioa_manager import fm
from machine import UART
from board import board_info
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(0) # Mirrors image
sensor.run(1)
fm.register(board_info.PIN15, fm.fpioa.UART1_TX,
force=True) # Sets pin15 as new TX-pin
# fm.register(board_info.PIN17, fm.fpioa.UART1_RX, force=True)
# fm.register(board_info.PIN9, fm.fpioa.UART2_TX, force=True)
# fm.register(board_info.PIN10, fm.fpioa.UART2_RX, force=True)
uart_A = UART(UART.UART1, 115200, 8, None, 1, timeout=1000, read_buf_len=4096)
green_threshold = (100, 0, -16, -128, 5, 15)
while True:
img = sensor.snapshot()
greenblobs = img.find_blobs([green_threshold],
area_threshold=40,
merge=True,
margin=10)
if greenblobs:
import sensor,image,lcd,time
import KPU as kpu
from Maix import GPIO
from fpioa_manager import *
from board import board_info
lcd.init()
lcd.rotation(2)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(0)
sensor.set_vflip(0)
sensor.run(1)
fm.register(board_info.LED_R, fm.fpioa.GPIO4)
led_r = GPIO(GPIO.GPIO4, GPIO.OUT)
led_r.value(1)
clock = time.clock()
classes = ['aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog', 'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor']
task = kpu.load("/sd/model/20class.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)
try:
while(True):
clock.tick()
import sensor, image, time, lcd, math lcd.init() sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.set_contrast(-2) sensor.set_gainceiling(16) sensor.set_vflip(False) sensor.set_hmirror(False) sensor.set_auto_gain(False) sensor.set_auto_whitebal(False) IMG_HEIGHT = 224 IMG_WIDTH = 224 sensor.set_windowing((IMG_HEIGHT, IMG_WIDTH)) sensor.run(1) sensor.skip_frames(time = 500) COLOR_THRESHOLD = [(96, 100, -128, 127, -128, 127)] AREA_THRESHOLD = 40 PIXELS_THRESHOLD = 40 LANE_ROI = (0, 112, IMG_WIDTH, 112) BINARY_VIEW = True MAG_THRESHOLD = 0 MIXING_RATE = 0.9 THROTTLE_OFFSET = 1000.0 THROTTLE_GAIN = 1.0
#k210阈值测试codes
import sensor
import image
import lcd
import time
import pyb
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_hmirror(1) #摄像头镜像
sensor.set_vflip(1)
sensor.run(1)
sensor.skip_frames(30) #跳过指定帧数或者跳过指定时间内的图像，让相机图像稳定
test_threshold = (30, 53, 24, 50, 22, 42) #所测试区域的阈值
while True:
img = sensor.snapshot()
blobs1 = img.find_blobs([test_threshold])
if blobs1:
for b in blobs1:
tmp = img.draw_rectangle(b[0:4]) #画矩阵
tmp = img.draw_cross(b[5], b[6]) #画中心交叉点
c = img.get_pixel(b[5], b[6])
print('find it')
pyb.delay(500)
lcd.display(img)