# Basic Frame Differencing Example
#
# Note: You will need an SD card to run this example.
#
# This example demonstrates using frame differencing with your OpenMV Cam. It's
# called basic frame differencing because there's no background image update.
# So, as time passes the background image may change resulting in issues.
import sensor, image, pyb, os, time
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QVGA) # or sensor.QQVGA (or others)
sensor.skip_frames(time = 2000) # Let new settings take affect.
sensor.set_auto_whitebal(False) # Turn off white balance.
clock = time.clock() # Tracks FPS.
if not "temp" in os.listdir(): os.mkdir("temp") # Make a temp directory
print("About to save background image...")
sensor.skip_frames(time = 2000) # Give the user time to get ready.
sensor.snapshot().save("temp/bg.bmp")
print("Saved background image - Now frame differencing!")
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
# Replace the image with the "abs(NEW-OLD)" frame difference.
img.difference("temp/bg.bmp")
# only track colored objects which have both the colors below in them.
import sensor, image, time, math
# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds -> index is 0 so code == (1 << 0)
(30, 100, -64, -8, -32, 32)] # generic_green_thresholds -> index is 1 so code == (1 << 1)
# Codes are or'ed together when "merge=True" for "find_blobs".
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" must be set to merge overlapping color blobs for color codes.
while(True):
clock.tick()
img = sensor.snapshot()
for blob in img.find_blobs(thresholds, pixels_threshold=100, area_threshold=100, merge=True):
if blob.code() == 3: # r/g code == (1 << 1) | (1 << 0)
# These values depend on the blob not being circular - otherwise they will be shaky.
if blob.elongation() > 0.5:
img.draw_edges(blob.min_corners(), color=(255,0,0))
img.draw_line(blob.major_axis_line(), color=(0,255,0))
for i in range(len(lab_color_thresholds)):
if lab_color_thresholds[i][7]:
e_lab_color_thresholds.append(lab_color_thresholds[i][0:6])
e_lab_color_code.append(lab_color_thresholds[i][6])
e_lab_color_signatures.append(i + 1)
import image, math, pyb, sensor, struct, time
# Camera Setup
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
# LED Setup
red_led = pyb.LED(1)
green_led = pyb.LED(2)
blue_led = pyb.LED(3)
red_led.off()
green_led.off()
blue_led.off()
# DAC Setup
dac = pyb.DAC("P6") if analog_out_enable else None
# Find Data Matrices Example
#
# This example shows off how easy it is to detect data matrices using the
# OpenMV Cam M7. Data matrices detection does not work on the M4 Camera.
import sensor, image, time, math
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot()
img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens.
matrices = img.find_datamatrices()
for matrix in matrices:
img.draw_rectangle(matrix.rect(), color = (255, 0, 0))
print_args = (matrix.rows(), matrix.columns(), matrix.payload(), (180 * matrix.rotation()) / math.pi, clock.fps())
print("Matrix [%d:%d], Payload \"%s\", rotation %f (degrees), FPS %f" % print_args)
if not matrices:
print("FPS %f" % clock.fps())
device.position(1, us=steering)
#
# Camera Control Code
#
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)))
sensor.skip_frames(time = 200)
if COLOR_LINE_FOLLOWING: sensor.set_auto_gain(False)
if COLOR_LINE_FOLLOWING: sensor.set_auto_whitebal(False)
clock = time.clock()
#sensor.set_auto_exposure(False, \
# exposure_us = 300)
###########
# Loop
###########
old_time = pyb.millis()
throttle_old_result = None
throttle_i_output = 0
throttle_output = THROTTLE_OFFSET
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
red_blobs = img.find_blobs([(65, 95, 10, 45, -20, 12)])
for blob in red_blobs:
img.draw_rectangle(blob[0:4], color=(0,255,0), thickness=4)
img.draw_cross(blob[5], blob[6]) # center_x, center_y
print("FPS %f" % clock.fps())
import sensor, image, time, pyb
from pyb import UART
uart = UART(3, 57600)#timeout_char =10
from pyb import Pin
p8_pin = pyb.Pin.board.P8
p8_pin.init(Pin.IN,Pin.PULL_UP)
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.GRAYSCALE) # 格式为 RGB565.
sensor.set_framesize(sensor.QQVGA) # 使用 QQVGA 速度快一些
sensor.set_auto_whitebal(False)
clock = time.clock() # 追踪帧率
a=1
position_X=80
position_Y=60
new_point_ready = 0
detect_mode = 1# 1黑色 0彩色
def led_blink(x):
led = pyb.LED(x)
led.on()
time.sleep(5)
led.off()
def send_position():
if (new_point_ready == 1):
uart.writechar(0xFF)
uart.writechar(position_X)
uart.writechar(position_Y)
if (detect_mode == 0):
# recording a Mjpeg file you can use VLC to play it. If you are on Ubuntu then
# the built-in video player will work too.
#
# This example demonstrates using frame differencing with your OpenMV Cam to do
# motion detection. After motion is detected your OpenMV Cam will take video.
import sensor, image, time, mjpeg, pyb, os
RED_LED_PIN = 1
BLUE_LED_PIN = 3
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QVGA) # or sensor.QQVGA (or others)
sensor.skip_frames(time=2000) # Let new settings take affect.
sensor.set_auto_whitebal(False) # Turn off white balance.
if not "temp" in os.listdir(): os.mkdir("temp") # Make a temp directory
while (True):
pyb.LED(RED_LED_PIN).on()
print("About to save background image...")
sensor.skip_frames(time=2000) # Give the user time to get ready.
pyb.LED(RED_LED_PIN).off()
sensor.snapshot().save("temp/bg.bmp")
print("Saved background image - Now detecting motion!")
pyb.LED(BLUE_LED_PIN).on()
diff = 10 # We'll say we detected motion after 10 frames of motion.
# Find Data Matrices w/ Lens Zoom Example
#
# This example shows off how easy it is to detect data matrices using the
# OpenMV Cam M7. Data matrices detection does not work on the M4 Camera.
import sensor, image, time, math
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.VGA)
sensor.set_windowing((320, 240)) # 2x Zoom
sensor.skip_frames(30)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(
False) # must turn this off to prevent image washout...
clock = time.clock()
while (True):
clock.tick()
img = sensor.snapshot()
matrices = img.find_datamatrices()
for matrix in matrices:
img.draw_rectangle(matrix.rect(), color=(255, 0, 0))
print_args = (matrix.rows(), matrix.columns(), matrix.payload(),
(180 * matrix.rotation()) / math.pi, clock.fps())
print("Matrix [%d:%d], Payload \"%s\", rotation %f (degrees), FPS %f" %
print_args)
if not matrices:
print("FPS %f" % clock.fps())
if blob[2] * blob[3] > max_size:
max_blob = blob
max_size = blob[2] * blob[3]
return max_blob
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_framerate(0 << 9 | 1 << 12)
sensor.set_auto_exposure(False, 500)
sensor.set_contrast(0)
sensor.set_brightness(-3)
sensor.set_saturation(1)
sensor.set_auto_gain(False, 10)
sensor.set_auto_whitebal(False, RGB_gain)
sensor.skip_frames(time=2000)
while (True):
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs([red_threshold],
x_stride=2,
y_stride=2,
invert=False,
area_threshold=6,
pixels_threshold=6,
merge=True,
margin=5,
roi=[0, 60, 320, 195])
if blobs:
for b in blobs:
import utime # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... pingpang = (70, 90, 10, 35, 10, 50) pingpang_night = (65, 80, 0, 45, 0, 60) tennis = (60, 75, -30, -15, 30, 50) black = (15, 75, -5, 5, -5, 20) # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.RGB565) # use RGB565. sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. uart = UART(3, 115200) flag = 0 timeNumber = 0 x = 0 y = 0 Kp_x = 0.08 Td_x = 0.02 Kp_y = 0.08 Td_y = 0.02 ''' Kp_x=0.09 Td_x=0.02 Kp_y=0.09
uart_B = UART(UART.UART2, 115200, 8, None, 1, timeout=10)
import sensor, image, time, lcd, math
import KPU as kpu
#task = kpu.load("/sd/paste_mnist.kmodel")
task = kpu.load("/sd/mnist.kmodel")
info = kpu.netinfo(task)
lcd.init(freq=15000000)
sensor.reset() # Reset and initialize the sensor. It will
# run automatically, call sensor.run(0) to stop
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.set_vflip(True)
sensor.set_auto_gain(True)
sensor.set_auto_whitebal(True)
sensor.set_gainceiling(8)
sensor.skip_frames(time=2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
def mnist_run(img, dx, dy, dis, x00=0, y00=80, nnn=2):
if nnn == 4:
x00 = x00
dy = dy
img0 = img.copy((x00 + dis * nnn, y00 + nnn * 0, dx, dy))
#img0.mean(2, threshold=True, offset=1, invert=True) #A
img0.median(2, percentile=0.3, threshold=True, offset=-3, invert=True)
#img0.midpoint(2, bias=0.3, threshold=True, offset=0, invert=True)
#img0.mode(2, threshold=True, offset=0, invert=True) #B
calThresh = [(50, 100, -128, 127, -128, 127)]
calTimeOut = 3000
calibrate = False
#SETUP
sensor.reset()
sensor.set_hmirror(True)
sensor.set_vflip(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_windowing((windowX, windowY)) # 240x240 center pixels of VGA
sensor.set_auto_gain(False,
gain_db=20) # must be turned off for color tracking
sensor.set_gainceiling(128)
sensor.set_auto_whitebal(
False,
rgb_gain_db=(-6.0, -3.0, 2)) # must be turned off for color tracking
#sensor.set_brightness(-1)
sensor.set_saturation(3)
#sensor.set_quality(100)
#sensor.set_auto_exposure(False, 1000)
#sensor.set_contrast(3)
sensor.skip_frames(time=2000)
clock = time.clock()
#kernel_size = 1 # 3x3==1, 5x5==2, 7x7==3, etc.
#kernel = [-2, -1, 0, \
#-1, 6, -1, \
#0, -1, -2]
while (True):
