def start_streaming(s):
print ('Waiting for connections..')
client, addr = s.accept()
# set client socket timeout to 2s
client.settimeout(2.0)
print ('Connected to ' + addr[0] + ':' + str(addr[1]))
# Read request from client
data = client.recv(1024)
# Should parse client request here
# Send multipart header
client.send("HTTP/1.1 200 OK\r\n" \
"Server: OpenMV\r\n" \
"Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
"Cache-Control: no-cache\r\n" \
"Pragma: no-cache\r\n\r\n")
# FPS clock
clock = time.clock()
# Start streaming images
# NOTE: Disable IDE preview to increase streaming FPS.
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
frame = sensor.snapshot()
cframe = frame.compressed(quality=35)
header = "\r\n--openmv\r\n" \
"Content-Type: image/jpeg\r\n"\
"Content-Length:"+str(cframe.size())+"\r\n\r\n"
client.send(header)
client.send(cframe)
print(clock.fps())
def find_face():
for i in range(0, 100):
img = sensor.snapshot()
while (True):
img = sensor.snapshot()
objects = img.find_features(face_cascade, threshold=0.65, scale=1.65)
if objects:
print (objects[0])
img.draw_rectangle(objects[0])
try:
kpts1 = img.find_keypoints(threshold=32, normalized=False, roi=objects[0])
except:
continue
if kpts1:
img.draw_keypoints(kpts1)
time.sleep(1000)
return kpts1
def test_color_bars():
sensor.reset()
# Set sensor settings
sensor.set_brightness(0)
sensor.set_saturation(0)
sensor.set_gainceiling(8)
sensor.set_contrast(2)
# Set sensor pixel format
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.RGB565)
# Enable colorbar test mode
sensor.set_colorbar(True)
# Skip a few frames to allow the sensor settle down
# Note: This takes more time when exec from the IDE.
for i in range(0, 100):
image = sensor.snapshot()
# Color bars thresholds
t = [lambda r, g, b: r < 50 and g < 50 and b < 50, # Black
lambda r, g, b: r < 50 and g < 50 and b > 200, # Blue
lambda r, g, b: r > 200 and g < 50 and b < 50, # Red
lambda r, g, b: r > 200 and g < 50 and b > 200, # Purple
lambda r, g, b: r < 50 and g > 200 and b < 50, # Green
lambda r, g, b: r < 50 and g > 200 and b > 200, # Aqua
lambda r, g, b: r > 200 and g > 200 and b < 50, # Yellow
lambda r, g, b: r > 200 and g > 200 and b > 200] # White
# 320x240 image with 8 color bars each one is approx 40 pixels.
# we start from the center of the frame buffer, and average the
# values of 10 sample pixels from the center of each color bar.
for i in range(0, 8):
avg = (0, 0, 0)
idx = 40*i+20 # center of colorbars
for off in range(0, 10): # avg 10 pixels
rgb = image.get_pixel(idx+off, 120)
avg = tuple(map(sum, zip(avg, rgb)))
if not t[i](avg[0]/10, avg[1]/10, avg[2]/10):
raise Exception("COLOR BARS TEST FAILED. "
"BAR#(%d): RGB(%d,%d,%d)"%(i+1, avg[0]/10, avg[1]/10, avg[2]/10))
print("COLOR BARS TEST PASSED...")
def unittest(data_path, temp_path):
import sensor
sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
img = sensor.snapshot().clear()
img.set_pixel(img.width()//2+50, 120, 255)
img.set_pixel(img.width()//2-50, 120, 255)
img.draw_line([img.width()//2-50, 50, img.width()//2+50, 50])
img.draw_rectangle([img.width()//2-25, img.height()//2-25, 50, 50])
img.draw_circle(img.width()//2, img.height()//2, 40)
img.draw_string(11, 10, "HelloWorld!")
img.draw_cross(img.width()//2, img.height()//2)
sensor.flush()
img.difference(data_path+"/drawing.pgm")
stats = img.get_statistics()
return (stats.max() == 0) and (stats.min() == 0)
def find_face():
global sensor, time
# Load Haar Cascade
face_cascade = HaarCascade("/frontalface.cascade")
while (True):
image = sensor.snapshot()
objects = image.find_features(face_cascade, threshold=0.65, scale=1.85)
if objects:
print (objects[0])
image.draw_rectangle(objects[0])
try:
kpts1 = image.find_keypoints(threshold=32, normalized=False, roi=objects[0])
except:
continue
if kpts1:
image.draw_keypoints(kpts1)
time.sleep(1000)
return kpts1
# Grayscale Light Removal
#
# This example shows off how to remove bright lights from the image.
# You can do this using the binary() method with the "zero=" argument.
#
# Removing bright lights from the image allows you to now use
# histeq() on the image without outliers from oversaturated
# parts of the image breaking the algorithm...
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.
clock = time.clock() # Tracks FPS.
thresholds = (220, 255)
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot().binary([thresholds], invert=False, zero=True)
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
# TV Example
#
# Note: To run this example you will need a wireless tv shield for your OpenMV Cam.
#
# The wireless video tv Shield allows you to view your OpenMV Cam's frame buffer on the go.
import sensor, image, tv
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QQVGA)
tv.init() # Initialize the tv.
tv.channel(8) # For wireless video transmitter shield
while(True):
tv.display(sensor.snapshot()) # Take a picture and display the image.
Important:
This script should be copied to the OpenMV Cam as `main.py`.
Source:
https://github.com/openmv/openmv/blob/master/scripts/examples/02-Board-Control/usb_vcp.py
"""
import sensor
import ustruct
import pyb
usb_vcp = pyb.USB_VCP()
# Disable USB interrupt (CTRL-C by default) when sending raw data (i.e. images)
# See: https://docs.openmv.io/library/pyb.USB_VCP.html#pyb.USB_VCP.setinterrupt
usb_vcp.setinterrupt(-1)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.VGA)
sensor.skip_frames(time=2000) # wait for settings to take effect!
while True:
command = usb_vcp.recv(4, timeout=5000)
if command == b'snap':
image = sensor.snapshot().compress()
usb_vcp.send(ustruct.pack('<L', image.size()))
usb_vcp.send(image)
gray = image.rgb_to_grayscale(rgb)
img_gray.set_pixel(x, y, gray)
#grayFram[x,y] = gray
a = img_gray.get_pixel(10, 10)
print(a)
return img_gray
path = "0.bmp"
img = image.Image(path, copy_to_fb=True)
sensor.reset()
sensor.set_framesize(sensor.QVGA)
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames(10)
img_gray = sensor.snapshot()
#sensor.flush()
#time.sleep(100)
#roi = (10,10,10,10)
#thres = (49,174)
while (True):
#clock.tick()
#img_gray = sensor.snapshot()
#a = img.get_pixel(10,10)
#i = rgb2gray(img)
#time.sleep(100)
# Negative Example
#
# This example shows off negating the image. This is not a particularly
# useful method but it can come in handy once in a while.
import sensor, image, 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.
clock = time.clock() # Tracks FPS.
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot().negate()
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
s.settimeout(1.0)
print ('Waiting for connections..')
client, addr = s.accept()
print ('Connected to ' + addr[0] + ':' + str(addr[1]))
# Read request from client
data = client.recv(1024)
# Should parse client request here
# Send multipart header
client.send("HTTP/1.1 200 OK\r\n" \
"Server: OpenMV\r\n" \
"Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
"Cache-Control: no-cache\r\n" \
"Pragma: no-cache\r\n\r\n")
# FPS clock
clock = time.clock()
# Start streaming images
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
frame = sensor.snapshot()
client.send("\r\n--openmv\r\n" \
"Content-Type: image/jpeg\r\n"\
"Content-Length:"+str(frame.size())+"\r\n\r\n")
client.send(frame.compress(35))
print(clock.fps())
client.close()
import sensor, time
# Set sensor contrast
sensor.set_contrast(1)
# Set sensor brightness
sensor.set_brightness(-2)
# Set sensor to pixel format
sensor.set_pixformat(sensor.GRAYSCALE)
# Load template
template = Image("0:/template.pgm")
# Run template matching
while (True):
image = sensor.snapshot()
r = image.find_template(template, 0.75)
if r:
image.draw_rectangle(r)
time.sleep(50)
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(10) # Let new settings take affect.
sensor.set_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(60) # 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.
while(diff):
img = sensor.snapshot()
img.difference("temp/bg.bmp")
for blob_l in img.find_blobs([(20, 100, -128, 127, -128, 127)]):
for blob in blob_l:
# Over 100 pixels need to change to detect motion.
if (diff and (blob[4] > 100)): diff -= 1
m = mjpeg.Mjpeg("example-%d.mjpeg" % pyb.rng())
clock = time.clock() # Tracks FPS.
lcd.rotation(0)
time.sleep(1)
count = 0
while (corgi85.wifi_check() == 0):
print("WIFI Connecting")
time.sleep(1)
print("\n\nWIFI Connected")
print("\n\nSet line Token:", token)
corgi85.LINE_setToken(token) #set line Token
print("\n\nsend line image")
img = sensor.snapshot() # camera capture image
lcd.display(img) # lcd display image
corgi85.LINE_notifyPicture(
img, "CorgiDude LINE notify Picture") # send image to line noti
time.sleep(3)
print("\n\nsend message to line noti: Hello From CorgiDude")
corgi85.LINE_notify("Hello From CorgiDude")
time.sleep(3)
print("\n\nsend line sticker")
corgi85.LINE_notifySticker(
1, 1) # detail : https://devdocs.line.me/files/sticker_list.pdf
time.sleep(3)
print("\n\nsend line sticker & message")
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (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 camera of motion.
while (diff):
img = sensor.snapshot()
img.difference("temp/bg.bmp")
stats = img.statistics()
# Stats 5 is the max of the lighting color channel. The below code
# triggers when the lighting max for the whole image goes above 20.
# The lighting difference maximum should be zero normally.
if (stats[5] > 20):
diff -= 1
g = gif.Gif("example-%d.gif" % pyb.rng(), loop=True)
import machine, sensor, image, pyb
RED_LED_ID = 1
led = pyb.LED(RED_LED_ID)
rtc = pyb.RTC()
if (machine.reset_cause() != machine.DEEPSLEEP_RESET):
rtc.datetime((2021, 3, 22, 1, 0, 11, 0, 0)) # When connecting LiPo
led.on()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.WQXGA2)
sensor.skip_frames(time=2000) # Let settings take effect
t = rtc.datetime()
y = str(t[0])
m = '%02d' % t[1]
d = '%02d' % t[2]
# w = '%d' % t[3]
h = '%02d' % t[4]
n = '%02d' % t[5]
s = '%02d' % t[6]
name = 'snapshot_' + y + '-' + m + '-' + d + 'T' + h + '-' + n + '-' + s + 'Z.jpg'
sensor.snapshot().save(name) # 0.25 A
sensor.sleep(True)
sensor.shutdown(True)
rtc.wakeup(20000) # ms
led.off()
machine.deepsleep() # ~0.00 A, device will be reset on wakeup
sensor.set_framesize(sensor.QQVGA) # 320*240
sensor.skip_frames(time=500) # 跳过，等待摄像头稳定
sensor.set_auto_gain(False) # 自动增益在颜色识别中一般关闭，不然会影响阈值
sensor.set_auto_whitebal(False) # 白平衡在颜色识别中一般关闭，不然会影响阈值
clock = time.clock() # 构造时钟对象
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1,
timeout_char=1000) # 使用给定参数初始化 timeout_char是以毫秒计的等待字符间的超时时长
class ctrl_info(object):
WorkMode = 0x03 # 色块检测模式 0x01为固定单颜色识别 0x02为自主学习颜色识别 0x03 巡线
Threshold_index = 0x00 # 阈值编号
ctrl = ctrl_info() # 定义控制信息类
single_blob.InitSuccess_LED() # 初始化完成 Green LED 快闪2下
'''-----------------------------------------------初始化分割线------------------------------------------------'''
while (True):
clock.tick() # 追踪时钟
img = sensor.snapshot() # thresholds为阈值元组0
if ctrl.WorkMode == 0x01:
single_blob.check_blob(img, ctrl, thresholds, threshold_index, uart)
elif ctrl.WorkMode == 0x02:
a = 0 # 暂时为空
elif ctrl.WorkMode == 0x03:
find_line.find_line(img, ctrl, uart)
sensor.set_contrast(3)
clock = time.clock()
thresholds = (0, 80) # looking for dark blobs
sensor.set_windowing((40, 20, 80, 80)) # looking at the center only
smoothing_steps = 32
smothing_index = 0
smoothing_values = [0.0 for x in range(smoothing_steps)]
initial_value = 66.6 # random value
initial_value_set = False
pluspi_value = 7.8
image_count = 0
while (True):
clock.tick()
img_orig = sensor.snapshot()
img = img_orig.copy()
# hide the center
img.draw_circle(40, 40, 15, color=255, thickness=2, fill=True)
line_coord = []
elongation = []
# look for the 2 sides of the clock hand
for blob in img.find_blobs([thresholds],
pixels_threshold=20,
area_threshold=30,
merge=True,
margin=1):
# Transform. https://en.wikipedia.org/wiki/Circle_Hough_Transform
#
# Note that the find_circles() method will only find circles which are completely
# inside of the image. Circles which go outside of the image/roi are ignored...
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
# Circle objects have four values: x, y, r (radius), and magnitude. The
# magnitude is the strength of the detection of the circle. Higher is
# better...
# `threshold` controls how many circles are found. Increase its value
# to decrease the number of circles detected...
# `x_margin`, `y_margin`, and `r_margin` control the merging of similar
# circles in the x, y, and r (radius) directions.
for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10):
img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
print(c)
# Loop
###########
old_time = pyb.millis()
throttle_old_result = None
throttle_i_output = 0
throttle_output = THROTTLE_OFFSET
steering_old_result = None
steering_i_output = 0
steering_output = STEERING_OFFSET
while True:
clock.tick()
img = sensor.snapshot().histeq()
if BINARY_VIEW: img = img.binary(COLOR_THRESHOLDS if COLOR_LINE_FOLLOWING else GRAYSCALE_THRESHOLDS)
if BINARY_VIEW: img.erode(1, threshold = 3).dilate(1, threshold = 1)
if DO_NOTHING: continue
# We call get regression below to get a robust linear regression of the field of view.
# This returns a line object which we can use to steer the robocar.
line = img.get_regression(([(50, 100, -128, 127, -128, 127)] if BINARY_VIEW else COLOR_THRESHOLDS) if COLOR_LINE_FOLLOWING \
else ([(127, 255)] if BINARY_VIEW else GRAYSCALE_THRESHOLDS), \
area_threshold = AREA_THRESHOLD, pixels_threshold = PIXELS_THRESHOLD, \
robust = True)
print_string = ""
if line and (line.magnitude() >= MAG_THRESHOLD):
img.draw_line(line.line(), color = (127, 127, 127) if COLOR_LINE_FOLLOWING else 127)
# stages.
face_cascade = image.HaarCascade("frontalface", stages=25)
while(True):
pyb.LED(RED_LED_PIN).on()
print("About to start detecting faces...")
sensor.skip_frames(time = 2000) # Give the user time to get ready.
pyb.LED(RED_LED_PIN).off()
print("Now detecting faces!")
pyb.LED(BLUE_LED_PIN).on()
diff = 10 # We'll say we detected a face after 10 frames.
while(diff):
img = sensor.snapshot()
# Threshold can be between 0.0 and 1.0. A higher threshold results in a
# higher detection rate with more false positives. The scale value
# controls the matching scale allowing you to detect smaller faces.
faces = img.find_features(face_cascade, threshold=0.5, scale_factor=1.5)
if faces:
diff -= 1
for r in faces:
img.draw_rectangle(r)
m = mjpeg.Mjpeg("example-%d.mjpeg" % pyb.rng())
clock = time.clock() # Tracks FPS.
print("You're on camera!")
for i in range(200):
# Grayscale Light Removal
#
# This example shows off how to remove bright lights from the image.
# You can do this using the binary() method with the "zero=" argument.
#
# Removing bright lights from the image allows you to now use
# histeq() on the image without outliers from oversaturated
# parts of the image breaking the algorithm...
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.
clock = time.clock() # Tracks FPS.
thresholds = (220, 255)
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot().binary([thresholds], invert=False, zero=True)
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
# up processing at the expense of accuracy. The frontalface HaarCascade has 25
# stages.
face_cascade = image.HaarCascade("frontalface", stages=25)
while(True):
pyb.LED(RED_LED_PIN).on()
print("About to start detecting faces...")
sensor.skip_frames(60) # Give the user time to get ready.
pyb.LED(RED_LED_PIN).off()
print("Now detecting faces!")
pyb.LED(BLUE_LED_PIN).on()
diff = 10 # We'll say we detected a face after 10 frames.
while(diff):
img = sensor.snapshot()
# Threshold can be between 0.0 and 1.0. A higher threshold results in a
# higher detection rate with more false positives. The scale value
# controls the matching scale allowing you to detect smaller faces.
faces = img.find_features(face_cascade, threshold=0.5, scale=1.5)
if faces:
diff -= 1
for r in faces:
img.draw_rectangle(r)
pyb.LED(BLUE_LED_PIN).off()
print("Face detected! Saving image...")
sensor.snapshot().save("snapshot-%d.jpg" % pyb.rng()) # Save Pic.
continue
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) #QVGA=320x240
sensor.run(1)
task = kpu.load(0x300000) # Load Model File from Flash
anchor = (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437, 6.92275, 6.718375, 9.01025)
# Anchor data is for bbox, extracted from the training sets.
kpu.init_yolo2(task, 0.5, 0.3, 5, anchor)
but_stu = 1
try:
while(True):
img = sensor.snapshot() # Take an image from sensor
bbox = kpu.run_yolo2(task, img) # Run the detection routine
if bbox:
for i in bbox:
print(i)
img.draw_rectangle(i.rect())
#lcd.display(img)
if but_a.value() == 0 and but_stu == 1:
if led_w.value() == 1:
led_w.value(0)
else:
led_w.value(1)
but_stu = 0
if but_a.value() == 1 and but_stu == 0:
but_stu = 1
def draw_keypoints(img, kpts):
if kpts:
print(kpts)
img.draw_keypoints(kpts)
img = sensor.snapshot()
time.sleep_ms(1000)
import sensor, image, pyb
RED_LED_PIN = 1
BLUE_LED_PIN = 3
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QVGA) # or sensor.QQVGA (or others)
sensor.set_windowing((100, 60))
sensor.skip_frames(time=2000) # Let new settings take affect.
led = pyb.LED(1)
led2 = pyb.LED(2)
led3 = pyb.LED(3)
sensor.skip_frames(time=6000) # Give the user time to get ready.
print("You're on camera!")
sensor.snapshot().save("exampleNUEVOH2EF.jpg") # or "example.bmp" (or others)
pyb.LED(BLUE_LED_PIN).off()
print("Done! Reset the camera to see the saved image.")
def jpeg_snapshot(data):
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
return sensor.snapshot().compress(quality=90).bytearray()
sensor.reset() # 初始化sensor
sensor.set_pixformat(sensor.RGB565) # use RGB565.
#设置图像色彩格式，有RGB565色彩图和GRAYSCALE灰度图两种
sensor.set_framesize(sensor.QQVGA) # 使用QQVGA的速度。
#设置图像像素大小
sensor.skip_frames(10) # 让新的设置生效。
sensor.set_auto_whitebal(False) # turn this off.
#关闭白平衡。白平衡是默认开启的，在颜色识别中，需要关闭白平衡。
clock = time.clock() # 跟踪FPS帧率
while (True):
clock.tick() # 追踪两个snapshots()之间经过的毫秒数.
img = sensor.snapshot() # 拍一张照片并返回图像。
blobs = img.find_blobs([green_threshold])
#find_blobs(thresholds, invert=False, roi=Auto),thresholds为颜色阈值，
#是一个元组，需要用括号［ ］括起来。invert=1,反转颜色阈值，invert=False默认
#不反转。roi设置颜色识别的视野区域，roi是一个元组， roi = (x, y, w, h)，代表
#从左上顶点(x,y)开始的宽为w高为h的矩形区域，roi不设置的话默认为整个图像视野。
#这个函数返回一个列表，[0]代表识别到的目标颜色区域左上顶点的x坐标，［1］代表
#左上顶点y坐标，［2］代表目标区域的宽，［3］代表目标区域的高，［4］代表目标
#区域像素点的个数，［5］代表目标区域的中心点x坐标，［6］代表目标区域中心点y坐标，
#［7］代表目标颜色区域的旋转角度（是弧度值，浮点型，列表其他元素是整型），
#［8］代表与此目标区域交叉的目标个数，［9］代表颜色的编号（它可以用来分辨这个
#区域是用哪个颜色阈值threshold识别出来的）。
if blobs:
#如果找到了目标颜色
for b in blobs:
import sensor, time
sensor.set_pixformat(sensor.RGB565)
clock = time.clock()
while (True):
clock.tick()
# take snapshot
image = sensor.snapshot()
#get a binary image
binary = image.threshold((255, 127, 127), 25)
# run median filter
binary.median(3)
# detect blobs in image
blobs = binary.find_blobs()
# draw rectangles around detected blobs
for r in blobs:
image.draw_rectangle(r)
print(clock.fps())
if "names.txt" in os.listdir():
with open("names.txt", 'r') as f:
record_names = f.read().splitlines()
print(record_names)
if "ftrs.txt" in os.listdir():
with open("ftrs.txt", 'r') as f:
record_ftrs = f.read().split('\n|||||\n')
record_ftrs.pop()
print(record_ftrs)
clock = time.clock() # 初始化系统时钟，计算帧率
while (1): # 主循环
# check_key() #按键检测
img = sensor.snapshot() #从摄像头获取一张图片
clock.tick() #记录时刻，用于计算帧率
code = kpu.run_yolo2(task_fd, img) # 运行人脸检测模型，获取人脸坐标位置
if code: # 如果检测到人脸
for i in code: # 迭代坐标框
# Cut face and resize to 128x128
a = img.draw_rectangle(i.rect()) # 在屏幕显示人脸方框
face_cut = img.cut(i.x(), i.y(), i.w(),
i.h()) # 裁剪人脸部分图片到 face_cut
face_cut_128 = face_cut.resize(128, 128) # 将裁出的人脸图片 缩放到128 * 128像素
a = face_cut_128.pix_to_ai() # 将猜出图片转换为kpu接受的格式
#a = img.draw_image(face_cut_128, (0,0))
# Landmark for face 5 points
fmap = kpu.forward(task_ld, face_cut_128) # 运行人脸5点关键点检测模型
plist = fmap[:] # 获取关键点预测结果
le = (i.x() + int(plist[0] * i.w() - 10),
THRESHOLD = (0, 100) # Grayscale threshold for dark things...
BINARY_VISIBLE = True # Does binary first so you can see what the linear regression
# is being run on... might lower FPS though.
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds
clock = time.clock() # to process a frame sometimes.
while(True):
clock.tick()
img = sensor.snapshot().binary([THRESHOLD]) if BINARY_VISIBLE else sensor.snapshot()
# Returns a line object similar to line objects returned by find_lines() and
# find_line_segments(). You have x1(), y1(), x2(), y2(), length(),
# theta() (rotation in degrees), rho(), and magnitude().
#
# magnitude() represents how well the linear regression worked. It means something
# different for the robust linear regression. In general, the larger the value the
# better...
line = img.get_regression([(255,255) if BINARY_VISIBLE else THRESHOLD], robust = True)
if (line): img.draw_line(line.line(), color = 127)
print("FPS %f, mag = %s" % (clock.fps(), str(line.magnitude()) if (line) else "N/A"))
# About negative rho values:
#
# sensor.set_framesize(sensor.VGA)
sensor.skip_frames(time=2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
curDir = uos.ilistdir()
iMax = 0
for i in curDir:
if i[1] == 0x8000:
fileName = i[0]
#print(fileName[0:5])
if fileName[0:3] == 'img':
if int(fileName[3:-4]) >= iMax:
iMax = int(fileName[3:-4]) + 1
streamFileName = 'img' + str(iMax) + '.bin'
print(streamFileName)
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.
#curTimeSec = utime.time()
#print(utime.localtime(curTimeSec))
curTime = utime.localtime()
#n = pyb.rng() / (2 ** 30 - 1)
n = urandom.getrandbits(10)
print(curTime[5])
print(curTime)
print(n)
# CMSIS CNN example.
import sensor, image, time, os
sensor.reset() # Reset and initialize the sensor.
sensor.set_contrast(3)
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_windowing((200, 200)) # Set 128x128 window.
sensor.skip_frames(time = 100) # Wait for settings take effect.
sensor.set_auto_gain(False)
sensor.set_auto_exposure(False)
labels = ['airplane', 'automobile', 'bird', 'cat', 'deer', 'dog', 'frog', 'horse', 'ship', 'truck']
clock = time.clock() # Create a clock object to track the FPS.
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot().lens_corr(1.6) # Take a picture and return the image.
out = img.classify_object()
# print label_id:confidence
#for i in range(0, len(out)):
# print("%s:%d "%(labels[i], out[i]), end="")
max_idx = out.index(max(out))
print("%s : %0.2f%% "%(labels[max_idx], (out[max_idx]/128)*100))
#print(clock.fps()) # Note: OpenMV Cam runs about half as fast when connected
# to the IDE. The FPS should increase once disconnected.
def get_image():
if obj.is_init == False:
obj.init()
obj.is_init = True
return sensor.snapshot()
# #!/usr/bin/env python2.7
# import sys, serial, struct
# port = '/dev/ttyACM0'
# sp = serial.Serial(port, baudrate=115200, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE,
# xonxoff=False, rtscts=False, stopbits=serial.STOPBITS_ONE, timeout=None, dsrdtr=True)
# sp.setDTR(True) # dsrdtr is ignored on Windows.
# sp.write("snap")
# sp.flush()
# size = struct.unpack('<L', sp.read(4))[0]
# img = sp.read(size)
# sp.close()
#
# with open("img.jpg", "w") as f:
# f.write(img)
import sensor, image, time, ustruct
from pyb import USB_VCP
usb = USB_VCP()
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.
while(True):
cmd = usb.recv(4, timeout=5000)
if (cmd == b'snap'):
img = sensor.snapshot().compress()
usb.send(ustruct.pack("<L", img.size()))
usb.send(img)
if sensor.get_id() == sensor.OV7725:
sensor.set_hmirror(True)
sensor.set_vflip(True)
elif sensor.get_id() == sensor.OV5640:
OV5640AF_Init()
sensor.skip_frames(time=2000) # Let new settings take affect.
blue_led = LED(1)
KEY = Pin('C13', Pin.IN, Pin.PULL_DOWN)
print("You're on camera!")
keycount = 0
file_count = 0
while (True):
sensor.snapshot()
if KEY.value() == 1:
while KEY.value() == 1:
blue_led.on()
sleep(50)
blue_led.off()
sleep(50)
keycount += 1
if keycount > 3:
# 长按K1,开始对焦
if sensor.get_id() == sensor.OV5640:
while KEY.value() == 1:
blue_led.on()
sleep(100)
blue_led.off()
sleep(100)
# Display on self.write_command(0x29) if __name__ == "__main__": import sensor, time #from lcd import LCD # Reset sensor sensor.reset() # Sensor settings sensor.set_contrast(2) sensor.set_brightness(0) sensor.set_saturation(2) sensor.set_pixformat(sensor.RGB565) # LCD resolution (128x160) sensor.set_framesize(sensor.QQVGA2) # Init LCD lcd = LCD() lcd.clear(0x00) lcd.set_backlight(True) clock = time.clock() while (True): clock.tick() # Capture a frame a draw it to LCD lcd.write_image(sensor.snapshot()) print(clock.fps())
from pid import PID
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds
clock = time.clock() # to process a frame sometimes.
while(True):
clock.tick()
time.sleep(100)
img = sensor.snapshot().binary([THRESHOLD])
line = img.get_regression([(100,100,0,0,0,0)], robust = True)
if (line):
rho_err = abs(line.rho())-img.width()/2
if line.theta()>90:
theta_err = line.theta()-180
else:
theta_err = line.theta()
img.draw_line(line.line(), color = 127)
#print(rho_err,line.magnitude(),rho_err)
if line.magnitude()>8:
#if -40<b_err<40 and -30<t_err<30:
rho_output = rho_pid.get_pid(rho_err,1)
theta_output = theta_pid.get_pid(theta_err,1)
output = rho_output+theta_output
#print(output)
# stages.
face_cascade = image.HaarCascade("frontalface", stages=25)
while(True):
pyb.LED(RED_LED_PIN).on()
print("About to start detecting faces...")
sensor.skip_frames(time = 2000) # Give the user time to get ready.
pyb.LED(RED_LED_PIN).off()
print("Now detecting faces!")
pyb.LED(BLUE_LED_PIN).on()
diff = 10 # We'll say we detected a face after 10 frames.
while(diff):
img = sensor.snapshot()
# Threshold can be between 0.0 and 1.0. A higher threshold results in a
# higher detection rate with more false positives. The scale value
# controls the matching scale allowing you to detect smaller faces.
faces = img.find_features(face_cascade, threshold=0.5, scale_factor=1.5)
if faces:
diff -= 1
for r in faces:
img.draw_rectangle(r)
g = gif.Gif("example-%d.gif" % pyb.rng(), loop=True)
clock = time.clock() # Tracks FPS.
print("You're on camera!")
for i in range(100):
# Use this script to gather face images for building a TensorFlow dataset. This script automatically
# zooms in the largest face in the field of view which you can then save using the data set editor.
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
clock = time.clock()
largest_face = None
largest_face_timeout = 0
while (True):
clock.tick()
faces = sensor.snapshot().gamma_corr(contrast=1.5).find_features(
image.HaarCascade("frontalface"))
if faces:
largest_face = max(faces, key=lambda f: f[2] * f[3])
largest_face_timeout = 20
if largest_face_timeout > 0:
sensor.get_fb().crop(roi=largest_face)
largest_face_timeout -= 1
print(clock.fps())
# Linear Polar Mapping Example
#
# This example shows off re-projecting the image using a linear polar
# transformation. Linear polar images are useful in that rotations
# become translations in the X direction and linear changes
# in scale become linear translations in the Y direction.
import sensor, image, time
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)
sensor.skip_frames(time = 2000) # Let new settings take affect.
clock = time.clock() # Tracks FPS.
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot().linpolar(reverse=False)
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
# Cartoon Filter
#
# This example shows off a simple cartoon filter on images. The cartoon
# filter works by joining similar pixel areas of an image and replacing
# the pixels in those areas with the area mean.
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.RGB565) # or GRAYSCALE...
sensor.set_framesize(sensor.QVGA) # or QQVGA...
sensor.skip_frames(time = 2000)
clock = time.clock()
while(True):
clock.tick()
# seed_threshold controls the maximum area growth of a colored
# region. Making this larger will merge more pixels.
# floating_threshold controls the maximum pixel-to-pixel difference
# when growing a region. Settings this very high will quickly combine
# all pixels in the image. You should keep this small.
# cartoon() will grow regions while both thresholds are statisfied...
img = sensor.snapshot().cartoon(seed_threshold=0.05, floating_thresholds=0.05)
print(clock.fps())
classes = ["sakura"]
print(uos.listdir("/sd/"))
task = kpu.load("/sd/YOLO_best_mAP_75.kmodel")
kpu.set_outputs(
task, 0, 7, 7, 30
) #Reshape層の内容に応じて中身を変える必要がある #the actual shape needs to match the last layer shape of your model(before Reshape)
anchor = (0.57273, 0.677385, 1.87446, 2.06253, 3.33843, 5.47434, 7.88282,
3.52778, 9.77052, 9.16828)
kpu.init_yolo2(task, 0.3, 0.3, 5, anchor)
#kpu.init_yolo2(task, 0.8, 0.9, 5, anchor)
print("start")
code = ""
while (True):
img = sensor.snapshot() #.rotation_corr(z_rotation=90.0)
#a = img.pix_to_ai()
code = kpu.run_yolo2(task, img)
if code:
for i in code:
a = img.draw_rectangle(i.rect(), color=(0, 255, 0))
a = img.draw_string(i.x(),
i.y(),
classes[i.classid()],
color=(255, 0, 0),
scale=3)
a = lcd.display(img)
else:
a = lcd.display(img)
a = kpu.deinit(task)
-1, -1, -1]
# This is a high pass filter kernel. see here for more kernels:
# http://www.fmwconcepts.com/imagemagick/digital_image_filtering.pdf
thresholds = [(100, 255)] # grayscale thresholds
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.
clock = time.clock() # Tracks FPS.
# On the OV7725 sensor, edge detection can be enhanced
# significantly by setting the sharpness/edge registers.
# Note: This will be implemented as a function later.
if (sensor.get_id() == sensor.OV7725):
sensor.__write_reg(0xAC, 0xDF)
sensor.__write_reg(0x8F, 0xFF)
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
img.morph(kernel_size, kernel)
img.binary(thresholds)
# Erode pixels with less than 2 neighbors using a 3x3 image kernel
img.erode(1, threshold = 2)
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
led_control(0)
# configuration step
try:
processing = True
interface.loop()
except:
pass
#stabilisation of the cam
sensor.skip_frames(time=2000)
# save the ref image used for the diff
data_fb = sensor.alloc_extra_fb(img_width, img_height, sensor.RGB565)
ref_img = sensor.alloc_extra_fb(img_width, img_height, sensor_format)
img = sensor.snapshot()
img.remap(data_fb, right=True, upside_down=True)
ref_img.replace(img)
# now add an additional part that will convey the mask info
sensor.set_windowing((int((sensor.width() - img_width) / 2) - 2,
int((sensor.height() - img_height) / 2), img_width,
img_height + mask_height))
# serve for ever
while True:
try:
processing = True
while not pin4.value():
pass
# get the image and undistort it
# transpose an image. Note that:
#
# vflip=False, hmirror=False, transpose=False -> 0 degree rotation
# vflip=True, hmirror=False, transpose=True -> 90 degree rotation
# vflip=True, hmirror=True, transpose=False -> 180 degree rotation
# vflip=False, hmirror=True, transpose=True -> 270 degree rotation
import sensor, image, time, pyb
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
clock = time.clock()
mills = pyb.millis()
counter = 0
while (True):
clock.tick()
img = sensor.snapshot().replace(vflip=(counter // 2) % 2,
hmirror=(counter // 4) % 2,
transpose=(counter // 8) % 2)
if (pyb.millis() > (mills + 1000)):
mills = pyb.millis()
counter += 1
print(clock.fps())
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_auto_gain(True) # do some calibration at the start
sensor.set_auto_whitebal(True)
sensor.skip_frames(
time=0
) # When you're inside, set time to 2000 to do a white balance calibration. Outside, this can be 0
sensor.set_auto_gain(
False) # now turn off autocalibration before we start color tracking
sensor.set_auto_whitebal(False)
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot().histeq(
) # Take a picture and return the image. The "histeq()" function does a histogram equalization to compensate for lighting changes
print("FPS: ", clock.fps())
centroid_sum = 0
for r in ROIS:
blobs = img.find_blobs([thresholds[threshold_index]],
roi=r[0:4],
merge=True) # r[0:4] is roi tuple.
if blobs:
# Find the index of the blob with the most pixels.
most_pixels = 0
largest_blob = 0
for i in range(len(blobs)):
if blobs[i].pixels() > most_pixels:
most_pixels = blobs[i].pixels()
largest_blob = i
#
# 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")
print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
# connected to your computer. The FPS should increase once disconnected.
def test_image_processing():
for i in range(0, 50):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
img.find_edges(image.EDGE_CANNY, threshold=(50, 80))
# Your OpenMV Cam supports power of 2 resolutions of 64x32, 64x64,
# 128x64, and 128x128. If you want a resolution of 32x32 you can create
# it by doing "img.pool(2, 2)" on a 64x64 image.
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # Set pixel format to GRAYSCALE (or RGB565)
sensor.set_framesize(sensor.B128X128) # Set frame size to 128x128... (or 128x64)...
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
# Take from the main frame buffer's RAM to allocate a second frame buffer.
# There's a lot more RAM in the frame buffer than in the MicroPython heap.
# However, after doing this you have a lot less RAM for some algorithms...
# So, be aware that it's a lot easier to get out of RAM issues now.
extra_fb = sensor.alloc_extra_fb(sensor.width(), sensor.height(), sensor.GRAYSCALE)
extra_fb.replace(sensor.snapshot())
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
for y in range(0, sensor.height(), BLOCK_H):
for x in range(0, sensor.width(), BLOCK_W):
displacement = extra_fb.find_displacement(img, \
roi = (x, y, BLOCK_W, BLOCK_H), template_roi = (x, y, BLOCK_W, BLOCK_H))
# Below 0.1 or so (YMMV) and the results are just noise.
if(displacement.response() > 0.1):
pixel_x = x + (BLOCK_W//2) + int(displacement.x_translation())
pixel_y = y + (BLOCK_H//2) + int(displacement.y_translation())
img.draw_line((x + BLOCK_W//2, y + BLOCK_H//2, pixel_x, pixel_y), \
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.GRAYSCALE) # 格式为 RGB565.
sensor.set_framesize(sensor.QVGA) # 使用 QQVGA 速度快一些
sensor.set_windowing(ROI)
sensor.skip_frames(10) # 跳过10帧，使新设置生效
sensor.set_auto_whitebal(False)
clock = time.clock() # 追踪帧率
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # 从感光芯片获得一张图像
pyb.LED(BLUE_LED_PIN).on()
blobs = img.find_blobs([thresholds],pixel_threshold=3,threshold=3)
if blobs:
for b in blobs:
img.draw_rectangle(b[0:4])
img.draw_cross(b[5], b[6])
H_xAngle=b[5]>>8&0xffffffff
L_xAngle=b[5]&0xffffffff
H_yAngle=b[6]>>8&0xffffffff
L_yAngle=b[6]&0xffffffff
uart_buf = bytearray([0x41,0x42,L_xAngle,H_xAngle,L_yAngle,H_yAngle,0x0d,0x0a])
uart.write(uart_buf)
def person_detection(data):
global net
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
scores = net.classify(sensor.snapshot())[0].output()
return labels[scores.index(max(scores))].encode()
sensor.reset()
# Set sensor settings
sensor.set_brightness(0)
sensor.set_saturation(0)
sensor.set_gainceiling(16)
sensor.set_contrast(1)
sensor.set_framesize(sensor.QVGA)
# Enable JPEG and set quality
sensor.set_pixformat(sensor.JPEG)
sensor.set_quality(98)
# Red LED
led = pyb.LED(1)
# Skip a few frames to allow the sensor settle down
# Note: This takes more time when exec from the IDE.
for i in range(0, 30):
sensor.snapshot()
# Turn on red LED and wait for a second
led.on()
time.sleep(1000)
# Write JPEG image to file
with open("/test.jpeg", "w") as f:
f.write(sensor.snapshot())
led.off()
print("Reset the camera to see the saved image.")
sensor.set_hmirror(0) # Mirrors image
clock = time.clock()
lcd.init()
Found_centerline = False
Found_crossing = False
centerlines = 4
crossingsFound = 0
offCenterCrossing = False
faultcount = 0
while (True):
lines = []
crossings = []
clock.tick()
img = sensor.snapshot() # Original picture, in color
bw_img = img.copy().to_grayscale()
bw_img.binary([THRESHOLD],
invert=True) # Convert img to binary, black and white
blobs = bw_img.find_blobs([(120, 256)]) # Find white spots
middle_line = bw_img.find_blobs([(120, 256)],
roi=(120, 238, 80,
2)) # Used to count tiles
if Found_centerline == True:
tmp = img.draw_rectangle((0, 0, 10, 10),
color=(0, 213, 140),
fill=True)
else:
tmp = img.draw_rectangle((0, 0, 10, 10),
color=(213, 140, 0),
X_OFFSET = 0
Y_OFFSET = 0
ZOOM_AMOUNT = 1 # Lower zooms out - Higher zooms in
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
x_rotation_counter = 0
y_rotation_counter = 0
z_rotation_counter = 0
while(True):
clock.tick()
img = sensor.snapshot().rotation_corr(x_rotation = x_rotation_counter, \
y_rotation = y_rotation_counter, \
z_rotation = z_rotation_counter, \
x_translation = X_OFFSET, \
y_translation = Y_OFFSET, \
zoom = ZOOM_AMOUNT)
x_rotation_counter += X_ROTATION_DEGREE_RATE
y_rotation_counter += Y_ROTATION_DEGREE_RATE
z_rotation_counter += Z_ROTATION_DEGREE_RATE
print(clock.fps())
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.
# Take from the main frame buffer's RAM to allocate a second frame buffer.
# There's a lot more RAM in the frame buffer than in the MicroPython heap.
# However, after doing this you have a lot less RAM for some algorithms...
# So, be aware that it's a lot easier to get out of RAM issues now. However,
# frame differencing doesn't use a lot of the extra space in the frame buffer.
# But, things like AprilTags do and won't work if you do this...
extra_fb = sensor.alloc_extra_fb(sensor.width(), sensor.height(),
sensor.RGB565)
print("About to save background image...")
sensor.skip_frames(time=2000) # Give the user time to get ready.
extra_fb.replace(sensor.snapshot())
print("Saved background image!")
while (True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
sim = img.get_similarity(extra_fb)
change = "- Change -" if sim.min(
) < MIN_TRIGGER_THRESHOLD else "- No Change -"
print(clock.fps(), change, sim)
# Image Reader Example
#
# USE THIS EXAMPLE WITH A USD CARD!
#
# This example shows how to use the Image Reader object to replay snapshots of what your
# OpenMV Cam saw saved by the Image Writer object for testing machine vision algorithms.
import sensor, image, time
snapshot_source = False # Set to true once finished to pull data from sensor.
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
img_reader = None if snapshot_source else image.ImageReader("/stream.bin")
while(True):
clock.tick()
img = sensor.snapshot() if snapshot_source else img_reader.next_frame(copy_to_fb=True, loop=True)
# Do machine vision algorithms on the image here.
print(clock.fps())
for i, color in enumerate(palette_source_colors):
palette_source_color_image[i] = color
# Scale the image to palette width and smooth them
palette = image.Image(256, 1, sensor.RGB565)
palette.draw_image(palette_source_color_image,
0,
0,
x_scale=palette.width() /
palette_source_color_image.width())
palette.mean(int(palette.width() / palette_source_color_image.width() / 2))
while (True):
clock.tick()
img = sensor.snapshot()
# Get a copy of grayscale image before converting to color
img_copy = img.copy()
img.to_rgb565()
palette_boundary_inset = int(sensor.width() / 40)
palette_scale_x = (sensor.width() -
palette_boundary_inset * 2) / palette.width()
img.draw_image(img_copy, 0, 0, color_palette=palette)
img.draw_image(palette,
palette_boundary_inset,
palette_boundary_inset,
x_scale=palette_scale_x,
y_scale=8)
# 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))
img.draw_line(blob.minor_axis_line(), color=(0,0,255))
# These values are stable all the time.
img.draw_rectangle(blob.rect())
img.draw_cross(blob.cx(), blob.cy())
# Note - the blob rotation is unique to 0-180 only.
img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
print(clock.fps())
disp_drv.flush_cb = lv_h.flush
disp_drv.hor_res = 320
disp_drv.ver_res = 240
lv.disp_drv_register(disp_drv)
indev_drv = lv.indev_drv_t()
lv.indev_drv_init(indev_drv)
indev_drv.type = lv.INDEV_TYPE.POINTER
indev_drv.read_cb = lv_h.read
lv.indev_drv_register(indev_drv)
# lv.log_register_print_cb(lv_h.log)
lv.log_register_print_cb(
lambda level, path, line, msg: print('%s(%d): %s' % (path, line, msg)))
snapshot = sensor.snapshot()
# Create a screen with a draggable image
scr = lv.obj()
img = lv.img(scr)
img_data = snapshot.to_bytes()
img.align(scr, lv.ALIGN.CENTER, 0, 0)
img_dsc = lv.img_dsc_t({
'header': {
'always_zero': 0,
'w': snapshot.width(),
'h': snapshot.height(),
'cf': lv.img.CF.TRUE_COLOR
},
'data_size': len(img_data),
