diff --git a/share/qtcreator/examples/01-Media/acodec.py b/share/qtcreator/examples/01-Media/acodec.py old mode 100755 new mode 100644 index 81d60edb02b..ff4906c9e8b --- a/share/qtcreator/examples/01-Media/acodec.py +++ b/share/qtcreator/examples/01-Media/acodec.py @@ -1,22 +1,37 @@ -from media.pyaudio import * -from media.media import * -import media.g711 as g711 -from mpp.payload_struct import * +# g711 encode/decode example +# +# Note: You will need an SD card to run this example. +# +# You can collect raw data and encode it into g711 or decode it into raw data output. + + +from media.pyaudio import * #导入pyaudio模块，用于采集和播放音频 +from media.media import * #导入media模块，用于初始化vb buffer +import media.g711 as g711 #导入g711模块，用于g711编解码 +from mpp.payload_struct import * #导入payload模块，用于获取音视频编解码类型 +import os + +def exit_check(): + try: + os.exitpoint() + except KeyboardInterrupt as e: + print("user stop: ", e) + return True + return False def encode_audio(filename, duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 p = PyAudio() - p.initialize(CHUNK) - enc = g711.Encoder(K_PT_G711A,CHUNK) - ret = media.buffer_init() - if ret: - print("record_audio, buffer_init failed") + p.initialize(CHUNK) #初始化PyAudio对象 + enc = g711.Encoder(K_PT_G711A,CHUNK) #创建g711编码器对象 + media.buffer_init() #vb buffer初始化 - enc.create() + enc.create() #创建编码器 + #创建音频输入流 stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, @@ -24,109 +39,117 @@ def encode_audio(filename, duration): frames_per_buffer=CHUNK) frames = [] - + #采集音频数据编码并存入列表 for i in range(0, int(RATE / CHUNK * duration)): - frame_data = stream.read() - data = enc.encode(frame_data) - frames.append(data) - - stream.stop_stream() - stream.close() - p.terminate() - enc.destroy() - + frame_data = stream.read() #从音频输入流中读取音频数据 + data = enc.encode(frame_data) #编码音频数据为g711 + frames.append(data) #将g711编码数据保存到列表中 + if exit_check(): + break + + stream.stop_stream() #停止音频输入流 + stream.close() #关闭音频输入流 + p.terminate() #释放音频对象 + enc.destroy() #销毁g711音频编码器 + + #将g711编码数据存入文件中 with open(filename,mode='w') as wf: wf.write(b''.join(frames)) - media.buffer_deinit() + media.buffer_deinit() #释放vb buffer def decode_audio(filename): - #读取音频文件 - wf = open(filename,mode='rb') - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 - CHUNK = int(RATE/25) - - #播放音频操作 + wf = open(filename,mode='rb') #打开g711文件 + FORMAT = paInt16 #设置音频chunk值 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 + CHUNK = int(RATE/25) #设置音频chunk值 + p = PyAudio() - p.initialize(CHUNK) - dec = g711.Decoder(K_PT_G711A,CHUNK) - ret = media.buffer_init() - if ret: - print("play_audio, buffer_init failed") + p.initialize(CHUNK) #初始化PyAudio对象 + dec = g711.Decoder(K_PT_G711A,CHUNK) #创建g711解码器对象 + media.buffer_init() #vb buffer初始化 - dec.create() + dec.create() #创建解码器 + #创建音频输出流 stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, output=True, frames_per_buffer=CHUNK) - stream_len = CHUNK*CHANNELS*2//2 - stream_data = wf.read(stream_len) + stream_len = CHUNK*CHANNELS*2//2 #设置每次读取的g711数据流长度 + stream_data = wf.read(stream_len) #从g711文件中读取数据 + #解码g711文件并播放 while stream_data: - frame_data = dec.decode(stream_data) - stream.write(frame_data) - stream_data = wf.read(stream_len) + frame_data = dec.decode(stream_data) #解码g711文件 + stream.write(frame_data) #播放raw数据 + stream_data = wf.read(stream_len) #从g711文件中读取数据 + if exit_check(): + break - stream.stop_stream() - stream.close() - p.terminate() - dec.destroy() - wf.close() + stream.stop_stream() #停止音频输入流 + stream.close() #关闭音频输入流 + p.terminate() #释放音频对象 + dec.destroy() #销毁解码器 + wf.close() #关闭g711文件 - media.buffer_deinit() + media.buffer_deinit() #释放vb buffer def loop_codec(duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 p = PyAudio() - p.initialize(CHUNK) - dec = g711.Decoder(K_PT_G711A,CHUNK) - enc = g711.Encoder(K_PT_G711A,CHUNK) - ret = media.buffer_init() - if ret: - print("loop_audio, buffer_init failed") + p.initialize(CHUNK) #初始化PyAudio对象 + dec = g711.Decoder(K_PT_G711A,CHUNK) #创建g711解码器对象 + enc = g711.Encoder(K_PT_G711A,CHUNK) #创建g711编码器对象 + media.buffer_init() #vb buffer初始化 - dec.create() - enc.create() + dec.create() #创建g711解码器 + enc.create() #创建g711编码器 + #创建音频输入流 input_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) + #创建音频输出流 output_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, output=True, frames_per_buffer=CHUNK) + #从音频输入流中获取数据->编码->解码->写入到音频输出流中 for i in range(0, int(RATE / CHUNK * duration)): - frame_data = input_stream.read() - stream_data = enc.encode(frame_data) - frame_data = dec.decode(stream_data) - output_stream.write(frame_data) - - - input_stream.stop_stream() - output_stream.stop_stream() - input_stream.close() - output_stream.close() - p.terminate() - dec.destroy() - enc.destroy() - - media.buffer_deinit() - -#encode_audio('/sdcard/app/test.g711a', 15) -#decode_audio('/sdcard/app/test.g711a') -loop_codec(15) -print("audio codec sample done") + frame_data = input_stream.read() #从音频输入流中获取raw音频数据 + stream_data = enc.encode(frame_data) #编码音频数据为g711 + frame_data = dec.decode(stream_data) #解码g711数据为raw数据 + output_stream.write(frame_data) #播放raw数据 + if exit_check(): + break + + input_stream.stop_stream() #停止音频输入流 + output_stream.stop_stream() #停止音频输出流 + input_stream.close() #关闭音频输入流 + output_stream.close() #关闭音频输出流 + p.terminate() #释放音频对象 + dec.destroy() #销毁g711解码器 + enc.destroy() #销毁g711编码器 + + media.buffer_deinit() #释放vb buffer + +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + print("audio codec sample start") + #encode_audio('/sdcard/app/test.g711a', 15) #采集并编码g711文件 + #decode_audio('/sdcard/app/test.g711a') #解码g711文件并输出 + loop_codec(15) #采集音频数据->编码g711->解码g711->播放音频 + print("audio codec sample done") diff --git a/share/qtcreator/examples/01-Media/audio.py b/share/qtcreator/examples/01-Media/audio.py old mode 100755 new mode 100644 index 8da52baa5a8..015d9975808 --- a/share/qtcreator/examples/01-Media/audio.py +++ b/share/qtcreator/examples/01-Media/audio.py @@ -1,19 +1,33 @@ -from media.pyaudio import * -import media.wave as wave -from media.media import * +# audio input and output example +# +# Note: You will need an SD card to run this example. +# +# You can play wav files or capture audio to save as wav + +from media.pyaudio import * #导入pyaudio模块，用于采集和播放音频 +import media.wave as wave #导入wav模块，用于保存和加载wav音频文件 +from media.media import * #导入media模块，用于初始化vb buffer +import os + +def exit_check(): + try: + os.exitpoint() + except KeyboardInterrupt as e: + print("user stop: ", e) + return True + return False def record_audio(filename, duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25) #设置音频chunk值 + FORMAT = paInt16 #设置采样精度 + CHANNELS = 2 #设置声道数 + RATE = 44100 #设置采样率 p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() - if ret: - print("record_audio, buffer_init failed") + p.initialize(CHUNK) #初始化PyAudio对象 + media.buffer_init() #vb buffer初始化 + #创建音频输入流 stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, @@ -21,90 +35,99 @@ def record_audio(filename, duration): frames_per_buffer=CHUNK) frames = [] - + #采集音频数据并存入列表 for i in range(0, int(RATE / CHUNK * duration)): data = stream.read() frames.append(data) + if exit_check(): + break - stream.stop_stream() - stream.close() - p.terminate() + stream.stop_stream() #停止采集音频数据 + stream.close()#关闭音频输入流 + p.terminate()#释放音频对象 - wf = wave.open(filename, 'wb') - wf.set_channels(CHANNELS) - wf.set_sampwidth(p.get_sample_size(FORMAT)) - wf.set_framerate(RATE) - wf.write_frames(b''.join(frames)) - wf.close() + #将列表中的数据保存到wav文件中 + wf = wave.open(filename, 'wb') #创建wav 文件 + wf.set_channels(CHANNELS) #设置wav 声道数 + wf.set_sampwidth(p.get_sample_size(FORMAT)) #设置wav 采样精度 + wf.set_framerate(RATE) #设置wav 采样率 + wf.write_frames(b''.join(frames)) #存储wav音频数据 + wf.close() #关闭wav文件 - media.buffer_deinit() + media.buffer_deinit() #释放vb buffer def play_audio(filename): - #读取音频文件 - wf = wave.open(filename, 'rb') - CHUNK = int(wf.get_framerate()/25) - #播放音频操作 + wf = wave.open(filename, 'rb')#打开wav文件 + CHUNK = int(wf.get_framerate()/25)#设置音频chunk值 + p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() - if ret: - print("play_audio, buffer_init failed") + p.initialize(CHUNK) #初始化PyAudio对象 + media.buffer_init()#vb buffer初始化 + #创建音频输出流，设置的音频参数均为wave中获取到的参数 stream = p.open(format=p.get_format_from_width(wf.get_sampwidth()), channels=wf.get_channels(), rate=wf.get_framerate(), output=True,frames_per_buffer=CHUNK) - data = wf.read_frames(CHUNK) + + data = wf.read_frames(CHUNK)#从wav文件中读取数一帧数据 while data: - stream.write(data) - data = wf.read_frames(CHUNK) + stream.write(data) #将帧数据写入到音频输出流中 + data = wf.read_frames(CHUNK) #从wav文件中读取数一帧数据 + if exit_check(): + break - stream.stop_stream() - stream.close() - p.terminate() - wf.close() + stream.stop_stream() #停止音频输出流 + stream.close()#关闭音频输出流 + p.terminate()#释放音频对象 + wf.close()#关闭wav文件 - media.buffer_deinit() + media.buffer_deinit()#释放vb buffer def loop_audio(duration): - CHUNK = int(44100/25) - FORMAT = paInt16 - CHANNELS = 2 - RATE = 44100 + CHUNK = int(44100/25)#设置音频chunck + FORMAT = paInt16 #设置音频采样精度 + CHANNELS = 2 #设置音频声道数 + RATE = 44100 #设置音频采样率 p = PyAudio() - p.initialize(CHUNK) - ret = media.buffer_init() - if ret: - print("loop_audio, buffer_init failed") + p.initialize(CHUNK)#初始化PyAudio对象 + media.buffer_init() #初始化vb buffer + #创建音频输入流 input_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) + #创建音频输出流 output_stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, output=True,frames_per_buffer=CHUNK) + #从音频输入流中获取数据写入到音频输出流中 for i in range(0, int(RATE / CHUNK * duration)): output_stream.write(input_stream.read()) - - - input_stream.stop_stream() - output_stream.stop_stream() - input_stream.close() - output_stream.close() - p.terminate() - - media.buffer_deinit() - -#play_audio('/sdcard/app/input.wav') -#record_audio('/sdcard/app/output.wav', 15) -loop_audio(15) -print("audio sample done") + if exit_check(): + break + + input_stream.stop_stream()#停止音频输入流 + output_stream.stop_stream()#停止音频输出流 + input_stream.close() #关闭音频输入流 + output_stream.close() #关闭音频输出流 + p.terminate() #释放音频对象 + + media.buffer_deinit() #释放vb buffer + +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + print("audio sample start") + #play_audio('/sdcard/app/input.wav') #播放wav文件 + #record_audio('/sdcard/app/output.wav', 15) #录制wav文件 + loop_audio(15) #采集音频并输出 + print("audio sample done") diff --git a/share/qtcreator/examples/01-Media/camera.py b/share/qtcreator/examples/01-Media/camera.py index c8d4f370506..d27ef0d0f2a 100755 --- a/share/qtcreator/examples/01-Media/camera.py +++ b/share/qtcreator/examples/01-Media/camera.py @@ -1,116 +1,94 @@ +# Camera Example +# +# Note: You will need an SD card to run this example. +# +# You can start camera preview and capture yuv image. + from media.camera import * from media.display import * from media.media import * -from time import * -import time -import image - - -def canmv_camera_test(): - print("canmv_camera_test") +import time, os +def camera_test(): + print("camera_test") # use hdmi for display display.init(LT9611_1920X1080_30FPS) - - # use EVB LCD for display - #display.init(HX8377_1080X1920_30FPS) - camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) - #camera.sensor_init(CAM_DEV_ID_0, CAM_IMX335_2LANE_1920X1080_30FPS_12BIT_LINEAR) - out_width = 1920 out_height = 1080 + # set camera out width align up with 16Bytes out_width = ALIGN_UP(out_width, 16) - - # set chn0 output yuv420sp + # set chn0 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, out_width, out_height) + # set chn0 out format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) - + # create meida source device meida_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link media.create_link(meida_source, meida_sink) - + # set display plane with video channel display.set_plane(0, 0, out_width, out_height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) - out_width = 640 out_height = 480 out_width = ALIGN_UP(out_width, 16) - - # set chn1 output rgb888 + # set chn1 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, out_width, out_height) + # set chn1 output format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) - - # set chn2 output rgb888planar + # set chn1 output size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_2, out_width, out_height) + # set chn2 output format camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_2, PIXEL_FORMAT_RGB_888_PLANAR) - - ret = media.buffer_init() - if ret: - print("canmv_camera_test, buffer init failed") - return ret - + # init meida buffer + media.buffer_init() + # start stream for camera device0 camera.start_stream(CAM_DEV_ID_0) - time.sleep(15) - - capture_count = 0 - while capture_count < 100: - time.sleep(1) - for dev_num in range(CAM_DEV_ID_MAX): - if not camera.cam_dev[dev_num].dev_attr.dev_enable: - continue - - for chn_num in range(CAM_CHN_ID_MAX): - if not camera.cam_dev[dev_num].chn_attr[chn_num].chn_enable: + try: + while True: + os.exitpoint() + time.sleep(5) + for dev_num in range(CAM_DEV_ID_MAX): + if not camera.cam_dev[dev_num].dev_attr.dev_enable: continue - print(f"canmv_camera_test, dev({dev_num}) chn({chn_num}) capture frame.") - - img = camera.capture_image(dev_num, chn_num) - if img == -1: - print("camera.capture_image failed") - continue - - if img.format() == image.YUV420: - suffix = "yuv420sp" - elif img.format() == image.RGB888: - suffix = "rgb888" - elif img.format() == image.RGBP888: - suffix = "rgb888p" - else: - suffix = "unkown" - - filename = f"/sdcard/dev_{dev_num:02d}_chn_{chn_num:02d}_{img.width()}x{img.height()}_{capture_count:04d}.{suffix}" - print("save capture image to file:", filename) - - with open(filename, "wb") as f: - if f: - img_data = uctypes.bytearray_at(img.virtaddr(), img.size()) - #f.write(img_data) + for chn_num in range(CAM_CHN_ID_MAX): + if not camera.cam_dev[dev_num].chn_attr[chn_num].chn_enable: + continue + + print(f"camera_test, dev({dev_num}) chn({chn_num}) capture frame.") + # capture image from dev and chn + img = camera.capture_image(dev_num, chn_num) + if img.format() == image.YUV420: + suffix = "yuv420sp" + elif img.format() == image.RGB888: + suffix = "rgb888" + elif img.format() == image.RGBP888: + suffix = "rgb888p" else: - print(f"capture_image, open dump file failed({filename})") - - time.sleep(1) - - camera.release_image(dev_num, chn_num, img) - - capture_count += 1 - + suffix = "unkown" + + filename = f"/sdcard/dev_{dev_num:02d}_chn_{chn_num:02d}_{img.width()}x{img.height()}.{suffix}" + print("save capture image to file:", filename) + img.save(filename) + # release image for dev and chn + camera.release_image(dev_num, chn_num, img) + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + # stop stream for camera device0 camera.stop_stream(CAM_DEV_ID_0) - + # deinit display display.deinit() - + # destroy media link media.destroy_link(meida_source, meida_sink) - - time.sleep(1) - - ret = media.buffer_deinit() - if ret: - print("camera test, media_buffer_deinit failed") - return ret - - print("camera test exit") - return 0 - - -canmv_camera_test() - + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # deinit media buffer + media.buffer_deinit() + +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + camera_test() diff --git a/share/qtcreator/examples/01-Media/camera_480p.py b/share/qtcreator/examples/01-Media/camera_480p.py new file mode 100644 index 00000000000..fb767130b1a --- /dev/null +++ b/share/qtcreator/examples/01-Media/camera_480p.py @@ -0,0 +1,69 @@ +from media.camera import * +from media.display import * +from media.media import * +from time import * +import time +import image +from mpp import * +import gc +from random import randint + +def canmv_camera_test(): + print("canmv_camera_test") + + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + + # use EVB LCD for display + # display.init(HX8377_1080X1920_30FPS) + + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + + out_width = 640 + out_height = 480 + out_width = ALIGN_UP(out_width, 16) + + # set chn0 output yuv420sp + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, out_width, out_height) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + + meida_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + media.create_link(meida_source, meida_sink) + + display.set_plane(0, 0, out_width, out_height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + + ret = media.buffer_init() + if ret: + print("canmv_camera_test, buffer init failed") + return ret + + camera.start_stream(CAM_DEV_ID_0) + img = None + try: + capture_count = 0 + while True: + img = camera.capture_image(0, 0) + img.compress_for_ide() + camera.release_image(0, 0, img) + gc.collect() + capture_count += 1 + print(capture_count) + except Exception as e: + print(f"An error occurred during buffer used: {e}") + finally: + print('end') + if img: + camera.release_image(0, 0, img) + else: + print('img not dumped') + camera.stop_stream(CAM_DEV_ID_0) + + display.deinit() + + media.destroy_link(meida_source, meida_sink) + time.sleep(1) + print("camera test exit") + return 0 + +canmv_camera_test() diff --git a/share/qtcreator/examples/01-Media/display.py b/share/qtcreator/examples/01-Media/display.py index b24698cf7f6..2e0145e5199 100755 --- a/share/qtcreator/examples/01-Media/display.py +++ b/share/qtcreator/examples/01-Media/display.py @@ -1,53 +1,67 @@ from media.camera import * from media.display import * from media.media import * -from time import * -import time +import time, os, urandom, sys +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 -def camera_display_test(): - CAM_OUTPUT_BUF_NUM = 6 - CAM_INPUT_BUF_NUM = 4 - - out_width = 1080 - out_height = 720 - out_width = ALIGN_UP(out_width, 16) - +def display_test(): + print("display test") + # use hdmi for display display.init(LT9611_1920X1080_30FPS) - camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) - - # set chn0 - camera.set_outbufs(CAM_DEV_ID_0, CAM_CHN_ID_0, CAM_OUTPUT_BUF_NUM) - camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, out_width, out_height) - camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) - - meida_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) - meida_sink = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) - media.create_link(meida_source, meida_sink) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) - display.set_plane(400, 200, out_width, out_height, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + try: + while True: + img.clear() + for i in range(10): + x = (urandom.getrandbits(11) % img.width()) + y = (urandom.getrandbits(11) % img.height()) + r = (urandom.getrandbits(8)) + g = (urandom.getrandbits(8)) + b = (urandom.getrandbits(8)) + # If the first argument is a scaler then this method expects + # to see x, y, and text. Otherwise, it expects a (x,y,text) tuple. + # Character and string rotation can be done at 0, 90, 180, 270, and etc. degrees. + img.draw_string(x, y, "Hello World!", color = (r, g, b), scale = 2, mono_space = False, + char_rotation = 0, char_hmirror = False, char_vflip = False, + string_rotation = 0, string_hmirror = False, string_vflip = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) - ret = media.buffer_init() - if ret: - print("camera_display_test, buffer init failed") - return ret - - camera.start_stream(CAM_DEV_ID_0) - count = 0 - while count < 600: - time.sleep(1) - count += 1 - - camera.stop_stream(CAM_DEV_ID_0) - media.destroy_link(meida_source, meida_sink) - time.sleep(1) + # deinit display display.deinit() - ret = media.buffer_deinit() - if ret: - print("camera_display_test, media_buffer_deinit failed") - return ret - - print("camera_display_test exit") - return 0 + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # deinit media buffer + media.buffer_deinit() -camera_display_test() +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + display_test() diff --git a/share/qtcreator/examples/01-Media/media.py b/share/qtcreator/examples/01-Media/media.py index c491468aec1..805e2a06aa4 100755 --- a/share/qtcreator/examples/01-Media/media.py +++ b/share/qtcreator/examples/01-Media/media.py @@ -1,28 +1,15 @@ -from media.media import * +# Meida Example +# +# Note: You will need an SD card to run this example. +# +# You can get how to use the meida api form this example. +from media.media import * +import os def media_buf_test(): print("media_buf_test start") config = k_vb_config() - config.max_pool_cnt = 10 - - config.comm_pool[0].blk_size = 1024*1024 - config.comm_pool[0].blk_cnt = 10 - config.comm_pool[0].mode = VB_REMAP_MODE_NONE - - config.comm_pool[1].blk_size = 2*1024*1024 - config.comm_pool[1].blk_cnt = 10 - config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE - - config.comm_pool[2].blk_size = 3*1024*1024 - config.comm_pool[2].blk_cnt = 10 - config.comm_pool[3].mode = VB_REMAP_MODE_CACHED - - print("media_buf_test buffer_config 111") - ret = media.buffer_config(config) - if ret: - print("media_buf_test, buffer_config failed") - return ret config.max_pool_cnt = 10 @@ -38,11 +25,8 @@ def media_buf_test(): config.comm_pool[2].blk_cnt = 10 config.comm_pool[3].mode = VB_REMAP_MODE_CACHED - print("media_buf_test buffer_config 222") - ret = media.buffer_config(config) - if ret: - print("media_buf_test, buffer_config failed") - return ret + # config meida buffer + media.buffer_config(config) config.max_pool_cnt = 20 @@ -58,11 +42,8 @@ def media_buf_test(): config.comm_pool[2].blk_cnt = 3 config.comm_pool[3].mode = VB_REMAP_MODE_CACHED - print("media_buf_test buffer_config 333") - ret = media.buffer_config(config) - if ret: - print("media_buf_test, buffer_config failed") - return ret + # config meida buffer + media.buffer_config(config) config.max_pool_cnt = 30 @@ -78,40 +59,30 @@ def media_buf_test(): config.comm_pool[2].blk_cnt = 5 config.comm_pool[3].mode = VB_REMAP_MODE_CACHED - print("media_buf_test buffer_config 444") - ret = media.buffer_config(config) - if ret: - print("media_buf_test, buffer_config failed") - return ret + # config meida buffer + media.buffer_config(config) print("media_buf_test buffer_init") - ret = media.buffer_init() - if ret: - print("media_buf_test, buffer_init failed") - + # init meida buffer + media.buffer_init() print("media_buf_test request_buffer") + # request meida buffer buffer = media.request_buffer(4*1024*1024) - if buffer == -1: - print("media_buf_test, request_buffer failed") - else: - print(f"buffer handle({buffer.handle})") - print(f"buffer pool_id({buffer.pool_id})") - print(f"buffer phys_addr({buffer.phys_addr})") - print(f"buffer virt_addr({buffer.virt_addr})") - print(f"buffer size({buffer.size})") - ret = media.release_buffer(buffer) - if ret: - print("media_buf_test, release_buffer failed") + print(f"buffer handle({buffer.handle})") + print(f"buffer pool_id({buffer.pool_id})") + print(f"buffer phys_addr({buffer.phys_addr})") + print(f"buffer virt_addr({buffer.virt_addr})") + print(f"buffer size({buffer.size})") + # release meida buffer + media.release_buffer(buffer) print("media_buf_test buffer_deinit") - ret = media.buffer_deinit() - if ret: - print("media_buf_test, buffer_deinit failed") - return ret + # deinit meida buffer + media.buffer_deinit() print("media_buf_test end") - return 0 - -media_buf_test() +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + media_buf_test() diff --git a/share/qtcreator/examples/01-Media/mp4muxer.py b/share/qtcreator/examples/01-Media/mp4muxer.py old mode 100755 new mode 100644 index 37fe60580e3..978b65e9077 --- a/share/qtcreator/examples/01-Media/mp4muxer.py +++ b/share/qtcreator/examples/01-Media/mp4muxer.py @@ -1,48 +1,45 @@ +# Save MP4 file example +# +# Note: You will need an SD card to run this example. +# +# You can capture audio and video and save them as MP4.The current version only supports MP4 format, video supports 264/265, and audio supports g711a/g711u. + from media.mp4format import * +import os -def canmv_mp4_muxer_test(): +def mp4_muxer_test(): + print("mp4_muxer_test start") width = 1280 height = 720 + # 实例化mp4 container mp4_muxer = Mp4Container() - mp4_cfg = Mp4CfgStr(mp4_muxer.MP4_CONFIG_TYPE_MUXER) if mp4_cfg.type == mp4_muxer.MP4_CONFIG_TYPE_MUXER: file_name = "/sdcard/app/tests/test.mp4" mp4_cfg.SetMuxerCfg(file_name, mp4_muxer.MP4_CODEC_ID_H265, width, height, mp4_muxer.MP4_CODEC_ID_G711U) - - ret = mp4_muxer.Create(mp4_cfg) - if ret: - print("canmv_mp4_muxer_test, mp4 muxer Create failed.") - return -1 - - ret = mp4_muxer.Start() - if ret: - print("canmv_mp4_muxer_test, mp4 muxer Start failed.") - return -1 + # 创建mp4 muxer + mp4_muxer.Create(mp4_cfg) + # 启动mp4 muxer + mp4_muxer.Start() frame_count = 0 - - while True: - ret = mp4_muxer.Process() - if ret: - print("canmv_mp4_muxer_test, mp4 muxer Process failed.") - return -1 - - frame_count += 1 - print("frame_coutn = ", frame_count) - if frame_count >= 100: - break - - ret = mp4_muxer.Stop() - if ret: - print("canmv_mp4_muxer_test, mp4 muxer Stop failed.") - return -1 - - ret = mp4_muxer.Destroy() - if ret: - print("canmv_mp4_muxer_test, mp4 muxer Destroy failed.") - return -1 - - return 0 - -canmv_mp4_muxer_test() \ No newline at end of file + try: + while True: + os.exitpoint() + # 处理音视频数据，按MP4格式写入文件 + mp4_muxer.Process() + frame_count += 1 + print("frame_coutn = ", frame_count) + if frame_count >= 200: + break + except BaseException as e: + print(e) + # 停止mp4 muxer + mp4_muxer.Stop() + # 销毁mp4 muxer + mp4_muxer.Destroy() + print("mp4_muxer_test stop") + +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + mp4_muxer_test() diff --git a/share/qtcreator/examples/01-Media/player.py b/share/qtcreator/examples/01-Media/player.py old mode 100755 new mode 100644 index 2a477e39c52..c000ee4d699 --- a/share/qtcreator/examples/01-Media/player.py +++ b/share/qtcreator/examples/01-Media/player.py @@ -1,43 +1,39 @@ -from media.player import * +# play mp4 file example +# +# Note: You will need an SD card to run this example. +# +# You can load local files to play. The current version only supports MP4 format, video supports 264/265, and audio supports g711a/g711u. -start_play = False +from media.player import * #导入播放器模块，用于播放mp4文件 +import os + +start_play = False #播放结束flag def player_event(event,data): global start_play - if(event == K_PLAYER_EVENT_EOF): - start_play = False + if(event == K_PLAYER_EVENT_EOF): #播放结束标识 + start_play = False #设置播放结束标识 def play_mp4_test(filename): global start_play - player=Player() - player.load(filename) - player.set_event_callback(player_event) - player.start() + player=Player() #创建播放器对象 + player.load(filename) #加载mp4文件 + player.set_event_callback(player_event) #设置播放器事件回调 + player.start() #开始播放 start_play = True - while(start_play): - time.sleep(0.1) - - player.stop() + #等待播放结束 + try: + while(start_play): + time.sleep(0.1) + os.exitpoint() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + + player.stop() #停止播放 print("play over") -''' -def test(filename): - player=Player() - print("....load_mp4") - player.load(filename) - time.sleep(1) - print("....destroy_mp4") - player.destroy_mp4(); - - - print("======_init_media_buffer before") - time.sleep(1) - player._init_media_buffer() - print("======_init_media_buffer end") - time.sleep(3) - print("======_deinit_media_buffer before") - player._deinit_media_buffer() - print("======_deinit_media_buffer end") -''' - -play_mp4_test("/sdcard/app/tests/test.mp4") \ No newline at end of file +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + play_mp4_test("/sdcard/app/tests/test.mp4")#播放mp4文件 diff --git a/share/qtcreator/examples/01-Media/venc.py b/share/qtcreator/examples/01-Media/venc.py old mode 100755 new mode 100644 index 861ddf2f8da..1711083a3bd --- a/share/qtcreator/examples/01-Media/venc.py +++ b/share/qtcreator/examples/01-Media/venc.py @@ -1,58 +1,46 @@ +# Video encode example +# +# Note: You will need an SD card to run this example. +# +# You can capture videos and encode them into 264 files + from media.vencoder import * from media.camera import * from media.media import * -from time import * -import time +import time, os -def canmv_venc_test(): +def venc_test(): + print("venc_test start") width = 1280 height = 720 venc_chn = VENC_CHN_ID_0 - width = ALIGN_UP(width, 16) + # 初始化sensor camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) - - # set vicap chn0 + # 设置camera 输出buffer camera.set_outbufs(CAM_DEV_ID_0, CAM_CHN_ID_0, 6) + # 设置camera 输出buffer size camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, width, height) + # 设置camera 输出格式 camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) - + # 实例化video encoder encoder = Encoder() - ret = encoder.SetOutBufs(venc_chn, 15, width, height) - if ret: - print("canmv_venc_test, encoder SetOutBufs failed.") - return -1 - - ret = media.buffer_init() - if ret: - print("canmv_venc_test, buffer_init failed.") - return ret - + # 设置video encoder 输出buffer + encoder.SetOutBufs(venc_chn, 15, width, height) + # 初始化设置的buffer + media.buffer_init() chnAttr = ChnAttrStr(encoder.PAYLOAD_TYPE_H265, encoder.H265_PROFILE_MAIN, width, height) streamData = StreamData() - - ret = encoder.Create(venc_chn, chnAttr) - if ret < 0: - print("canmv_venc_test, vencoder create filed.") - return ret - - # Bind with camera + # 创建编码器 + encoder.Create(venc_chn, chnAttr) + # 绑定camera和venc media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) media_sink = media_device(VIDEO_ENCODE_MOD_ID, VENC_DEV_ID, venc_chn) - ret = media.create_link(media_source, media_sink) - if ret: - print("cam_venc_test, create link with camera failed.") - return ret - - ret = encoder.Start(venc_chn) - if ret: - print("cam_venc_test, encoder start failed") - return ret - - ret = camera.start_stream(CAM_DEV_ID_0) - if ret: - print("cam_venc_test, camera start failed") - return ret + media.create_link(media_source, media_sink) + # 开始编码 + encoder.Start(venc_chn) + # 启动camera + camera.start_stream(CAM_DEV_ID_0) frame_count = 0 if chnAttr.payload_type == encoder.PAYLOAD_TYPE_H265: @@ -62,53 +50,43 @@ def canmv_venc_test(): else: suffix = "unkown" print("cam_venc_test, venc payload_type unsupport") - return -1 out_file = f"/sdcard/app/tests/venc_chn_{venc_chn:02d}.{suffix}" print("save stream to file: ", out_file) with open(out_file, "wb") as fo: - while True: - ret = encoder.GetStream(venc_chn, streamData) - if ret < 0: - print("cam_venc_test, venc get stream failed") - return ret - - for pack_idx in range(0, streamData.pack_cnt): - stream_data = uctypes.bytearray_at(streamData.data[pack_idx], streamData.data_size[pack_idx]) - fo.write(stream_data) - print("stream size: ", streamData.data_size[pack_idx], "stream type: ", streamData.stream_type[pack_idx]) - - ret = encoder.ReleaseStream(venc_chn, streamData) - if ret < 0: - print("cam_venc_test, venc release stream failed") - return ret - - frame_count += 1 - if frame_count >= 100: - break - + try: + while True: + os.exitpoint() + encoder.GetStream(venc_chn, streamData) # 获取一帧码流 + + for pack_idx in range(0, streamData.pack_cnt): + stream_data = uctypes.bytearray_at(streamData.data[pack_idx], streamData.data_size[pack_idx]) + fo.write(stream_data) # 码流写文件 + print("stream size: ", streamData.data_size[pack_idx], "stream type: ", streamData.stream_type[pack_idx]) + + encoder.ReleaseStream(venc_chn, streamData) # 释放一帧码流 + + frame_count += 1 + if frame_count >= 100: + break + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + + # 停止camera camera.stop_stream(CAM_DEV_ID_0) - - ret = media.destroy_link(media_source, media_sink) - if ret: - print("cam_venc_test, venc destroy link with camera failed.") - return ret - - ret = encoder.Stop(venc_chn) - if ret < 0: - print("cam_venc_test, venc stop failed.") - return ret - - ret = encoder.Destroy(venc_chn) - if ret < 0: - print("cam_venc_test, venc destroy failed.") - return ret - - ret = media.buffer_deinit() - if ret: - print("cam_venc_test, media buffer deinit failed.") - return ret - - -canmv_venc_test() + # 销毁camera和venc的绑定 + media.destroy_link(media_source, media_sink) + # 停止编码 + encoder.Stop(venc_chn) + # 销毁编码器 + encoder.Destroy(venc_chn) + # 清理buffer + media.buffer_deinit() + print("venc_test stop") + +if __name__ == "__main__": + os.exitpoint(os.EXITPOINT_ENABLE) + venc_test() diff --git a/share/qtcreator/examples/02-Machine/adc/adc.py b/share/qtcreator/examples/02-Machine/adc/adc.py old mode 100755 new mode 100644 index 4266a9cb793..fa1e2048460 --- a/share/qtcreator/examples/02-Machine/adc/adc.py +++ b/share/qtcreator/examples/02-Machine/adc/adc.py @@ -1,6 +1,10 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + from machine import ADC -adc = ADC(0,enable=True) -value = adc.value() +adc = ADC(0,enable=True) #构造adc对象，通道0默认开启 +value = adc.value() #获取通道0的数值 print("value = %d" % value) -adc.deinit() +adc.deinit() #注销adc对象 diff --git a/share/qtcreator/examples/02-Machine/fft/fft.py b/share/qtcreator/examples/02-Machine/fft/fft.py old mode 100755 new mode 100644 index 3a1342c46f4..c4584d6e31e --- a/share/qtcreator/examples/02-Machine/fft/fft.py +++ b/share/qtcreator/examples/02-Machine/fft/fft.py @@ -1,3 +1,7 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + from machine import FFT import array import math @@ -13,18 +17,18 @@ def input_data(): data3 = 0.2 * math.cos(4 * 2 * PI * i / 64) data4 = 1000 * math.cos(5 * 2 * PI * i / 64) rx.append((int(data0 + data1 + data2 + data3 + data4))) -input_data() +input_data() #初始化需要进行FFT的数据，列表类型 print(rx) -data = np.array(rx,dtype=np.uint16) +data = np.array(rx,dtype=np.uint16) #把列表数据转换成数组 print(data) -fft1 = FFT(data, 64, 0x555) -res = fft1.run() +fft1 = FFT(data, 64, 0x555) #创建一个FFT对象,运算点数为64，偏移是0x555 +res = fft1.run() #获取FFT转换后的数据 print(res) -res = fft1.amplitude(res) +res = fft1.amplitude(res) #获取各个频率点的幅值 print(res) -res = fft1.freq(64,38400) +res = fft1.freq(64,38400) #获取所有频率点的频率值 print(res) diff --git a/share/qtcreator/examples/02-Machine/fpioa/fpioa.py b/share/qtcreator/examples/02-Machine/fpioa/fpioa.py old mode 100755 new mode 100644 index e0e585350f5..6c32c8d7f65 --- a/share/qtcreator/examples/02-Machine/fpioa/fpioa.py +++ b/share/qtcreator/examples/02-Machine/fpioa/fpioa.py @@ -15,8 +15,12 @@ a.set_function(60,set_sl=1,set_ie=0,set_oe=0,set_pd=1,set_pu=0,set_ds=6,set_st=0,set_di=1) a.help(60) +try : + print(a.set_function(60,set_msc=0)) + +except Exception as e: + print("set error ", e) -a.set_function(60,set_msc=0) a.help(60) diff --git a/share/qtcreator/examples/02-Machine/gpio/gpio.py b/share/qtcreator/examples/02-Machine/gpio/gpio.py old mode 100755 new mode 100644 index 2a9f9616e74..e6b3e865f00 --- a/share/qtcreator/examples/02-Machine/gpio/gpio.py +++ b/share/qtcreator/examples/02-Machine/gpio/gpio.py @@ -1,13 +1,12 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + from machine import GPIO -gpio = GPIO(8, GPIO.OUT, GPIO.PULL_UP, value=0) -value = gpio.value() -print("value = %d" % value) -gpio.value(1) +gpio = GPIO(8, GPIO.OUT, GPIO.PULL_UP, value=0) #构造GPIO对象，gpio编号为8，设置为上拉输出低电平 +value = gpio.value() #获取gpio的值 +print("value = %d" % value) +gpio.value(1) #设置gpio输出为高电平 value = gpio.value() print("value = %d" % value) - -def on_timer(arg): - print("time up: %d" % arg) - -gpio.irq(on_timer,3) diff --git a/share/qtcreator/examples/02-Machine/i2c/i2c.py b/share/qtcreator/examples/02-Machine/i2c/i2c.py index bfaaf35246e..ac1e19afda9 100755 --- a/share/qtcreator/examples/02-Machine/i2c/i2c.py +++ b/share/qtcreator/examples/02-Machine/i2c/i2c.py @@ -1,32 +1,27 @@ from machine import I2C -i2c4=machine.I2C(4) +i2c4=I2C(4) # init i2c4 -i2c4.scan() +a=i2c4.scan() #scan i2c slave +print(a) -i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) -#value =0x17 -i2c4.readfrom_mem(0x3b,0x00,1,mem_size=8) -#value =0x2 -i2c4.readfrom_mem(0x3b,0x01,1,mem_size=8) +i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) # write hdmi page address(0x80) +i2c4.readfrom_mem(0x3b,0x00,1,mem_size=8) # read hdmi id0 ,value =0x17 +i2c4.readfrom_mem(0x3b,0x01,1,mem_size=8) # read hdmi id1 ,value =0x2 -i2c4.writeto(0x3b,bytes([0xff,0x80]),True) -i2c4.writeto(0x3b,bytes([0x00]),True) -#value =0x17 -i2c4.readfrom(0x3b,1) -i2c4.writeto(0x3b,bytes([0x01]),True) -#value =0x2 -i2c4.readfrom(0x3b,1) +i2c4.writeto(0x3b,bytes([0xff,0x80]),True) # write hdmi page address(0x80) +i2c4.writeto(0x3b,bytes([0x00]),True) #send the address0 of being readed +i2c4.readfrom(0x3b,1) #read hdmi id0 ,value =0x17 +i2c4.writeto(0x3b,bytes([0x01]),True) #send the address1 of being readed +i2c4.readfrom(0x3b,1) #read hdmi id0 ,value =0x17 -i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) +i2c4.writeto_mem(0x3b,0xff,bytes([0x80]),mem_size=8) # write hdmi page address(0x80) a=bytearray(1) -i2c4.readfrom_mem_into(0x3b,0x0,a,mem_size=8) -#value =0x17 -print(a) +i2c4.readfrom_mem_into(0x3b,0x0,a,mem_size=8) # read hdmi id0 into a ,value =0x17 +print(a) #printf a,value =0x17 -i2c4.writeto(0x3b,bytes([0xff,0x80]),True) -i2c4.writeto(0x3b,bytes([0x00]),True) +i2c4.writeto(0x3b,bytes([0xff,0x80]),True) # write hdmi page address(0x80) +i2c4.writeto(0x3b,bytes([0x00]),True) #send the address0 of being readed b=bytearray(1) -i2c4.readfrom_into(0x3b,b) -#value =0x17 -print(b) \ No newline at end of file +i2c4.readfrom_into(0x3b,b) #read hdmi id0 into b ,value =0x17 +print(b) #printf a,value =0x17 \ No newline at end of file diff --git a/share/qtcreator/examples/02-Machine/pwm/pwm.py b/share/qtcreator/examples/02-Machine/pwm/pwm.py old mode 100755 new mode 100644 index 816b6f4bcc7..97927cb4217 --- a/share/qtcreator/examples/02-Machine/pwm/pwm.py +++ b/share/qtcreator/examples/02-Machine/pwm/pwm.py @@ -1,4 +1,11 @@ from machine import PWM - -# channel 0 output freq 1kHz duty 50%, enable +# 实例化PWM通道0，频率为1000Hz，占空比为50%，默认使能输出 pwm0 = PWM(0, 1000, 50, enable = True) +# 关闭通道0输出 +pwm0.enable(0) +# 调整通道0频率为2000Hz +pwm0.freq(2000) +# 调整通道0占空比为40% +pwm0.duty(40) +# 打开通道0输出 +pwm0.enable(1) diff --git a/share/qtcreator/examples/02-Machine/spi/spi.py b/share/qtcreator/examples/02-Machine/spi/spi.py new file mode 100755 index 00000000000..929056623fd --- /dev/null +++ b/share/qtcreator/examples/02-Machine/spi/spi.py @@ -0,0 +1,35 @@ +from machine import SPI +from machine import FPIOA +a = FPIOA() + +a.help(14) +a.set_function(14,a.QSPI0_CS0) +a.help(14) + +a.help(15) +a.set_function(15,a.QSPI0_CLK) +a.help(15) + +a.help(16) +a.set_function(16,a.QSPI0_D0) +a.help(16) + +a.help(17) +a.set_function(17,a.QSPI0_D1) +a.help(17) + +spi=SPI(1,baudrate=5000000, polarity=0, phase=0, bits=8) # spi init clock 5MHz, polarity 0, phase 0, data bitwide 8bits + +spi.write(bytes([0x66])) # enable gd25lq128 reset + +spi.write(bytes([0x99])) # gd25lq128 reset + +a=bytes([0x9f]) # send buff +b=bytearray(3) # receive buf +spi.write_readinto(a,b) # read gd25lq128 id +print(b) # bytearray(b'\xc8`\x18') + +a=bytes([0x90,0,0,0]) # send buff +b=bytearray(2) # receive buf +spi.write_readinto(a,b) # read gd25lq128 id +print(b) # bytearray(b'\xc8\x17') diff --git a/share/qtcreator/examples/02-Machine/timer/timer.py b/share/qtcreator/examples/02-Machine/timer/timer.py old mode 100755 new mode 100644 index a62ea128253..64e9fe74331 --- a/share/qtcreator/examples/02-Machine/timer/timer.py +++ b/share/qtcreator/examples/02-Machine/timer/timer.py @@ -1,8 +1,10 @@ -from machine import Timer - +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 -def on_timer(arg): +from machine import Timer +def on_timer(arg): #定义定时器回调函数 print("time up: %d" % arg) -tim = Timer(mode=Timer.MODE_ONE_SHOT,period=3, unit=Timer.UNIT_S, callback=on_timer, arg=1, start=True) +tim = Timer(mode=Timer.MODE_ONE_SHOT,period=3, unit=Timer.UNIT_S, callback=on_timer, arg=1, start=True) #构造定时器对象，时间为3s，默认开启定时器 diff --git a/share/qtcreator/examples/02-Machine/uart/uart.py b/share/qtcreator/examples/02-Machine/uart/uart.py new file mode 100644 index 00000000000..22f0dd3d1e5 --- /dev/null +++ b/share/qtcreator/examples/02-Machine/uart/uart.py @@ -0,0 +1,16 @@ +from machine import UART +# UART1: baudrate 115200, 8bits, parity none, one stopbits +uart = UART(UART.UART2, baudrate=115200, bits=UART.EIGHTBITS, parity=UART.PARITY_NONE, stop=UART.STOPBITS_ONE) +# UART write +r = uart.write("UART test") +print(r) +# UART read +r = uart.read() +print(r) +# UART readline +r = uart.readline() +print(r) +# UART readinto +b = bytearray(8) +r = uart.readinto(b) +print(r) diff --git a/share/qtcreator/examples/02-Machine/wdt/wdt.py b/share/qtcreator/examples/02-Machine/wdt/wdt.py old mode 100755 new mode 100644 index 759dc638bbd..1c6a656a11b --- a/share/qtcreator/examples/02-Machine/wdt/wdt.py +++ b/share/qtcreator/examples/02-Machine/wdt/wdt.py @@ -1,13 +1,17 @@ +# 基础示例 +# +# 欢迎使用CanMV IDE, 点击IDE左下角的绿色按钮开始执行脚本 + import time from machine import WDT -wdt1 = WDT(1,3) +wdt1 = WDT(1,3) #构造wdt对象，/dev/watchdog1,timeout为3s print('into', wdt1) -time.sleep(2) -print(time.ticks_ms()) +time.sleep(2) #延时2s +print(time.ticks_ms()) ## 1.test wdt feed -wdt1.feed() -time.sleep(2) +wdt1.feed() #喂狗操作 +time.sleep(2) #延时2s print(time.ticks_ms()) ## 2.test wdt stop -wdt1.stop() +wdt1.stop() #停止喂狗 diff --git a/share/qtcreator/examples/04-AI-Demo/face_detection.py b/share/qtcreator/examples/04-AI-Demo/face_detection.py old mode 100755 new mode 100644 index a0a9c3ef109..57b1c801465 --- a/share/qtcreator/examples/04-AI-Demo/face_detection.py +++ b/share/qtcreator/examples/04-AI-Demo/face_detection.py @@ -7,6 +7,7 @@ import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time #时间统计 import gc #垃圾回收模块 +import os, sys #操作系统接口模块 #********************for config.py******************** # display分辨率 @@ -278,7 +279,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -286,26 +287,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** @@ -318,28 +317,18 @@ def face_detect_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取检测结果 @@ -349,17 +338,14 @@ def face_detect_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -368,15 +354,11 @@ def face_detect_inference(): kpu_deinit(kpu_face_detect) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_detect_test, buffer_deinit failed") - return ret + media_deinit() print("face_detect_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_detect_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_landmark.py b/share/qtcreator/examples/04-AI-Demo/face_landmark.py old mode 100755 new mode 100644 index 92b929b4380..08023310f8f --- a/share/qtcreator/examples/04-AI-Demo/face_landmark.py +++ b/share/qtcreator/examples/04-AI-Demo/face_landmark.py @@ -7,7 +7,7 @@ import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time # 时间统计 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 import math # 数学模块 @@ -502,7 +502,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -510,9 +510,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img_ulab,draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 用于画框 @@ -521,16 +519,16 @@ def media_init(): # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** def face_landmark_inference(): @@ -544,28 +542,19 @@ def face_landmark_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取人脸检测结果 @@ -580,18 +569,14 @@ def face_landmark_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - #with ScopedTiming("gc collect", debug_mode > 0): - #gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -601,15 +586,11 @@ def face_landmark_inference(): fld_kpu_deinit(kpu_face_landmark) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_landmark_test, buffer_deinit failed") - return ret + media_deinit() print("face_landmark_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_landmark_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_mesh.py b/share/qtcreator/examples/04-AI-Demo/face_mesh.py old mode 100755 new mode 100644 index 64546e4a0ea..54e11454f0d --- a/share/qtcreator/examples/04-AI-Demo/face_mesh.py +++ b/share/qtcreator/examples/04-AI-Demo/face_mesh.py @@ -7,7 +7,7 @@ import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time # 时间统计 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 import math # 数学模块 @@ -504,7 +504,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -512,9 +512,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img_ulab,draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 用于画框 @@ -523,16 +521,16 @@ def media_init(): # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** def face_mesh_inference(): @@ -547,29 +545,19 @@ def face_mesh_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # （3）若读取成功，推理当前帧 + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取人脸检测结果 dets = fd_kpu_run(kpu_face_detect,rgb888p_img) @@ -585,18 +573,14 @@ def face_mesh_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - #with ScopedTiming("gc collect", debug_mode > 0): - #gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -607,15 +591,11 @@ def face_mesh_inference(): fmpost_kpu_deinit(kpu_face_mesh_post) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_mesh_test, buffer_deinit failed") - return ret + media_deinit() - #print("face_mesh_test end") - return 0 + print("face_mesh_test end") if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_mesh_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_parse.py b/share/qtcreator/examples/04-AI-Demo/face_parse.py old mode 100755 new mode 100644 index b3b982b33b2..10d3ecc618c --- a/share/qtcreator/examples/04-AI-Demo/face_parse.py +++ b/share/qtcreator/examples/04-AI-Demo/face_parse.py @@ -7,7 +7,7 @@ import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time # 时间统计 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 import math # 数学模块 #********************for config.py******************** @@ -415,7 +415,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -423,9 +423,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img_ulab,draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) @@ -435,16 +433,16 @@ def media_init(): # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** def face_parse_inference(): @@ -458,31 +456,20 @@ def face_parse_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) - gc_count = 0 while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取人脸检测结果 @@ -497,16 +484,14 @@ def face_parse_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -516,15 +501,11 @@ def face_parse_inference(): fp_kpu_deinit(kpu_face_parse) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_parse_test, buffer_deinit failed") - return ret + media_deinit() print("face_parse_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_parse_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_pose.py b/share/qtcreator/examples/04-AI-Demo/face_pose.py old mode 100755 new mode 100644 index aff7dd1e356..1ee888c0d67 --- a/share/qtcreator/examples/04-AI-Demo/face_pose.py +++ b/share/qtcreator/examples/04-AI-Demo/face_pose.py @@ -7,7 +7,7 @@ import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time # 时间统计 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 import math # 数学模块 #********************for config.py******************** @@ -500,7 +500,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -508,9 +508,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img_ulab,draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 用于画框，draw_img->draw_img_ulab(两者指向同一块内存) @@ -519,16 +517,16 @@ def media_init(): # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** def face_pose_inference(): @@ -542,31 +540,20 @@ def face_pose_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) - gc_count = 0 while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取人脸检测结果 @@ -581,16 +568,14 @@ def face_pose_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -600,15 +585,11 @@ def face_pose_inference(): fp_kpu_deinit(kpu_face_pose) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_pose_test, buffer_deinit failed") - return ret + media_deinit() print("face_pose_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_pose_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_recognition.py b/share/qtcreator/examples/04-AI-Demo/face_recognition.py old mode 100755 new mode 100644 index 0afd17f92ac..3f00be7f76e --- a/share/qtcreator/examples/04-AI-Demo/face_recognition.py +++ b/share/qtcreator/examples/04-AI-Demo/face_recognition.py @@ -7,7 +7,7 @@ import image # 图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time # 时间统计 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 import math # 数学模块 #********************for config.py******************** @@ -585,7 +585,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -593,26 +593,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) # meida资源释放 global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #********************for face_detect.py******************** def face_recognition_inference(): @@ -626,29 +624,19 @@ def face_recognition_inference(): # 显示初始化 display_init() - rgb888p_img = None # 注意：将一定要将一下过程包在try中，用于保证程序停止后，资源释放完毕；确保下次程序仍能正常运行 try: # 注意：媒体初始化（注：媒体初始化必须在camera_start之前，确保media缓冲区已配置完全） - ret = media_init() - if ret: - print("face_detect_test, buffer init failed") - return ret + media_init() # 启动camera camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): # （1）读取一帧图像 rgb888p_img = camera_read(CAM_DEV_ID_0) - # （2）若读取失败，释放当前帧 - if rgb888p_img == -1: - print("face_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - + # （2） # （3）若读取成功，推理当前帧 if rgb888p_img.format() == image.RGBP888: # （3.1）推理当前图像，并获取人脸检测结果 @@ -663,17 +651,14 @@ def face_recognition_inference(): # （4）释放当前帧 camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None gc.collect() - except Exception as e: + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) # 捕捉运行运行中异常，并打印错误 print(f"An error occurred during buffer used: {e}") finally: - # 释放当前帧 - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - # 停止camera camera_stop(CAM_DEV_ID_0) # 释放显示资源 @@ -683,15 +668,11 @@ def face_recognition_inference(): fr_kpu_deinit(kpu_face_recg) # 垃圾回收 gc.collect() - time.sleep(1) # 释放媒体资源 - ret = media_deinit() - if ret: - print("face_recognition_test, buffer_deinit failed") - return ret + media_deinit() print("face_recognition_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_recognition_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/face_registration.py b/share/qtcreator/examples/04-AI-Demo/face_registration.py old mode 100755 new mode 100644 index 301aba5fe43..55366a6e416 --- a/share/qtcreator/examples/04-AI-Demo/face_registration.py +++ b/share/qtcreator/examples/04-AI-Demo/face_registration.py @@ -4,7 +4,7 @@ import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time #时间统计 import gc #垃圾回收模块 -import os #操作系统接口模块 +import os, sys #操作系统接口模块 import math #数学模块 #********************for config.py******************** @@ -462,7 +462,10 @@ def face_registration_inference(): print('No person detected') gc.collect() - except Exception as e: + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: # 释放kpu资源 @@ -470,10 +473,9 @@ def face_registration_inference(): fr_kpu_deinit(kpu_face_reg) # 垃圾回收 gc.collect() - time.sleep(1) print("face_registration_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) face_registration_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/finger_guessing.py b/share/qtcreator/examples/04-AI-Demo/finger_guessing.py old mode 100755 new mode 100644 index e0723c6cd20..b2e41c386f3 --- a/share/qtcreator/examples/04-AI-Demo/finger_guessing.py +++ b/share/qtcreator/examples/04-AI-Demo/finger_guessing.py @@ -8,6 +8,7 @@ import time #时间统计 import gc #垃圾回收模块 import aicube #aicube模块，封装ai cube 相关后处理 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -420,7 +421,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -428,9 +429,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img, masks buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 @@ -439,16 +438,16 @@ def media_init(): # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for finger_guessing.py********** @@ -459,13 +458,8 @@ def finger_guessing_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("finger_guessing, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) # 开启 camera counts_guess = -1 # 猜拳次数 计数 player_win = 0 # 玩家 赢次计数 @@ -475,14 +469,9 @@ def finger_guessing_inference(): LIBRARY = ["fist","yeah","five"] # 猜拳 石头剪刀布 三种方案的dict while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 - if rgb888p_img == -1: - print("finger_guessing, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: with ScopedTiming("trigger time", debug_mode > 0): @@ -491,6 +480,7 @@ def finger_guessing_inference(): draw_img.clear() for det_box in dets: gesture = hk_gesture(kpu_hand_keypoint_detect,rgb888p_img,det_box) # 执行手掌关键点检测 kpu 运行 以及 后处理过程 得到手势类型 + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图形 if (len(dets) >= 2): draw_img.draw_string( 300 , 500, "Must have one hand !", color=(255,255,0,0), scale=7) draw_img.copy_to(osd_img) @@ -572,31 +562,25 @@ def finger_guessing_inference(): else: draw_img.copy_to(osd_img) display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) # 将得到的图像 绘制到 display - - camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图形 - rgb888p_img = None + else: + camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图形 gc.collect() - except Exception as e: + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 停止 display hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu hk_kpu_deinit(kpu_hand_keypoint_detect) # 释放手掌关键点检测 kpu gc.collect() - ret = media_deinit() # 释放 整个 media - if ret: - print("finger_guessing, buffer_deinit failed") - return ret + media_deinit() # 释放 整个 media print("finger_guessing_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) finger_guessing_inference() - diff --git a/share/qtcreator/examples/04-AI-Demo/hand_detection.py b/share/qtcreator/examples/04-AI-Demo/hand_detection.py old mode 100755 new mode 100644 index 9ca1d45da2c..7fb6b1fd448 --- a/share/qtcreator/examples/04-AI-Demo/hand_detection.py +++ b/share/qtcreator/examples/04-AI-Demo/hand_detection.py @@ -8,7 +8,7 @@ import time #时间统计 import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 - +import os, sys #操作系统接口模块 import gc #垃圾回收模块 ##config.py @@ -254,7 +254,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -262,26 +262,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for hand_detect.py********** def hand_detect_inference(): @@ -290,22 +288,14 @@ def hand_detect_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("hand_detect_test, buffer init failed") - return ret + media_init() camera_start(CAM_DEV_ID_0) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("hand_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue # for rgb888planar if rgb888p_img.format() == image.RGBP888: @@ -313,27 +303,21 @@ def hand_detect_inference(): display_draw(dets) # 将得到的检测结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - #gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display kpu_deinit(kpu_hand_detect) # 释放 kpu gc.collect() - ret = media_deinit() # 释放 整个media - if ret: - print("hand_detect_test, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("hand_detect_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) hand_detect_inference() - diff --git a/share/qtcreator/examples/04-AI-Demo/hand_keypoint_detection.py b/share/qtcreator/examples/04-AI-Demo/hand_keypoint_detection.py old mode 100755 new mode 100644 index c01e33028e9..5b9490c5a1a --- a/share/qtcreator/examples/04-AI-Demo/hand_keypoint_detection.py +++ b/share/qtcreator/examples/04-AI-Demo/hand_keypoint_detection.py @@ -8,7 +8,7 @@ import time #时间统计 import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 - +import os, sys #操作系统接口模块 import gc #垃圾回收模块 ##config.py @@ -349,7 +349,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -357,26 +357,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for hand_keypoint_detect.py********** def hand_keypoint_detect_inference(): @@ -386,23 +384,13 @@ def hand_keypoint_detect_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("hand_detect_test, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("hand_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = hd_kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 @@ -443,29 +431,24 @@ def hand_keypoint_detect_inference(): display_draw(hk_results[0], x1_kp, y1_kp, w_kp, h_kp) # 将得到的手掌关键点检测结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - #gc.collect() + gc.collect() draw_img.copy_to(osd_img) display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) - except Exception as e: + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu hk_kpu_deinit(kpu_hand_keypoint_detect) # 释放手掌关键点检测 kpu gc.collect() - ret = media_deinit() # 释放 整个media - if ret: - print("hand_detect_test, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("hand_detect_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) hand_keypoint_detect_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/hand_recognition.py b/share/qtcreator/examples/04-AI-Demo/hand_recognition.py old mode 100755 new mode 100644 index 6fb4c7371e5..4441e4beed5 --- a/share/qtcreator/examples/04-AI-Demo/hand_recognition.py +++ b/share/qtcreator/examples/04-AI-Demo/hand_recognition.py @@ -8,7 +8,7 @@ import time #时间统计 import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 - +import os, sys #操作系统接口模块 import gc #垃圾回收模块 ##config.py @@ -338,7 +338,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -346,26 +346,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for hand_recognition.py********** def hand_recognition_inference(): @@ -375,23 +373,13 @@ def hand_recognition_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("hand_recognition_test, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("hand_recognition_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = hd_kpu_run(kpu_hand_detect,rgb888p_img) # 执行手掌检测 kpu 运行 以及 后处理过程 @@ -432,29 +420,24 @@ def hand_recognition_inference(): draw_img.draw_string( x1 , y1-50, hr_results, color=(255,0, 255, 0), scale=4) # 将得到的识别结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - #gc.collect() + gc.collect() draw_img.copy_to(osd_img) display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD3) - except Exception as e: + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display hd_kpu_deinit(kpu_hand_detect) # 释放手掌检测 kpu hr_kpu_deinit(kpu_hand_recognition) # 释放手势识别 kpu gc.collect() - ret = media_deinit() # 释放 整个media - if ret: - print("hand_recognition_test, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("hand_recognition_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) hand_recognition_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/keyword_spotting.py b/share/qtcreator/examples/04-AI-Demo/keyword_spotting.py old mode 100755 new mode 100644 index 416cac81ee3..c8d6293a2b9 --- a/share/qtcreator/examples/04-AI-Demo/keyword_spotting.py +++ b/share/qtcreator/examples/04-AI-Demo/keyword_spotting.py @@ -7,7 +7,7 @@ import time # 时间统计 import struct # 字节字符转换模块 import gc # 垃圾回收模块 -import os # 操作系统接口模块 +import os, sys # 操作系统接口模块 # key word spotting任务 # 检测阈值 @@ -55,9 +55,7 @@ def init_kws(): # 初始化音频流 p = PyAudio() p.initialize(CHUNK) - ret = media.buffer_init() - if ret: - print("record_audio, buffer_init failed") + media.buffer_init() # 用于采集实时音频数据 input_stream = p.open( format=FORMAT, @@ -142,6 +140,7 @@ def kws_inference(): pcm_data_list = [] try: while True: + os.exitpoint() with ScopedTiming("total", 1): pcm_data_list.clear() # 对实时音频流进行推理 @@ -154,6 +153,12 @@ def kws_inference(): pcm_data_list.append(float_pcm_data) # kpu运行和后处理 kpu_run_kws(kpu_kws,pcm_data_list) + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + print(f"An error occurred during buffer used: {e}") finally: input_stream.stop_stream() output_stream.stop_stream() @@ -162,7 +167,7 @@ def kws_inference(): p.terminate() media.buffer_deinit() aidemo.kws_fp_destroy(fp) - #gc.collect() if __name__=="__main__": + os.exitpoint(os.EXITPOINT_ENABLE) kws_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/licence_det.py b/share/qtcreator/examples/04-AI-Demo/licence_det.py old mode 100755 new mode 100644 index 82bc51ef74d..16c7fa67428 --- a/share/qtcreator/examples/04-AI-Demo/licence_det.py +++ b/share/qtcreator/examples/04-AI-Demo/licence_det.py @@ -7,6 +7,7 @@ import time #时间统计 import gc #垃圾回收模块 import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -220,7 +221,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -228,26 +229,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for licence_det.py********** @@ -257,53 +256,34 @@ def licence_det_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("licence_det, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("licence_det, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = kpu_run(kpu_licence_det,rgb888p_img) # 执行车牌检测 kpu 运行 以及后处理过程 display_draw(dets) # 将得到的 检测结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display kpu_deinit(kpu_licence_det) # 释放 kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放整个media - if ret: - print("licence_det, buffer_deinit failed") - return ret + media_deinit() # 释放整个media print("licence_det end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) licence_det_inference() - - diff --git a/share/qtcreator/examples/04-AI-Demo/licence_det_rec.py b/share/qtcreator/examples/04-AI-Demo/licence_det_rec.py old mode 100755 new mode 100644 index 16540844cdc..ff6d08c6a21 --- a/share/qtcreator/examples/04-AI-Demo/licence_det_rec.py +++ b/share/qtcreator/examples/04-AI-Demo/licence_det_rec.py @@ -7,6 +7,7 @@ import time #时间统计 import gc #垃圾回收模块 import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -353,7 +354,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -361,26 +362,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for licence_det_rec.py********** @@ -391,24 +390,13 @@ def licence_det_rec_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("licence_det_rec, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("licence_det_rec, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = det_kpu_run(kpu_licence_det,rgb888p_img) # 执行车牌检测 kpu 运行 以及 后处理过程 @@ -416,30 +404,22 @@ def licence_det_rec_inference(): display_draw(dets_recs) # 将得到的检测结果和识别结果 绘制到display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display det_kpu_deinit(kpu_licence_det) # 释放 车牌检测 kpu rec_kpu_deinit(kpu_licence_rec) # 释放 车牌识别 kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放 整个media - if ret: - print("licence_det_rec, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("licence_det_rec end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) licence_det_rec_inference() - - diff --git a/share/qtcreator/examples/04-AI-Demo/object_detect_yolov8n.py b/share/qtcreator/examples/04-AI-Demo/object_detect_yolov8n.py old mode 100755 new mode 100644 index 5ceb0a93bb3..d1f9428d355 --- a/share/qtcreator/examples/04-AI-Demo/object_detect_yolov8n.py +++ b/share/qtcreator/examples/04-AI-Demo/object_detect_yolov8n.py @@ -6,6 +6,7 @@ import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time #时间统计 import gc #垃圾回收模块 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -338,7 +339,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -346,26 +347,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for ob_detect.py********** @@ -375,51 +374,34 @@ def ob_detect_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("ob_detect, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("ob_detect, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = kpu_run(kpu_ob_detect,rgb888p_img) # 执行多目标检测 kpu运行 以及 后处理过程 display_draw(dets) # 将得到的检测结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止camera display_deinit() # 释放 display kpu_deinit(kpu_ob_detect) # 释放 kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放 整个media - if ret: - print("ob_detect, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("ob_detect_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) ob_detect_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/ocr_det.py b/share/qtcreator/examples/04-AI-Demo/ocr_det.py old mode 100755 new mode 100644 index e1e0fd3a630..a7f18e96c76 --- a/share/qtcreator/examples/04-AI-Demo/ocr_det.py +++ b/share/qtcreator/examples/04-AI-Demo/ocr_det.py @@ -6,7 +6,7 @@ import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 import time #时间统计 import gc #垃圾回收模块 -import os #操作系统接口模块 +import os, sys #操作系统接口模块 import aicube #aicube模块，封装检测分割等任务相关后处理 # display分辨率 @@ -267,7 +267,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -275,26 +275,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放buffer，销毁link def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() # def ocr_det_inference(): @@ -302,50 +300,33 @@ def ocr_det_inference(): kpu_ocr_det = kpu_init_det(kmodel_file_det) # 创建ocr检测任务的kpu对象 camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("ocr_det_test, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 - if rgb888p_img == -1: - print("ocr_det_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: det_results = kpu_run_det(kpu_ocr_det,rgb888p_img) # kpu运行获取kmodel的推理输出 display_draw(det_results) # 绘制检测结果，并显示 camera_release_image(CAM_DEV_ID_0,rgb888p_img) # 释放内存 - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止camera display_deinit() # 释放display kpu_deinit_det(kpu_ocr_det) # 释放kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放整个media - if ret: - print("ocr_det_test, buffer_deinit failed") - return ret + media_deinit() # 释放整个media print("ocr_det_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) ocr_det_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/ocr_rec.py b/share/qtcreator/examples/04-AI-Demo/ocr_rec.py old mode 100755 new mode 100644 index a5d742a0e42..71805adb24c --- a/share/qtcreator/examples/04-AI-Demo/ocr_rec.py +++ b/share/qtcreator/examples/04-AI-Demo/ocr_rec.py @@ -7,6 +7,7 @@ import time #时间统计 import gc #垃圾回收模块 import aicube #aicube模块，封装检测分割等任务相关后处理 +import os, sys #操作系统接口模块 # display分辨率 DISPLAY_WIDTH = ALIGN_UP(1920, 16) @@ -351,7 +352,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -359,26 +360,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放buffer，销毁link def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() def ocr_rec_inference(): print("ocr_rec_test start") @@ -386,23 +385,13 @@ def ocr_rec_inference(): kpu_ocr_rec = kpu_init_rec(kmodel_file_rec) # 创建OCR识别kpu对象 camera_init(CAM_DEV_ID_0) # camera初始化 display_init() # display初始化 - rgb888p_img = None try: - ret = media_init() - if ret: - print("ocr_rec_test, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图像 - if rgb888p_img == -1: - print("ocr_rec_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue # for rgb888planar if rgb888p_img.format() == image.RGBP888: det_results = kpu_run_det(kpu_ocr_det,rgb888p_img) # kpu运行获取OCR检测kmodel的推理输出 @@ -414,28 +403,22 @@ def ocr_rec_inference(): print("\n"+ocr_results) display_draw(det_results) camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止camera display_deinit() # 释放display kpu_deinit_det(kpu_ocr_det) # 释放OCR检测步骤kpu kpu_deinit_rec(kpu_ocr_rec) # 释放OCR识别步骤kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放整个media - if ret: - print("ocr_rec_test, buffer_deinit failed") - return ret + media_deinit() # 释放整个media print("ocr_rec_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) ocr_rec_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/person_detection.py b/share/qtcreator/examples/04-AI-Demo/person_detection.py old mode 100755 new mode 100644 index a99f643a8f6..58f47c65770 --- a/share/qtcreator/examples/04-AI-Demo/person_detection.py +++ b/share/qtcreator/examples/04-AI-Demo/person_detection.py @@ -8,7 +8,7 @@ import time #时间统计 import image #图像模块，主要用于读取、图像绘制元素（框、点等）等操作 - +import os, sys #操作系统接口模块 import gc #垃圾回收模块 ##config.py @@ -256,7 +256,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -264,26 +264,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for person_detect.py********** def person_detect_inference(): @@ -292,50 +290,34 @@ def person_detect_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("person_detect_test, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) while True: + os.exitpoint() with ScopedTiming("total",total_debug_mode): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("person_detect_test, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: dets = kpu_run(kpu_person_detect,rgb888p_img) # 执行行人检测 kpu 运行 以及 后处理过程 display_draw(dets) # 将得到的检测结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - # gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display kpu_deinit(kpu_person_detect) # 释放 kpu gc.collect() - ret = media_deinit() # 释放 整个media - if ret: - print("person_detect_test, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("person_detect_test end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) person_detect_inference() - diff --git a/share/qtcreator/examples/04-AI-Demo/person_kp_detect.py b/share/qtcreator/examples/04-AI-Demo/person_kp_detect.py old mode 100755 new mode 100644 index f6d549d3d61..ec47c46cc75 --- a/share/qtcreator/examples/04-AI-Demo/person_kp_detect.py +++ b/share/qtcreator/examples/04-AI-Demo/person_kp_detect.py @@ -7,6 +7,7 @@ import time #时间统计 import gc #垃圾回收模块 import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -271,7 +272,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -279,26 +280,24 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 - draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_MPGC) + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for person_kp_detect.py********** @@ -308,51 +307,34 @@ def person_kp_detect_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("person_kp_detect, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("person_kp_detect, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: person_kp_detect_res = kpu_run(kpu_person_kp_detect,rgb888p_img) # 执行人体关键点检测 kpu 运行 以及 后处理过程 display_draw(person_kp_detect_res) # 将得到的人体关键点结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - #gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display kpu_deinit(kpu_person_kp_detect) # 释放 kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放 整个media - if ret: - print("person_kp_detect, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("person_kp_detect end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) person_kp_detect_inference() diff --git a/share/qtcreator/examples/04-AI-Demo/segment_yolov8n.py b/share/qtcreator/examples/04-AI-Demo/segment_yolov8n.py old mode 100755 new mode 100644 index 6a6b9df5d54..d35f82f0391 --- a/share/qtcreator/examples/04-AI-Demo/segment_yolov8n.py +++ b/share/qtcreator/examples/04-AI-Demo/segment_yolov8n.py @@ -7,6 +7,7 @@ import time #时间统计 import gc #垃圾回收模块 import aidemo #aidemo模块，封装ai demo相关后处理、画图操作 +import os, sys #操作系统接口模块 ##config.py #display分辨率 @@ -252,7 +253,7 @@ def media_init(): config.comm_pool[0].blk_cnt = 1 config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE - ret = media.buffer_config(config) + media.buffer_config(config) global media_source, media_sink media_source = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) @@ -260,9 +261,7 @@ def media_init(): media.create_link(media_source, media_sink) # 初始化多媒体buffer - ret = media.buffer_init() - if ret: - return ret + media.buffer_init() global buffer, draw_img, osd_img, masks buffer = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) # 图层1，用于画框 @@ -271,16 +270,16 @@ def media_init(): # 图层2，用于拷贝画框结果，防止画框过程中发生buffer搬运 osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, poolid=buffer.pool_id, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr) - return ret # media 释放内存 def media_deinit(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) global buffer,media_source, media_sink media.release_buffer(buffer) media.destroy_link(media_source, media_sink) - ret = media.buffer_deinit() - return ret + media.buffer_deinit() #**********for seg.py********** @@ -290,51 +289,34 @@ def seg_inference(): camera_init(CAM_DEV_ID_0) # 初始化 camera display_init() # 初始化 display - rgb888p_img = None try: - ret = media_init() - if ret: - print("seg, buffer init failed") - return ret - + media_init() camera_start(CAM_DEV_ID_0) - time.sleep(5) while True: + os.exitpoint() with ScopedTiming("total",1): rgb888p_img = camera_read(CAM_DEV_ID_0) # 读取一帧图片 - if rgb888p_img == -1: - print("seg, capture_image failed") - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - rgb888p_img = None - continue - # for rgb888planar if rgb888p_img.format() == image.RGBP888: seg_res = kpu_run(kpu_seg,rgb888p_img) # 执行多目标分割 kpu 运行 以及 后处理过程 display_draw(seg_res) # 将得到的分割结果 绘制到 display camera_release_image(CAM_DEV_ID_0,rgb888p_img) # camera 释放图像 - rgb888p_img = None - #gc.collect() - except Exception as e: + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) print(f"An error occurred during buffer used: {e}") finally: - if rgb888p_img is not None: - #先release掉申请的内存再stop - camera_release_image(CAM_DEV_ID_0,rgb888p_img) - camera_stop(CAM_DEV_ID_0) # 停止 camera display_deinit() # 释放 display kpu_deinit(kpu_seg) # 释放 kpu gc.collect() - time.sleep(1) - ret = media_deinit() # 释放 整个media - if ret: - print("seg, buffer_deinit failed") - return ret + media_deinit() # 释放 整个media print("seg end") - return 0 if __name__ == '__main__': + os.exitpoint(os.EXITPOINT_ENABLE) seg_inference() diff --git a/share/qtcreator/examples/05-nncase-Runtime/ai2d+kpu.py b/share/qtcreator/examples/05-nncase-Runtime/ai2d+kpu.py old mode 100755 new mode 100644 index 1e1c92a4a7d..daa80299df4 --- a/share/qtcreator/examples/05-nncase-Runtime/ai2d+kpu.py +++ b/share/qtcreator/examples/05-nncase-Runtime/ai2d+kpu.py @@ -1,11 +1,16 @@ -import nncase_runtime as nn -import ulab.numpy as np -import utime -import time -# init kpu and load kmodel +import nncase_runtime as nn # 导入nncase包 +import ulab.numpy as np # 导入numpy +import gc + +# We will explain how to use nncase_runtime in this test script for `KPU` and `AI2D`, +# including model reading, printing input and output information of the model, +# configuring `AI2D`, linking `AI2D` and `KPU`, setting input data, and how to obtain output. + + +# init kpu、ai2d and load kmodel kpu = nn.kpu() ai2d = nn.ai2d() -kpu.load_kmodel("/sdcard/app/tests/nncase_runtime/face_detection/face_detection.kmodel") +kpu.load_kmodel("/sdcard/app/tests/nncase_runtime/face_detection/face_detection_320.kmodel") # init kpu input data = np.zeros((1,3,320,320),dtype=np.uint8) @@ -26,7 +31,7 @@ ai2d_input = ai2d_input.reshape((1, 3, 624, 1024)) ai2d_input_tensor = nn.from_numpy(ai2d_input) - +# config ai2d ai2d.set_dtype(nn.ai2d_format.NCHW_FMT, nn.ai2d_format.NCHW_FMT, np.uint8, np.uint8) @@ -43,11 +48,16 @@ # get output for i in range(kpu.outputs_size()): - result = kpu.get_output_tensor(i) - result = result.to_numpy() - utime.sleep(1) - #file_ = "/sdcard/app/output_{}.bin".format(i) - #np.save(file_, result) + data = kpu.get_output_tensor(i) + result = data.to_numpy() print("result: ", i, result.flatten()[-5:]) print(result.shape,result.dtype) - + del data + +del kpu_input +del ai2d_input_tensor +del ai2d_builder +del ai2d_out +del ai2d +del kpu +gc.collect() diff --git a/share/qtcreator/examples/05-nncase-Runtime/kpu.py b/share/qtcreator/examples/05-nncase-Runtime/kpu.py old mode 100755 new mode 100644 index 399b20c737d..2b01dfe7655 --- a/share/qtcreator/examples/05-nncase-Runtime/kpu.py +++ b/share/qtcreator/examples/05-nncase-Runtime/kpu.py @@ -1,9 +1,14 @@ import nncase_runtime as nn import ulab.numpy as np +import gc + +# We will explain how to use nncase_runtime in this test script for `KPU`, +# including model reading, printing input and output information of the model, +# configuring input data, and how to obtain output. # init kpu and load kmodel kpu = nn.kpu() -kpu.load_kmodel("/sdcard/app/tests/mbv2/test.kmodel") +kpu.load_kmodel("/sdcard/app/tests/nncase_runtime/face_detection/face_detection_320.kmodel") # dump model input and output info print("inputs info:") @@ -15,19 +20,23 @@ print(kpu.outputs_desc(i)) # set input tensor -with open('/sdcard/app/tests/mbv2/input_0_0.bin', 'rb') as f: +with open('/sdcard/app/tests/nncase_runtime/face_detection/face_detection_ai2d_output.bin', 'rb') as f: data = f.read() -input_data = np.frombuffer(data, dtype=np.float) -input_data = input_data.reshape((1,3,224,224)) - +input_data = np.frombuffer(data, dtype=np.uint8) +input_data = input_data.reshape((1,3,320,320)) kpu.set_input_tensor(0, nn.from_numpy(input_data)) # run kmodel kpu.run() # get output -result = kpu.get_output_tensor(0) -result = result.to_numpy() -print(result.shape,result.dtype) - +for i in range(kpu.outputs_size()): + result = kpu.get_output_tensor(i) + data = result.to_numpy() + print("result: ", i, data.flatten()[-5:]) + print(data.shape, data.dtype) + del result + +del kpu +gc.collect() diff --git a/share/qtcreator/examples/07-April-Tags/find_apriltags.py b/share/qtcreator/examples/07-April-Tags/find_apriltags.py new file mode 100644 index 00000000000..633b73b2198 --- /dev/null +++ b/share/qtcreator/examples/07-April-Tags/find_apriltags.py @@ -0,0 +1,148 @@ +# AprilTags Example +# +# This example shows the power of the CanMV Cam to detect April Tags. + +from media.camera import * +from media.display import * +from media.media import * +import time, math, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work. + +# The apriltag code supports up to 6 tag families which can be processed at the same time. +# Returned tag objects will have their tag family and id within the tag family. + +tag_families = 0 +tag_families |= image.TAG16H5 # comment out to disable this family +tag_families |= image.TAG25H7 # comment out to disable this family +tag_families |= image.TAG25H9 # comment out to disable this family +tag_families |= image.TAG36H10 # comment out to disable this family +tag_families |= image.TAG36H11 # comment out to disable this family (default family) +tag_families |= image.ARTOOLKIT # comment out to disable this family + +# What's the difference between tag families? Well, for example, the TAG16H5 family is effectively +# a 4x4 square tag. So, this means it can be seen at a longer distance than a TAG36H11 tag which +# is a 6x6 square tag. However, the lower H value (H5 versus H11) means that the false positve +# rate for the 4x4 tag is much, much, much, higher than the 6x6 tag. So, unless you have a +# reason to use the other tags families just use TAG36H11 which is the default family. + +def family_name(tag): + if(tag.family() == image.TAG16H5): + return "TAG16H5" + if(tag.family() == image.TAG25H7): + return "TAG25H7" + if(tag.family() == image.TAG25H9): + return "TAG25H9" + if(tag.family() == image.TAG36H10): + return "TAG36H10" + if(tag.family() == image.TAG36H11): + return "TAG36H11" + if(tag.family() == image.ARTOOLKIT): + return "ARTOOLKIT" + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, alloc=image.ALLOC_HEAP, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + draw_img.clear() + for tag in img.find_apriltags(families=tag_families): + draw_img.draw_rectangle([v*SCALE for v in tag.rect()], color=(255, 0, 0)) + draw_img.draw_cross(tag.cx()*SCALE, tag.cy()*SCALE, color=(0, 255, 0)) + print_args = (family_name(tag), tag.id(), (180 * tag.rotation()) / math.pi) + print("Tag Family %s, Tag ID %d, rotation %f (degrees)" % print_args) + draw_img.copy_to(osd_img) + print(fps.fps()) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/07-April-Tags/find_apriltags_3d_pose.py b/share/qtcreator/examples/07-April-Tags/find_apriltags_3d_pose.py new file mode 100644 index 00000000000..c614fd9216d --- /dev/null +++ b/share/qtcreator/examples/07-April-Tags/find_apriltags_3d_pose.py @@ -0,0 +1,148 @@ +# AprilTags Example +# +# This example shows the power of the CanMV Cam to detect April Tags. + +from media.camera import * +from media.display import * +from media.media import * +import time, math, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work. + +# What's the difference between tag families? Well, for example, the TAG16H5 family is effectively +# a 4x4 square tag. So, this means it can be seen at a longer distance than a TAG36H11 tag which +# is a 6x6 square tag. However, the lower H value (H5 versus H11) means that the false positve +# rate for the 4x4 tag is much, much, much, higher than the 6x6 tag. So, unless you have a +# reason to use the other tags families just use TAG36H11 which is the default family. + +# The AprilTags library outputs the pose information for tags. This is the x/y/z translation and +# x/y/z rotation. The x/y/z rotation is in radians and can be converted to degrees. As for +# translation the units are dimensionless and you must apply a conversion function. + +# f_x is the x focal length of the camera. It should be equal to the lens focal length in mm +# divided by the x sensor size in mm times the number of pixels in the image. +# The below values are for the OV7725 camera with a 2.8 mm lens. + +# f_y is the y focal length of the camera. It should be equal to the lens focal length in mm +# divided by the y sensor size in mm times the number of pixels in the image. +# The below values are for the OV7725 camera with a 2.8 mm lens. + +# c_x is the image x center position in pixels. +# c_y is the image y center position in pixels. + +f_x = (2.8 / 3.984) * DETECT_WIDTH # find_apriltags defaults to this if not set +f_y = (2.8 / 2.952) * DETECT_HEIGHT # find_apriltags defaults to this if not set +c_x = DETECT_WIDTH * 0.5 # find_apriltags defaults to this if not set (the image.w * 0.5) +c_y = DETECT_HEIGHT * 0.5 # find_apriltags defaults to this if not set (the image.h * 0.5) + +def degrees(radians): + return (180 * radians) / math.pi + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, alloc=image.ALLOC_HEAP, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + draw_img.clear() + for tag in img.find_apriltags(fx=f_x, fy=f_y, cx=c_x, cy=c_y): # defaults to TAG36H11 + draw_img.draw_rectangle([v*SCALE for v in tag.rect()], color=(255, 0, 0)) + draw_img.draw_cross(tag.cx()*SCALE, tag.cy()*SCALE, color=(0, 255, 0)) + print_args = (tag.x_translation(), tag.y_translation(), tag.z_translation(), + degrees(tag.x_rotation()), degrees(tag.y_rotation()), degrees(tag.z_rotation())) + # Translation units are unknown. Rotation units are in degrees. + print("Tx: %f, Ty %f, Tz %f, Rx %f, Ry %f, Rz %f" % print_args) + draw_img.copy_to(osd_img) + print(fps.fps()) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/08-Codes/find_barcodes.py b/share/qtcreator/examples/08-Codes/find_barcodes.py new file mode 100644 index 00000000000..68f70ecda14 --- /dev/null +++ b/share/qtcreator/examples/08-Codes/find_barcodes.py @@ -0,0 +1,150 @@ +# Barcode Example +# +# This example shows off how easy it is to detect bar codes. + +from media.camera import * +from media.display import * +from media.media import * +import time, math, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def barcode_name(code): + if(code.type() == image.EAN2): + return "EAN2" + if(code.type() == image.EAN5): + return "EAN5" + if(code.type() == image.EAN8): + return "EAN8" + if(code.type() == image.UPCE): + return "UPCE" + if(code.type() == image.ISBN10): + return "ISBN10" + if(code.type() == image.UPCA): + return "UPCA" + if(code.type() == image.EAN13): + return "EAN13" + if(code.type() == image.ISBN13): + return "ISBN13" + if(code.type() == image.I25): + return "I25" + if(code.type() == image.DATABAR): + return "DATABAR" + if(code.type() == image.DATABAR_EXP): + return "DATABAR_EXP" + if(code.type() == image.CODABAR): + return "CODABAR" + if(code.type() == image.CODE39): + return "CODE39" + if(code.type() == image.PDF417): + return "PDF417" + if(code.type() == image.CODE93): + return "CODE93" + if(code.type() == image.CODE128): + return "CODE128" + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, alloc=image.ALLOC_HEAP, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + codes = img.find_qrcodes() + draw_img.clear() + for code in codes: + draw_img.draw_rectangle([v*SCALE for v in code.rect()], color=(255, 0, 0)) + print_args = (barcode_name(code), code.payload(), (180 * code.rotation()) / math.pi, code.quality(), fps.fps()) + print("Barcode %s, Payload \"%s\", rotation %f (degrees), quality %d, FPS %f" % print_args) + draw_img.copy_to(osd_img) + if not codes: + print("FPS %f" % fps.fps()) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/08-Codes/find_datamatrices.py b/share/qtcreator/examples/08-Codes/find_datamatrices.py new file mode 100644 index 00000000000..271130574cf --- /dev/null +++ b/share/qtcreator/examples/08-Codes/find_datamatrices.py @@ -0,0 +1,116 @@ +# Data Matrices Example +# +# This example shows off how easy it is to detect data matrices. + +from media.camera import * +from media.display import * +from media.media import * +import time, math, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, alloc=image.ALLOC_HEAP, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + matrices = img.find_datamatrices() + draw_img.clear() + for matrix in matrices: + draw_img.draw_rectangle([v*SCALE for v in matrix.rect()], color=(255, 0, 0)) + print_args = (matrix.rows(), matrix.columns(), matrix.payload(), (180 * matrix.rotation()) / math.pi, fps.fps()) + print("Matrix [%d:%d], Payload \"%s\", rotation %f (degrees), FPS %f" % print_args) + draw_img.copy_to(osd_img) + if not matrices: + print("FPS %f" % fps.fps()) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/08-Codes/find_qrcodes.py b/share/qtcreator/examples/08-Codes/find_qrcodes.py new file mode 100644 index 00000000000..ec0bd57593e --- /dev/null +++ b/share/qtcreator/examples/08-Codes/find_qrcodes.py @@ -0,0 +1,115 @@ +# QRCode Example +# +# This example shows the power of the CanMV Cam to detect QR Codes. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, alloc=image.ALLOC_HEAP, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + codes = img.find_qrcodes() + draw_img.clear() + for code in codes: + draw_img.draw_rectangle([v*SCALE for v in code.rect()], color=(255, 0, 0)) + print(code) + draw_img.copy_to(osd_img) + if not codes: + print("FPS %f" % fps.fps()) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/automatic_grayscale_color_tracking.py b/share/qtcreator/examples/09-Color-Tracking/automatic_grayscale_color_tracking.py new file mode 100644 index 00000000000..c97e1286ecf --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/automatic_grayscale_color_tracking.py @@ -0,0 +1,145 @@ +# Automatic Grayscale Color Tracking Example +# +# This example shows off single color automatic grayscale color tracking using the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, math + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + # Capture the color thresholds for whatever was in the center of the image. + r = [(DETECT_WIDTH//2)-(50//2), (DETECT_HEIGHT//2)-(50//2), 50, 50] # 50x50 center of QVGA. + threshold = [128, 128] # Middle grayscale values. + frame_count = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + if frame_count < 60: + if frame_count == 0: + print("Letting auto algorithms run. Don't put anything in front of the camera!") + print("Auto algorithms done. Hold the object you want to track in front of the camera in the box.") + print("MAKE SURE THE COLOR OF THE OBJECT YOU WANT TO TRACK IS FULLY ENCLOSED BY THE BOX!") + draw_img.draw_rectangle([v*SCALE for v in r]) + frame_count = frame_count + 1 + elif frame_count < 120: + if frame_count == 60: + print("Learning thresholds...") + elif frame_count == 119: + print("Thresholds learned...") + print("Tracking colors...") + hist = img.get_histogram(roi=r) + lo = hist.get_percentile(0.01) # Get the CDF of the histogram at the 1% range (ADJUST AS NECESSARY)! + hi = hist.get_percentile(0.99) # Get the CDF of the histogram at the 99% range (ADJUST AS NECESSARY)! + # Average in percentile values. + threshold[0] = (threshold[0] + lo.value()) // 2 + threshold[1] = (threshold[1] + hi.value()) // 2 + for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10): + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_rectangle([v*SCALE for v in r]) + frame_count = frame_count + 1 + del hist + else: + for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10): + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + + draw_img.copy_to(osd_img) + del img + gc.collect() + if frame_count >= 120: + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/automatic_rgb565_color_tracking.py b/share/qtcreator/examples/09-Color-Tracking/automatic_rgb565_color_tracking.py new file mode 100644 index 00000000000..85efd03081e --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/automatic_rgb565_color_tracking.py @@ -0,0 +1,149 @@ +# Automatic RGB565 Color Tracking Example +# +# This example shows off single color automatic RGB565 color tracking using the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, math + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + # Capture the color thresholds for whatever was in the center of the image. + r = [(DETECT_WIDTH//2)-(50//2), (DETECT_HEIGHT//2)-(50//2), 50, 50] # 50x50 center of QVGA. + threshold = [50, 50, 0, 0, 0, 0] # Middle L, A, B values. + frame_count = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + if frame_count < 60: + if frame_count == 0: + print("Letting auto algorithms run. Don't put anything in front of the camera!") + print("Auto algorithms done. Hold the object you want to track in front of the camera in the box.") + print("MAKE SURE THE COLOR OF THE OBJECT YOU WANT TO TRACK IS FULLY ENCLOSED BY THE BOX!") + draw_img.draw_rectangle([v*SCALE for v in r]) + frame_count = frame_count + 1 + elif frame_count < 120: + if frame_count == 60: + print("Learning thresholds...") + elif frame_count == 119: + print("Thresholds learned...") + print("Tracking colors...") + hist = img.get_histogram(roi=r) + lo = hist.get_percentile(0.01) # Get the CDF of the histogram at the 1% range (ADJUST AS NECESSARY)! + hi = hist.get_percentile(0.99) # Get the CDF of the histogram at the 99% range (ADJUST AS NECESSARY)! + # Average in percentile values. + threshold[0] = (threshold[0] + lo.l_value()) // 2 + threshold[1] = (threshold[1] + hi.l_value()) // 2 + threshold[2] = (threshold[2] + lo.a_value()) // 2 + threshold[3] = (threshold[3] + hi.a_value()) // 2 + threshold[4] = (threshold[4] + lo.b_value()) // 2 + threshold[5] = (threshold[5] + hi.b_value()) // 2 + for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10): + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_rectangle([v*SCALE for v in r]) + frame_count = frame_count + 1 + del hist + else: + for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10): + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + + draw_img.copy_to(osd_img) + del img + gc.collect() + if frame_count >= 120: + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/black_grayscale_line_following.py b/share/qtcreator/examples/09-Color-Tracking/black_grayscale_line_following.py new file mode 100644 index 00000000000..beded0344e9 --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/black_grayscale_line_following.py @@ -0,0 +1,171 @@ +# Black Grayscale Line Following Example +# +# Making a line following robot requires a lot of effort. This example script +# shows how to do the machine vision part of the line following robot. You +# can use the output from this script to drive a differential drive robot to +# follow a line. This script just generates a single turn value that tells +# your robot to go left or right. +# +# For this script to work properly you should point the camera at a line at a +# 45 or so degree angle. Please make sure that only the line is within the +# camera's field of view. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, math + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# Tracks a black line. Use [(128, 255)] for a tracking a white line. +GRAYSCALE_THRESHOLD = [(0, 64)] + +# Each roi is (x, y, w, h). The line detection algorithm will try to find the +# centroid of the largest blob in each roi. The x position of the centroids +# will then be averaged with different weights where the most weight is assigned +# to the roi near the bottom of the image and less to the next roi and so on. +ROIS = [ # [ROI, weight] + (0, 100, 160, 20, 0.7), # You'll need to tweak the weights for your app + (0, 50, 160, 20, 0.3), # depending on how your robot is setup. + (0, 0, 160, 20, 0.1) + ] + +# Compute the weight divisor (we're computing this so you don't have to make weights add to 1). +weight_sum = 0 +for r in ROIS: weight_sum += r[4] # r[4] is the roi weight. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + centroid_sum = 0 + for r in ROIS: + blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True) # r[0:4] is roi tuple. + + if blobs: + # Find the blob with the most pixels. + largest_blob = max(blobs, key=lambda b: b.pixels()) + + # Draw a rect around the blob. + draw_img.draw_rectangle([v*SCALE for v in largest_blob.rect()]) + draw_img.draw_cross(largest_blob.cx()*SCALE, largest_blob.cy()*SCALE) + + centroid_sum += largest_blob.cx() * r[4] # r[4] is the roi weight. + + center_pos = (centroid_sum / weight_sum) # Determine center of line. + + # Convert the center_pos to a deflection angle. We're using a non-linear + # operation so that the response gets stronger the farther off the line we + # are. Non-linear operations are good to use on the output of algorithms + # like this to cause a response "trigger". + deflection_angle = 0 + + # The 80 is from half the X res, the 60 is from half the Y res. The + # equation below is just computing the angle of a triangle where the + # opposite side of the triangle is the deviation of the center position + # from the center and the adjacent side is half the Y res. This limits + # the angle output to around -45 to 45. (It's not quite -45 and 45). + deflection_angle = -math.atan((center_pos-80)/60) + + # Convert angle in radians to degrees. + deflection_angle = math.degrees(deflection_angle) + + # Now you have an angle telling you how much to turn the robot by which + # incorporates the part of the line nearest to the robot and parts of + # the line farther away from the robot for a better prediction. + print("Turn Angle: %f" % deflection_angle) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/image_histogram_info.py b/share/qtcreator/examples/09-Color-Tracking/image_histogram_info.py new file mode 100644 index 00000000000..cea35e2e46f --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/image_histogram_info.py @@ -0,0 +1,106 @@ +# Image Histogram Info Example +# +# This script computes the histogram of the image and prints it out. + +# You can also pass get_histogram() an "roi=" to get just the histogram of that area. +# get_histogram() allows you to quickly determine the color channel information of +# any any area in the image. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + print(img.get_histogram(bins=8)) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/image_statistics_info.py b/share/qtcreator/examples/09-Color-Tracking/image_statistics_info.py new file mode 100644 index 00000000000..ba5ab393cd1 --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/image_statistics_info.py @@ -0,0 +1,106 @@ +# Image Statistics Info Example +# +# This script computes the statistics of the image and prints it out. + +# You can also pass get_statistics() an "roi=" to get just the statistics of that area. +# get_statistics() allows you to quickly determine the color channel information of +# any any area in the image. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + print(img.get_statistics()) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/multi_color_code_tracking.py b/share/qtcreator/examples/09-Color-Tracking/multi_color_code_tracking.py new file mode 100644 index 00000000000..954970307b8 --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/multi_color_code_tracking.py @@ -0,0 +1,141 @@ +# Multi Color Code Tracking Example +# +# This example shows off multi color code tracking using the CanMV Cam. +# +# A color code is a blob composed of two or more colors. The example below will +# only track colored objects which have two or more the colors below in them. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, math + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# 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) + (0, 15, 0, 40, -80, -20)] # generic_blue_thresholds -> index is 2 so code == (1 << 2) +# Codes are or'ed together when "merge=True" for "find_blobs". + +# 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. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + for blob in img.find_blobs(thresholds, pixels_threshold=100, area_threshold=100, merge=True): + if blob.code() == 3: # r/g code + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_string(blob.x()*SCALE + 2, blob.y()*SCALE + 2, "r/g") + if blob.code() == 5: # r/b code + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_string(blob.x()*SCALE + 2, blob.y()*SCALE + 2, "r/b") + if blob.code() == 6: # g/b code + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_string(blob.x()*SCALE + 2, blob.y()*SCALE + 2, "g/b") + if blob.code() == 7: # r/g/b code + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + draw_img.draw_string(blob.x()*SCALE + 2, blob.y()*SCALE + 2, "r/g/b") + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/09-Color-Tracking/single_color_code_tracking.py b/share/qtcreator/examples/09-Color-Tracking/single_color_code_tracking.py new file mode 100644 index 00000000000..10838ee7b7e --- /dev/null +++ b/share/qtcreator/examples/09-Color-Tracking/single_color_code_tracking.py @@ -0,0 +1,135 @@ +# Single Color Code Tracking Example +# +# This example shows off single color code tracking using the CanMV Cam. +# +# A color code is a blob composed of two or more colors. The example below will +# only track colored objects which have both the colors below in them. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, math + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# 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" + +# 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. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + 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. + draw_img.draw_rectangle([v*SCALE for v in blob.rect()]) + draw_img.draw_cross(blob.cx()*SCALE, blob.cy()*SCALE) + # Note - the blob rotation is unique to 0-180 only. + draw_img.draw_keypoints([(blob.cx()*SCALE, blob.cy()*SCALE, int(math.degrees(blob.rotation())))], size=20) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/arrow_drawing.py b/share/qtcreator/examples/10-Drawing/arrow_drawing.py new file mode 100644 index 00000000000..bb63d445a52 --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/arrow_drawing.py @@ -0,0 +1,105 @@ +# Arrow Drawing +# +# This example shows off drawing arrows on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x0 = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y0 = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + x1 = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y1 = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x0, y0, x1, and y1. Otherwise, it expects a (x0,y0,x1,y1) tuple. + img.draw_arrow(x0, y0, x1, y1, color = (r, g, b), size = 30, thickness = 2) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/circle_drawing.py b/share/qtcreator/examples/10-Drawing/circle_drawing.py new file mode 100644 index 00000000000..b495f786316 --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/circle_drawing.py @@ -0,0 +1,104 @@ +# Circle Drawing +# +# This example shows off drawing circles on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + radius = urandom.getrandbits(30) % (max(img.height(), img.width())//2) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x, y, and radius. Otherwise, it expects a (x,y,radius) tuple. + img.draw_circle(x, y, radius, color = (r, g, b), thickness = 2, fill = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/cross_drawing.py b/share/qtcreator/examples/10-Drawing/cross_drawing.py new file mode 100644 index 00000000000..7ed92f877cb --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/cross_drawing.py @@ -0,0 +1,103 @@ +# Cross Drawing +# +# This example shows off drawing crosses on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x and y. Otherwise, it expects a (x,y) tuple. + img.draw_cross(x, y, color = (r, g, b), size = 10, thickness = 2) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/ellipse_drawing.py b/share/qtcreator/examples/10-Drawing/ellipse_drawing.py new file mode 100644 index 00000000000..767e3a7b7bf --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/ellipse_drawing.py @@ -0,0 +1,107 @@ +# Ellipse Drawing +# +# This example shows off drawing ellipses on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + radius_x = urandom.getrandbits(30) % (max(img.height(), img.width())//2) + radius_y = urandom.getrandbits(30) % (max(img.height(), img.width())//2) + rot = urandom.getrandbits(30) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x, y, radius x, and radius y. + # Otherwise, it expects a (x,y,radius_x,radius_y) tuple. + img.draw_ellipse(x, y, radius_x, radius_y, rot, color = (r, g, b), thickness = 2, fill = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/flood_fill.py b/share/qtcreator/examples/10-Drawing/flood_fill.py new file mode 100644 index 00000000000..f452341ebbd --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/flood_fill.py @@ -0,0 +1,103 @@ +# Flood Fill +# +# This example shows off flood filling areas in the image. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # # set chn0 output size + # camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # # set chn0 output format + # camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # # create meida source device + # globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # # create meida sink device + # globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # # create meida link + # media.create_link(meida_source, meida_sink) + # # set display plane with video channel + # display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + # media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + x = img.width() // 2 + y = img.height() // 2 + img.flood_fill(x, y, seed_threshold=0.05, floating_thresholds=0.05, + color=(255, 0, 0), invert=False, clear_background=False) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/image_drawing.py b/share/qtcreator/examples/10-Drawing/image_drawing.py new file mode 100644 index 00000000000..bd114b08be3 --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/image_drawing.py @@ -0,0 +1,110 @@ +# Draw Image Example +# +# This example shows off how to draw images in the frame buffer. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # # set chn0 output size + # camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # # set chn0 output format + # camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # # create meida source device + # globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # # create meida sink device + # globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # # create meida link + # media.create_link(meida_source, meida_sink) + # # set display plane with video channel + # display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + # media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + small_img = img.mean_pooled(4, 4) # Makes a copy. + x = (img.width()//2)-(small_img.width()//2) + y = (img.height()//2)-(small_img.height()//2) + # Draws an image in the frame buffer.Pass an optional + # mask image to control what pixels are drawn. + img.draw_image(small_img, x, y, x_scale=1, y_scale=1) + img.copy_to(osd_img) + del img, small_img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/image_drawing_advanced.py b/share/qtcreator/examples/10-Drawing/image_drawing_advanced.py new file mode 100644 index 00000000000..775f9464042 --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/image_drawing_advanced.py @@ -0,0 +1,183 @@ +# Draw Image Testing script with bounce +# +# Exercise draw image with many different values for testing + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +BOUNCE = True +RESCALE = True + +SMALL_IMAGE_SCALE = 3 + +CYCLE_FORMATS = True +CYCLE_MASK = True + +# Used when CYCLE_FORMATS or CYCLE_MASK is true +value_mixer_init = 0 + +# Location of small image +x_init = 100 +y_init = 50 + +# Bounce direction +xd_init = 1 +yd_init = 1 + +# Small image scaling +rescale_init = 1.0 +rd_init = 0.1 +max_rescale = 5 +min_rescale = 0.2 + +# Boundary to bounce within +xmin = -DISPLAY_WIDTH / SMALL_IMAGE_SCALE - 8 +ymin = -DISPLAY_HEIGHT / SMALL_IMAGE_SCALE - 8 +xmax = DISPLAY_WIDTH + 8 +ymax = DISPLAY_HEIGHT + 8 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # # set chn0 output size + # camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # # set chn0 output format + # camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # # create meida source device + # globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # # create meida sink device + # globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # # create meida link + # media.create_link(meida_source, meida_sink) + # # set display plane with video channel + # display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + # media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + value_mixer = value_mixer_init + x = x_init + y = y_init + xd = xd_init + yd = yd_init + rescale = rescale_init + rd = rd_init + fps = time.clock() + while True: + fps.tick() + status = "" + value_mixer = value_mixer + 1 + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + small_img = img.mean_pooled(SMALL_IMAGE_SCALE, SMALL_IMAGE_SCALE) + status = 'rgb565 ' + if CYCLE_FORMATS: + image_format = (value_mixer >> 8) & 3 + # To test combining different formats + if (image_format==1): small_img = small_img.to_bitmap(); status = 'bitmap ' + if (image_format==2): small_img = small_img.to_grayscale(); status = 'grayscale ' + if (image_format==3): small_img = small_img.to_rgb565(); status = 'rgb565 ' + + # update small image location + if BOUNCE: + x = x + xd + if (xxmax): + xd = -xd + + y = y + yd + if (yymax): + yd = -yd + + # Update small image scale + if RESCALE: + rescale = rescale + rd + if (rescalemax_rescale): + rd = -rd + + # Find the center of the image + scaled_width = int(small_img.width() * abs(rescale)) + scaled_height= int(small_img.height() * abs(rescale)) + + apply_mask = CYCLE_MASK and ((value_mixer >> 9) & 1) + if apply_mask: + img.draw_image(small_img, int(x), int(y), mask=small_img.to_bitmap(), x_scale=rescale, y_scale=rescale, alpha=240) + status += 'alpha:240 ' + status += '+mask ' + else: + img.draw_image(small_img, int(x), int(y), x_scale=rescale, y_scale=rescale, alpha=128) + status += 'alpha:128 ' + + img.draw_string(8, 0, status, mono_space = False) + img.copy_to(osd_img) + del img, small_img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/image_drawing_alpha_blending_test.py b/share/qtcreator/examples/10-Drawing/image_drawing_alpha_blending_test.py new file mode 100644 index 00000000000..c301d85b74c --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/image_drawing_alpha_blending_test.py @@ -0,0 +1,155 @@ +# Image Drawing Alpha Blending Test +# +# This script tests the performance and quality of the draw_image() +# method which can perform nearest neighbor, bilinear, bicubic, and +# area scaling along with color channel extraction, alpha blending, +# color palette application, and alpha palette application. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +small_img = image.Image(4,4,image.RGB565) +small_img.set_pixel(0, 0, (0, 0, 127)) +small_img.set_pixel(1, 0, (47, 255, 199)) +small_img.set_pixel(2, 0, (0, 188, 255)) +small_img.set_pixel(3, 0, (0, 0, 127)) +small_img.set_pixel(0, 1, (0, 176, 255)) +small_img.set_pixel(1, 1, (222, 0, 0 )) +small_img.set_pixel(2, 1, (50, 255, 195)) +small_img.set_pixel(3, 1, (86, 255, 160)) +small_img.set_pixel(0, 2, (255, 211, 0 )) +small_img.set_pixel(1, 2, (83, 255, 163)) +small_img.set_pixel(2, 2, (255, 211, 0)) +small_img.set_pixel(3, 2, (0, 80, 255)) +small_img.set_pixel(0, 3, (255, 118, 0 )) +small_img.set_pixel(1, 3, (127, 0, 0 )) +small_img.set_pixel(2, 3, (0, 144, 255)) +small_img.set_pixel(3, 3, (50, 255, 195)) + +big_img = image.Image(128,128,image.RGB565) +big_img.draw_image(small_img, 0, 0, x_scale=32, y_scale=32) + +alpha_div = 1 +alpha_value_init = 0 +alpha_step_init = 2 + +x_bounce_init = DISPLAY_WIDTH//2 +x_bounce_toggle_init = 1 + +y_bounce_init = DISPLAY_HEIGHT//2 +y_bounce_toggle_init = 1 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # # set chn0 output size + # camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # # set chn0 output format + # camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # # create meida source device + # globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # # create meida sink device + # globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # # create meida link + # media.create_link(meida_source, meida_sink) + # # set display plane with video channel + # display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + # media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + alpha_value = alpha_value_init + alpha_step = alpha_step_init + x_bounce = x_bounce_init + x_bounce_toggle = x_bounce_toggle_init + y_bounce = y_bounce_init + y_bounce_toggle = y_bounce_toggle_init + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.draw_image(big_img, x_bounce, y_bounce, rgb_channel=-1, alpha=alpha_value//alpha_div) + + x_bounce += x_bounce_toggle + if abs(x_bounce-(img.width()//2)) >= (img.width()//2): x_bounce_toggle = -x_bounce_toggle + + y_bounce += y_bounce_toggle + if abs(y_bounce-(img.height()//2)) >= (img.height()//2): y_bounce_toggle = -y_bounce_toggle + + alpha_value += alpha_step + if not alpha_value or alpha_value//alpha_div == 256: alpha_step = -alpha_step + + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/keypoints_drawing.py b/share/qtcreator/examples/10-Drawing/keypoints_drawing.py new file mode 100644 index 00000000000..09baf624629 --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/keypoints_drawing.py @@ -0,0 +1,104 @@ +# Keypoints Drawing +# +# This example shows off drawing keypoints on the CanMV Cam. Usually you call draw_keypoints() +# on a keypoints object but you can also call it on a list of 3-value tuples... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + rot = urandom.getrandbits(30) % 360 + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # This method draws a keypoints object or a list of (x, y, rot) tuples... + img.draw_keypoints([(x, y, rot)], color = (r, g, b), size = 20, thickness = 2, fill = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/line_drawing.py b/share/qtcreator/examples/10-Drawing/line_drawing.py new file mode 100644 index 00000000000..0612dcf227a --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/line_drawing.py @@ -0,0 +1,105 @@ +# Line Drawing +# +# This example shows off drawing lines on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x0 = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y0 = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + x1 = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y1 = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x0, y0, x1, and y1. Otherwise, it expects a (x0,y0,x1,y1) tuple. + img.draw_line(x0, y0, x1, y1, color = (r, g, b), thickness = 2) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/rectangle_drawing.py b/share/qtcreator/examples/10-Drawing/rectangle_drawing.py new file mode 100644 index 00000000000..e9685114d2a --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/rectangle_drawing.py @@ -0,0 +1,105 @@ +# Rectangle Drawing +# +# This example shows off drawing rectangles on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + w = (urandom.getrandbits(30) % (img.width()//2)) + h = (urandom.getrandbits(30) % (img.height()//2)) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x, y, w, and h. Otherwise, it expects a (x,y,w,h) tuple. + img.draw_rectangle(x, y, w, h, color = (r, g, b), thickness = 2, fill = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/10-Drawing/text_drawing.py b/share/qtcreator/examples/10-Drawing/text_drawing.py new file mode 100644 index 00000000000..d09d37bf13b --- /dev/null +++ b/share/qtcreator/examples/10-Drawing/text_drawing.py @@ -0,0 +1,106 @@ +# Text Drawing +# +# This example shows off drawing text on the CanMV Cam. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys, urandom + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def draw(): + # create image for drawing + img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + img.clear() + for i in range(10): + x = (urandom.getrandbits(30) % (2*img.width())) - (img.width()//2) + y = (urandom.getrandbits(30) % (2*img.height())) - (img.height()//2) + r = (urandom.getrandbits(30) % 127) + 128 + g = (urandom.getrandbits(30) % 127) + 128 + b = (urandom.getrandbits(30) % 127) + 128 + # If the first argument is a scaler then this method expects + # to see x, y, and text. Otherwise, it expects a (x,y,text) tuple. + # Character and string rotation can be done at 0, 90, 180, 270, and etc. degrees. + img.draw_string(x, y, "Hello World!", color = (r, g, b), scale = 2, mono_space = False, + char_rotation = 0, char_hmirror = False, char_vflip = False, + string_rotation = 0, string_hmirror = False, string_vflip = False) + img.copy_to(osd_img) + time.sleep(1) + os.exitpoint() + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("draw") + draw() + except KeyboardInterrupt as e: + print("user stop: ", e) + except BaseException as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/edges.py b/share/qtcreator/examples/11-Feature-Detection/edges.py new file mode 100644 index 00000000000..817ec3b22f5 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/edges.py @@ -0,0 +1,111 @@ +# Edge detection with Canny: +# +# This example demonstrates the Canny edge detector. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + # 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)) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/find_circles.py b/share/qtcreator/examples/11-Feature-Detection/find_circles.py new file mode 100644 index 00000000000..fd4f06c8239 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/find_circles.py @@ -0,0 +1,131 @@ +# Find Circles Example +# +# This example shows off how to find circles in the image using the Hough +# 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... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + # 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. + + # r_min, r_max, and r_step control what radiuses of circles are tested. + # Shrinking the number of tested circle radiuses yields a big performance boost. + + for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10, + r_min = 2, r_max = 100, r_step = 2): + draw_img.draw_circle(c.x()*SCALE, c.y()*SCALE, c.r()*SCALE, color = (255, 0, 0)) + print(c) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/find_lines.py b/share/qtcreator/examples/11-Feature-Detection/find_lines.py new file mode 100644 index 00000000000..c02d401eb53 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/find_lines.py @@ -0,0 +1,146 @@ +# Find Lines Example +# +# This example shows off how to find lines in the image. For each line object +# found in the image a line object is returned which includes the line's rotation. + +# Note: Line detection is done by using the Hough Transform: +# http://en.wikipedia.org/wiki/Hough_transform +# Please read about it above for more information on what `theta` and `rho` are. + +# find_lines() finds infinite length lines. Use find_line_segments() to find non-infinite lines. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# All line objects have a `theta()` method to get their rotation angle in degrees. +# You can filter lines based on their rotation angle. + +min_degree = 0 +max_degree = 179 + +# All lines also have `x1()`, `y1()`, `x2()`, and `y2()` methods to get their end-points +# and a `line()` method to get all the above as one 4 value tuple for `draw_line()`. + +# About negative rho values: +# +# A [theta+0:-rho] tuple is the same as [theta+180:+rho]. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + # `threshold` controls how many lines in the image are found. Only lines with + # edge difference magnitude sums greater than `threshold` are detected... + + # More about `threshold` - each pixel in the image contributes a magnitude value + # to a line. The sum of all contributions is the magintude for that line. Then + # when lines are merged their magnitudes are added togheter. Note that `threshold` + # filters out lines with low magnitudes before merging. To see the magnitude of + # un-merged lines set `theta_margin` and `rho_margin` to 0... + + # `theta_margin` and `rho_margin` control merging similar lines. If two lines + # theta and rho value differences are less than the margins then they are merged. + + for l in img.find_lines(threshold = 1000, theta_margin = 25, rho_margin = 25): + if (min_degree <= l.theta()) and (l.theta() <= max_degree): + draw_img.draw_line([v*SCALE for v in l.line()], color = (255, 0, 0)) + print(l) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/find_rects.py b/share/qtcreator/examples/11-Feature-Detection/find_rects.py new file mode 100644 index 00000000000..889f1af7c98 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/find_rects.py @@ -0,0 +1,123 @@ +# Find Rects Example +# +# This example shows off how to find rectangles in the image using the quad threshold +# detection code from our April Tags code. The quad threshold detection algorithm +# detects rectangles in an extremely robust way and is much better than Hough +# Transform based methods. For example, it can still detect rectangles even when lens +# distortion causes those rectangles to look bent. Rounded rectangles are no problem! +# (But, given this the code will also detect small radius circles too)... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + # `threshold` below should be set to a high enough value to filter out noise + # rectangles detected in the image which have low edge magnitudes. Rectangles + # have larger edge magnitudes the larger and more contrasty they are... + + for r in img.find_rects(threshold = 10000): + draw_img.draw_rectangle([v*SCALE for v in r.rect()], color = (255, 0, 0)) + for p in r.corners(): draw_img.draw_circle(p[0]*SCALE, p[1]*SCALE, 5*SCALE, color = (0, 255, 0)) + print(r) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/hog.py b/share/qtcreator/examples/11-Feature-Detection/hog.py new file mode 100644 index 00000000000..f32c070ede3 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/hog.py @@ -0,0 +1,111 @@ +# Histogram of Oriented Gradients (HoG) Example +# +# This example demonstrates HoG visualization. +# +# Note: Due to JPEG artifacts, the HoG visualization looks blurry. To see the +# image without JPEG artifacts, uncomment the lines that save the image to uSD. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + img.find_hog() + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/keypoints.py b/share/qtcreator/examples/11-Feature-Detection/keypoints.py new file mode 100644 index 00000000000..64c013ffb2f --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/keypoints.py @@ -0,0 +1,145 @@ +# Object tracking with keypoints example. +# Show the camera an object and then run the script. A set of keypoints will be extracted +# once and then tracked in the following frames. If you want a new set of keypoints re-run +# the script. NOTE: see the docs for arguments to tune find_keypoints and match_keypoints. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def camera_drop(frame): + for i in range(frame): + os.exitpoint() + img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, img) + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + kpts1 = None + # NOTE: uncomment to load a keypoints descriptor from file + #kpts1 = image.load_descriptor("/desc.orb") + camera_drop(60) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + draw_img.clear() + if kpts1 == None: + # NOTE: By default find_keypoints returns multi-scale keypoints extracted from an image pyramid. + kpts1 = img.find_keypoints(max_keypoints=150, threshold=10, scale_factor=1.2) + if kpts1: + if SCALE == 1: + draw_img.draw_keypoints(kpts1) + draw_img.copy_to(osd_img) + time.sleep(2) + fps.reset() + else: + # NOTE: When extracting keypoints to match the first descriptor, we use normalized=True to extract + # keypoints from the first scale only, which will match one of the scales in the first descriptor. + kpts2 = img.find_keypoints(max_keypoints=150, threshold=10, normalized=True) + if kpts2: + match = image.match_descriptor(kpts1, kpts2, threshold=85) + if (match.count()>10): + # If we have at least n "good matches" + # Draw bounding rectangle and cross. + draw_img.draw_rectangle([v*SCALE for v in match.rect()]) + draw_img.draw_cross(match.cx()*SCALE, match.cy()*SCALE, size=10) + + print(kpts2, "matched:%d dt:%d"%(match.count(), match.theta())) + # NOTE: uncomment if you want to draw the keypoints + #img.draw_keypoints(kpts2, size=KEYPOINTS_SIZE, matched=True) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/lbp.py b/share/qtcreator/examples/11-Feature-Detection/lbp.py new file mode 100644 index 00000000000..6d7e95c26ca --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/lbp.py @@ -0,0 +1,144 @@ +# Local Binary Patterns (LBP) Example +# +# This example shows off how to use the local binary pattern feature descriptor +# on your CanMV Cam. LBP descriptors work like Freak feature descriptors. +# +# WARNING: LBP supports needs to be reworked! As of right now this feature needs +# a lot of work to be made into somethin useful. This script will reamin to show +# that the functionality exists, but, in its current state is inadequate. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def camera_drop(frame): + for i in range(frame): + os.exitpoint() + img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, img) + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + osd_img.draw_string(0, 0, "Please wait...") + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + # Load Haar Cascade + # By default this will use all stages, lower satges is faster but less accurate. + face_cascade = image.HaarCascade("frontalface", stages=25) + print(face_cascade) + d0 = None + #d0 = image.load_descriptor("/desc.lbp") + # Skip a few frames to allow the sensor settle down + # Note: This takes more time when exec from the IDE. + camera_drop(90) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + draw_img.clear() + objects = img.find_features(face_cascade, threshold=0.5, scale_factor=1.25) + if objects: + face = objects[0] + d1 = img.find_lbp(face) + if (d0 == None): + d0 = d1 + else: + dist = image.match_descriptor(d0, d1) + draw_img.draw_string(0, 10, "Match %d%%"%(dist)) + print("Match %d%%"%(dist)) + + draw_img.draw_rectangle([v*SCALE for v in face]) + # Draw FPS + draw_img.draw_string(0, 0, "FPS:%.2f"%(fps.fps())) + draw_img.copy_to(osd_img) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/linear_regression_fast.py b/share/qtcreator/examples/11-Feature-Detection/linear_regression_fast.py new file mode 100644 index 00000000000..8f8856a01d2 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/linear_regression_fast.py @@ -0,0 +1,130 @@ +# Fast Linear Regression Example +# +# This example shows off how to use the get_regression() method on your CanMV Cam +# to get the linear regression of a ROI. Using this method you can easily build +# a robot which can track lines which all point in the same general direction +# but are not actually connected. Use find_blobs() on lines that are nicely +# connected for better filtering options and control. +# +# This is called the fast linear regression because we use the least-squares +# method to fit the line. However, this method is NOT GOOD FOR ANY images that +# have a lot (or really any) outlier points which corrupt the line fit... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +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. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + osd_img.draw_string(0, 0, "Please wait...") + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + img = img.binary([THRESHOLD]) if BINARY_VISIBLE else img + # 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 goes from + # (0, INF] where 0 is returned for a circle. The more linear the + # scene is the higher the magnitude. + line = img.get_regression([(255,255) if BINARY_VISIBLE else THRESHOLD]) + if (line): img.draw_line(line.line(), color = 127) + print("FPS %f, mag = %s" % (fps.fps(), str(line.magnitude()) if (line) else "N/A")) + img.copy_to(osd_img) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/linear_regression_robust.py b/share/qtcreator/examples/11-Feature-Detection/linear_regression_robust.py new file mode 100644 index 00000000000..7b97425edcc --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/linear_regression_robust.py @@ -0,0 +1,132 @@ +# Robust Linear Regression Example +# +# This example shows off how to use the get_regression() method on your CanMV Cam +# to get the linear regression of a ROI. Using this method you can easily build +# a robot which can track lines which all point in the same general direction +# but are not actually connected. Use find_blobs() on lines that are nicely +# connected for better filtering options and control. +# +# We're using the robust=True argument for get_regression() in this script which +# computes the linear regression using a much more robust algorithm... but potentially +# much slower. The robust algorithm runs in O(N^2) time on the image. So, YOU NEED +# TO LIMIT THE NUMBER OF PIXELS the robust algorithm works on or it can actually +# take seconds for the algorithm to give you a result... THRESHOLD VERY CAREFULLY! + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +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. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + osd_img.draw_string(0, 0, "Please wait...") + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + img = img.binary([THRESHOLD]) if BINARY_VISIBLE else img + # 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 goes from + # (0, INF] where 0 is returned for a circle. The more linear the + # scene is the higher the magnitude. + 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" % (fps.fps(), str(line.magnitude()) if (line) else "N/A")) + img.copy_to(osd_img) + del img + gc.collect() + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/11-Feature-Detection/template_matching.py b/share/qtcreator/examples/11-Feature-Detection/template_matching.py new file mode 100644 index 00000000000..23e09713410 --- /dev/null +++ b/share/qtcreator/examples/11-Feature-Detection/template_matching.py @@ -0,0 +1,134 @@ +# Template Matching Example - Normalized Cross Correlation (NCC) +# +# This example shows off how to use the NCC feature of your CanMV Cam to match +# image patches to parts of an image... expect for extremely controlled enviorments +# NCC is not all to useful. +# +# WARNING: NCC supports needs to be reworked! As of right now this feature needs +# a lot of work to be made into somethin useful. This script will reamin to show +# that the functionality exists, but, in its current state is inadequate. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys +from image import SEARCH_EX, SEARCH_DS + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for drawing + draw_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888) + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DISPLAY_WIDTH, DISPLAY_HEIGHT, image.ARGB8888, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + osd_img.draw_string(0, 0, "Please wait...") + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + # Load template. + # Template should be a small (eg. 32x32 pixels) grayscale image. + # template = image.Image("/sd/template.bmp") + # template.to_grayscale() + template = image.Image(32, 32, image.GRAYSCALE) + template.draw_circle(16,16,16,color=(255,255,255),fill=True) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + yuv420_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = image.Image(yuv420_img.width(), yuv420_img.height(), image.GRAYSCALE, data=yuv420_img) + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, yuv420_img) + draw_img.clear() + # find_template(template, threshold, [roi, step, search]) + # ROI: The region of interest tuple (x, y, w, h). + # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster. + # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search + # + # Note1: ROI has to be smaller than the image and bigger than the template. + # Note2: In diamond search, step and ROI are both ignored. + r = img.find_template(template, 0.50, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60)) + if r: + draw_img.draw_rectangle([v*SCALE for v in r],color=(255,0,0)) + draw_img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/adaptive_histogram_equalization.py b/share/qtcreator/examples/12-Image-Filters/adaptive_histogram_equalization.py new file mode 100644 index 00000000000..0444835aa7d --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/adaptive_histogram_equalization.py @@ -0,0 +1,118 @@ +# Adaptive Histogram Equalization +# +# This example shows off how to use adaptive histogram equalization to improve +# the contrast in the image. Adaptive histogram equalization splits the image +# into regions and then equalizes the histogram in those regions to improve +# the image contrast versus a global histogram equalization. Additionally, +# you may specify a clip limit to prevent the contrast from going wild. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # A clip_limit of < 0 gives you normal adaptive histogram equalization + # which may result in huge amounts of contrast noise... + + # A clip_limit of 1 does nothing. For best results go slightly higher + # than 1 like below. The higher you go the closer you get back to + # standard adaptive histogram equalization with huge contrast swings. + img.histeq(adaptive=True, clip_limit=3) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/blur_filter.py b/share/qtcreator/examples/12-Image-Filters/blur_filter.py new file mode 100644 index 00000000000..1dadebc45a4 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/blur_filter.py @@ -0,0 +1,109 @@ +# Blur Filter Example +# +# This example shows off using the guassian filter to blur images. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Run the kernel on every pixel of the image. + img.gaussian(1) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/cartoon_filter.py b/share/qtcreator/examples/12-Image-Filters/cartoon_filter.py new file mode 100644 index 00000000000..e1c44c69d46 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/cartoon_filter.py @@ -0,0 +1,119 @@ +# 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. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # 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.cartoon(seed_threshold=0.05, floating_thresholds=0.05) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/color_bilateral_filter.py b/share/qtcreator/examples/12-Image-Filters/color_bilateral_filter.py new file mode 100644 index 00000000000..62feb0048a4 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/color_bilateral_filter.py @@ -0,0 +1,121 @@ +# Color Bilteral Filter Example +# +# This example shows off using the bilateral filter on color images. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # color_sigma controls how close color wise pixels have to be to each other to be + # blured togheter. A smaller value means they have to be closer. + # A larger value is less strict. + + # space_sigma controls how close space wise pixels have to be to each other to be + # blured togheter. A smaller value means they have to be closer. + # A larger value is less strict. + + # Run the kernel on every pixel of the image. + img.bilateral(3, color_sigma=0.1, space_sigma=1) + + # Note that the bilateral filter can introduce image defects if you set + # color_sigma/space_sigma to aggresively. Increase the sigma values until + # the defects go away if you see them. + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/color_binary_filter.py b/share/qtcreator/examples/12-Image-Filters/color_binary_filter.py new file mode 100644 index 00000000000..16f25b29452 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/color_binary_filter.py @@ -0,0 +1,135 @@ +# Color Binary Filter Example +# +# This script shows off the binary image filter. You may pass binary any +# number of thresholds to segment the image by. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# Use the Tools -> Machine Vision -> Threshold Edtor to pick better thresholds. +red_threshold = (0,100, 0,127, 0,127) # L A B +green_threshold = (0,100, -128,0, 0,127) # L A B +blue_threshold = (0,100, -128,127, -128,0) # L A B + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + frame_count = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Test red threshold + if frame_count < 100: + img.binary([red_threshold]) + # Test green threshold + elif frame_count < 200: + img.binary([green_threshold]) + # Test blue threshold + elif frame_count < 300: + img.binary([blue_threshold]) + # Test not red threshold + elif frame_count < 400: + img.binary([red_threshold], invert = 1) + # Test not green threshold + elif frame_count < 500: + img.binary([green_threshold], invert = 1) + # Test not blue threshold + elif frame_count < 600: + img.binary([blue_threshold], invert = 1) + else: + frame_count = 0 + frame_count = frame_count + 1 + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/color_light_removal.py b/share/qtcreator/examples/12-Image-Filters/color_light_removal.py new file mode 100644 index 00000000000..c6319e79438 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/color_light_removal.py @@ -0,0 +1,115 @@ +# Color 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... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +thresholds = (90, 100, -128, 127, -128, 127) + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.binary([thresholds], invert=False, zero=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/edge_filter.py b/share/qtcreator/examples/12-Image-Filters/edge_filter.py new file mode 100644 index 00000000000..84355a86d60 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/edge_filter.py @@ -0,0 +1,109 @@ +# Edge Filter Example +# +# This example shows off using the laplacian filter to detect edges. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Run the kernel on every pixel of the image. + img.laplacian(1,sharpen=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/erode_and_dilate.py b/share/qtcreator/examples/12-Image-Filters/erode_and_dilate.py new file mode 100644 index 00000000000..b38e868ca37 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/erode_and_dilate.py @@ -0,0 +1,136 @@ +# Erode and Dilate Example +# +# This example shows off the erode and dilate functions which you can run on +# a binary image to remove noise. This example was originally a test but its +# useful for showing off how these functions work. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +grayscale_thres = (170, 255) +rgb565_thres = (70, 100, -128, 127, -128, 127) + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + frame_count = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Test red threshold + if frame_count < 100: + img.binary([rgb565_thres]) + img.erode(2) + # Test green threshold + elif frame_count < 200: + img.binary([rgb565_thres]) + img.dilate(2) + # Test blue threshold + elif frame_count < 300: + img = img.to_grayscale() + img.binary([grayscale_thres]) + img.erode(2) + img = img.to_rgb565() + # Test not red threshold + elif frame_count < 400: + img = img.to_grayscale() + img.binary([grayscale_thres]) + img.dilate(2) + img = img.to_rgb565() + else: + frame_count = 0 + frame_count = frame_count + 1 + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/gamma_correction.py b/share/qtcreator/examples/12-Image-Filters/gamma_correction.py new file mode 100644 index 00000000000..646abd687b3 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/gamma_correction.py @@ -0,0 +1,111 @@ +# Gamma Correction +# +# This example shows off gamma correction to make the image brighter. The gamma +# correction method can also fix contrast and brightness too. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Gamma, contrast, and brightness correction are applied to each color channel. The + # values are scaled to the range per color channel per image type... + img.gamma_corr(gamma = 0.5, contrast = 1.0, brightness = 0.0) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/grayscale_bilateral_filter.py b/share/qtcreator/examples/12-Image-Filters/grayscale_bilateral_filter.py new file mode 100644 index 00000000000..57a82ed8c66 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/grayscale_bilateral_filter.py @@ -0,0 +1,122 @@ +# Grayscale Bilteral Filter Example +# +# This example shows off using the bilateral filter on grayscale images. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # color_sigma controls how close color wise pixels have to be to each other to be + # blured togheter. A smaller value means they have to be closer. + # A larger value is less strict. + + # space_sigma controls how close space wise pixels have to be to each other to be + # blured togheter. A smaller value means they have to be closer. + # A larger value is less strict. + + # Run the kernel on every pixel of the image. + img.bilateral(3, color_sigma=0.1, space_sigma=1) + + # Note that the bilateral filter can introduce image defects if you set + # color_sigma/space_sigma to aggresively. Increase the sigma values until + # the defects go away if you see them. + + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/grayscale_binary_filter.py b/share/qtcreator/examples/12-Image-Filters/grayscale_binary_filter.py new file mode 100644 index 00000000000..08d8e02211e --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/grayscale_binary_filter.py @@ -0,0 +1,127 @@ +# Grayscale Binary Filter Example +# +# This script shows off the binary image filter. You may pass binary any +# number of thresholds to segment the image by. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +low_threshold = (0, 50) +high_threshold = (205, 255) + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + frame_count = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Test low threshold + if frame_count < 100: + img.binary([low_threshold]) + # Test high threshold + elif frame_count < 200: + img.binary([high_threshold]) + # Test not low threshold + elif frame_count < 300: + img.binary([low_threshold], invert = 1) + # Test not high threshold + elif frame_count < 400: + img.binary([high_threshold], invert = 1) + else: + frame_count = 0 + frame_count = frame_count + 1 + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/grayscale_light_removal.py b/share/qtcreator/examples/12-Image-Filters/grayscale_light_removal.py new file mode 100644 index 00000000000..b03181aed39 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/grayscale_light_removal.py @@ -0,0 +1,115 @@ +# 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... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +thresholds = (220, 255) + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.binary([thresholds], invert=False, zero=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/histogram_equalization.py b/share/qtcreator/examples/12-Image-Filters/histogram_equalization.py new file mode 100644 index 00000000000..1165539c759 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/histogram_equalization.py @@ -0,0 +1,109 @@ +# Histogram Equalization +# +# This example shows off how to use histogram equalization to improve +# the contrast in the image. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.histeq() + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/kernel_filters.py b/share/qtcreator/examples/12-Image-Filters/kernel_filters.py new file mode 100644 index 00000000000..3c8294fd008 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/kernel_filters.py @@ -0,0 +1,115 @@ +# Kernel Filtering Example +# +# This example shows off how to use a generic kernel filter. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +kernel_size = 1 # 3x3==1, 5x5==2, 7x7==3, etc. + +kernel = [-2, -1, 0, + -1, 1, 1, + 0, 1, 2] + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.GRAYSCALE, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_grayscale() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Run the kernel on every pixel of the image. + img.morph(kernel_size, kernel) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/lens_correction.py b/share/qtcreator/examples/12-Image-Filters/lens_correction.py new file mode 100644 index 00000000000..7fc05609477 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/lens_correction.py @@ -0,0 +1,111 @@ +# Lens Correction +# +# This example shows off how to use the lens correction method to fix lens +# distortion in an image. You need to do this for qrcode / barcode / data matrix +# detection. Increase the strength below until lines are straight in the view. +# Zoom in (higher) or out (lower) until you see enough of the image. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.lens_corr(strength = 1.8, zoom = 1.0) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/linear_polar.py b/share/qtcreator/examples/12-Image-Filters/linear_polar.py new file mode 100644 index 00000000000..a8de929ebb5 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/linear_polar.py @@ -0,0 +1,111 @@ +# 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. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.linpolar(reverse=False) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/log_polar.py b/share/qtcreator/examples/12-Image-Filters/log_polar.py new file mode 100644 index 00000000000..52a185837da --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/log_polar.py @@ -0,0 +1,111 @@ +# Log Polar Mapping Example +# +# This example shows off re-projecting the image using a log polar +# transformation. Log polar images are useful in that rotations +# become translations in the X direction and exponential changes +# in scale (x2, x4, etc.) become linear translations in the Y direction. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.logpolar(reverse=False) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/mean_adaptive_threshold_filter.py b/share/qtcreator/examples/12-Image-Filters/mean_adaptive_threshold_filter.py new file mode 100644 index 00000000000..c5375cdd591 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/mean_adaptive_threshold_filter.py @@ -0,0 +1,113 @@ +# Mean Adaptive Threshold Filter Example +# +# This example shows off mean filtering with adaptive thresholding. +# When mean(threshold=True) the mean() method adaptive thresholds the image +# by comparing the mean of the pixels around a pixel, minus an offset, with that pixel. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The first argument is the kernel size. N coresponds to a ((N*2)+1)^2 + # kernel size. E.g. 1 == 3x3 kernel, 2 == 5x5 kernel, etc. Note: You + # shouldn't ever need to use a value bigger than 2. + img.mean(1, threshold=True, offset=5, invert=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/mean_filter.py b/share/qtcreator/examples/12-Image-Filters/mean_filter.py new file mode 100644 index 00000000000..fe320130e75 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/mean_filter.py @@ -0,0 +1,113 @@ +# Mean Filter Example +# +# This example shows off mean filtering. Mean filtering is your standard average +# filter in a NxN neighborhood. Mean filtering removes noise in the image by +# bluring everything. But, it's the fastest kernel filter operation. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The only argument is the kernel size. N coresponds to a ((N*2)+1)^2 + # kernel size. E.g. 1 == 3x3 kernel, 2 == 5x5 kernel, etc. Note: You + # shouldn't ever need to use a value bigger than 2. + img.mean(1) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/median_adaptive_threshold_filter.py b/share/qtcreator/examples/12-Image-Filters/median_adaptive_threshold_filter.py new file mode 100644 index 00000000000..a5860f22a73 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/median_adaptive_threshold_filter.py @@ -0,0 +1,115 @@ +# Median Adaptive Threshold Filter Example +# +# This example shows off median filtering with adaptive thresholding. +# When median(threshold=True) the median() method adaptive thresholds the image +# by comparing the median of the pixels around a pixel, minus an offset, with that pixel. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The first argument to the median filter is the kernel size, it can be + # either 0, 1, or 2 for a 1x1, 3x3, or 5x5 kernel respectively. The second + # argument "percentile" is the percentile number to choose from the NxN + # neighborhood. 0.5 is the median, 0.25 is the lower quartile, and 0.75 + # would be the upper quartile. + img.median(1, percentile=0.5, threshold=True, offset=5, invert=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/median_filter.py b/share/qtcreator/examples/12-Image-Filters/median_filter.py new file mode 100644 index 00000000000..6fa5ff9a84e --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/median_filter.py @@ -0,0 +1,115 @@ +# Median Filter Example +# +# This example shows off median filtering. Median filtering replaces every pixel +# with the median value of it's NxN neighborhood. Median filtering is good for +# removing noise in the image while preserving edges. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The first argument to the median filter is the kernel size, it can be + # either 0, 1, or 2 for a 1x1, 3x3, or 5x5 kernel respectively. The second + # argument "percentile" is the percentile number to choose from the NxN + # neighborhood. 0.5 is the median, 0.25 is the lower quartile, and 0.75 + # would be the upper quartile. + img.median(1, percentile=0.5) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/midpoint_adaptive_threshold_filter.py b/share/qtcreator/examples/12-Image-Filters/midpoint_adaptive_threshold_filter.py new file mode 100644 index 00000000000..a4a4dbde461 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/midpoint_adaptive_threshold_filter.py @@ -0,0 +1,116 @@ +# Midpoint Adaptive Threshold Filter Example +# +# This example shows off midpoint filtering with adaptive thresholding. +# When midpoint(threshold=True) the midpoint() method adaptive thresholds the image +# by comparing the midpoint of the pixels around a pixel, minus an offset, with that pixel. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The first argument is the kernel size. N coresponds to a ((N*2)+1)^2 + # kernel size. E.g. 1 == 3x3 kernel, 2 == 5x5 kernel, etc. Note: You + # shouldn't ever need to use a value bigger than 2. The "bias" argument + # lets you select between min and max blending. 0.5 == midpoint filter, + # 0.0 == min filter, and 1.0 == max filter. Note that the min filter + # makes images darker while the max filter makes images lighter. + img.midpoint(1, bias=0.5, threshold=True, offset=5, invert=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/midpoint_filter.py b/share/qtcreator/examples/12-Image-Filters/midpoint_filter.py new file mode 100644 index 00000000000..cc7c426c8b7 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/midpoint_filter.py @@ -0,0 +1,115 @@ +# Midpoint Filter Example +# +# This example shows off midpoint filtering. Midpoint filtering replaces each +# pixel by the average of the min and max pixel values for a NxN neighborhood. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The first argument is the kernel size. N coresponds to a ((N*2)+1)^2 + # kernel size. E.g. 1 == 3x3 kernel, 2 == 5x5 kernel, etc. Note: You + # shouldn't ever need to use a value bigger than 2. The "bias" argument + # lets you select between min and max blending. 0.5 == midpoint filter, + # 0.0 == min filter, and 1.0 == max filter. Note that the min filter + # makes images darker while the max filter makes images lighter. + img.midpoint(1, bias=0.5) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/mode_adaptive_threshold_filter.py b/share/qtcreator/examples/12-Image-Filters/mode_adaptive_threshold_filter.py new file mode 100644 index 00000000000..8b17cae93e8 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/mode_adaptive_threshold_filter.py @@ -0,0 +1,113 @@ +# Mode Adaptive Threshold Filter Example +# +# This example shows off mode filtering with adaptive thresholding. +# When mode(threshold=True) the mode() method adaptive thresholds the image +# by comparing the mode of the pixels around a pixel, minus an offset, with that pixel. +# Avoid using the mode filter on RGB565 images. It will cause artifacts on image edges... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The only argument to the median filter is the kernel size, it can be + # either 0, 1, or 2 for a 1x1, 3x3, or 5x5 kernel respectively. + img.mode(1, threshold=True, offset=5, invert=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/mode_filter.py b/share/qtcreator/examples/12-Image-Filters/mode_filter.py new file mode 100644 index 00000000000..fa63b142a74 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/mode_filter.py @@ -0,0 +1,113 @@ +# Mode Filter Example +# +# This example shows off mode filtering. Mode filtering is a highly non-linear +# operation which replaces each pixel with the mode of the NxN neighborhood +# of pixels around it. Avoid using the mode filter on RGB565 images. It will +# cause artifacts on image edges... + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # The only argument to the median filter is the kernel size, it can be + # either 0, 1, or 2 for a 1x1, 3x3, or 5x5 kernel respectively. + img.mode(1) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/negative.py b/share/qtcreator/examples/12-Image-Filters/negative.py new file mode 100644 index 00000000000..dde77acc7d6 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/negative.py @@ -0,0 +1,109 @@ +# 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. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.negate() + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/perspective_and_rotation_correction.py b/share/qtcreator/examples/12-Image-Filters/perspective_and_rotation_correction.py new file mode 100644 index 00000000000..574b5a7fc48 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/perspective_and_rotation_correction.py @@ -0,0 +1,159 @@ +# Rotation Correction +# +# This example shows off how to use the rotation_corr() to both correct for +# perspective distortion and then to rotate the new corrected image in 3D +# space aftwards to handle movement. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# The image will be warped such that the following points become the new: +# +# (0, 0) +# (w-1, 0) +# (w-1, h-1) +# (0, h-1) +# +# Try setting the points below to the corners of a quadrilateral +# (in clock-wise order) in the field-of-view. You can get points +# on the image by clicking and dragging on the frame buffer and +# recording the values shown in the histogram widget. + +w = DETECT_WIDTH +h = DETECT_HEIGHT + +TARGET_POINTS = [(0, 0), # (x, y) CHANGE ME! + (w-1, 0), # (x, y) CHANGE ME! + (w-1, h-1), # (x, y) CHANGE ME! + (0, h-1)] # (x, y) CHANGE ME! + +# Degrees per frame to rotation by... +X_ROTATION_DEGREE_RATE = 5 +Y_ROTATION_DEGREE_RATE = 0.5 +Z_ROTATION_DEGREE_RATE = 0 +X_OFFSET = 0 +Y_OFFSET = 0 + +ZOOM_AMOUNT = 1 # Lower zooms out - Higher zooms in. +FOV_WINDOW = 25 # Between 0 and 180. Represents the field-of-view of the scene + # window when rotating the image in 3D space. When closer to + # zero results in lines becoming straighter as the window + # moves away from the image being rotated in 3D space. A large + # value moves the window closer to the image in 3D space which + # results in the more perspective distortion and sometimes + # the image in 3D intersecting the scene window. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + x_rotation_counter = 0 + y_rotation_counter = 0 + z_rotation_counter = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.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, + fov = FOV_WINDOW, + corners = TARGET_POINTS) + x_rotation_counter += X_ROTATION_DEGREE_RATE + y_rotation_counter += Y_ROTATION_DEGREE_RATE + z_rotation_counter += Z_ROTATION_DEGREE_RATE + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/perspective_correction.py b/share/qtcreator/examples/12-Image-Filters/perspective_correction.py new file mode 100644 index 00000000000..da36f3821bc --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/perspective_correction.py @@ -0,0 +1,129 @@ +# Perspective Correction +# +# This example shows off how to use the rotation_corr() to fix perspective +# issues related to how your CanMV Cam is mounted. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# The image will be warped such that the following points become the new: +# +# (0, 0) +# (w-1, 0) +# (w-1, h-1) +# (0, h-1) +# +# Try setting the points below to the corners of a quadrilateral +# (in clock-wise order) in the field-of-view. You can get points +# on the image by clicking and dragging on the frame buffer and +# recording the values shown in the histogram widget. + +w = DETECT_WIDTH +h = DETECT_HEIGHT + +TARGET_POINTS = [(0, 0), # (x, y) CHANGE ME! + (w-1, 0), # (x, y) CHANGE ME! + (w-1, h-1), # (x, y) CHANGE ME! + (0, h-1)] # (x, y) CHANGE ME! + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.rotation_corr(corners = TARGET_POINTS) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/rotation_correction.py b/share/qtcreator/examples/12-Image-Filters/rotation_correction.py new file mode 100644 index 00000000000..8789df09176 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/rotation_correction.py @@ -0,0 +1,138 @@ +# Rotation Correction +# +# This example shows off how to use the rotation_corr() to play with the scene +# window your CanMV Cam sees. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +# Degrees per frame to rotation by... +X_ROTATION_DEGREE_RATE = 5 +Y_ROTATION_DEGREE_RATE = 0.5 +Z_ROTATION_DEGREE_RATE = 0 +X_OFFSET = 0 +Y_OFFSET = 0 + +ZOOM_AMOUNT = 1 # Lower zooms out - Higher zooms in. +FOV_WINDOW = 60 # Between 0 and 180. Represents the field-of-view of the scene + # window when rotating the image in 3D space. When closer to + # zero results in lines becoming straighter as the window + # moves away from the image being rotated in 3D space. A large + # value moves the window closer to the image in 3D space which + # results in the more perspective distortion and sometimes + # the image in 3D intersecting the scene window. + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + x_rotation_counter = 0 + y_rotation_counter = 0 + z_rotation_counter = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.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, + fov = FOV_WINDOW) + + x_rotation_counter += X_ROTATION_DEGREE_RATE + y_rotation_counter += Y_ROTATION_DEGREE_RATE + z_rotation_counter += Z_ROTATION_DEGREE_RATE + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/sharpen_filter.py b/share/qtcreator/examples/12-Image-Filters/sharpen_filter.py new file mode 100644 index 00000000000..7fca5b46075 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/sharpen_filter.py @@ -0,0 +1,109 @@ +# Sharpen Filter Example +# +# This example shows off using the laplacian filter to sharpen images. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Run the kernel on every pixel of the image. + img.laplacian(1,sharpen=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/unsharp_filter.py b/share/qtcreator/examples/12-Image-Filters/unsharp_filter.py new file mode 100644 index 00000000000..e43e89e3e68 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/unsharp_filter.py @@ -0,0 +1,109 @@ +# Unsharp Filter Example +# +# This example shows off using the guassian filter to unsharp mask filter images. + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + # Run the kernel on every pixel of the image. + img.gaussian(1,unsharp=True) + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/12-Image-Filters/vflip_hmirror_transpose.py b/share/qtcreator/examples/12-Image-Filters/vflip_hmirror_transpose.py new file mode 100644 index 00000000000..1d4371906b4 --- /dev/null +++ b/share/qtcreator/examples/12-Image-Filters/vflip_hmirror_transpose.py @@ -0,0 +1,122 @@ +# Vertical Flip - Horizontal Mirror - Transpose +# +# This example shows off how to vertically flip, horizontally mirror, or +# 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 + +from media.camera import * +from media.display import * +from media.media import * +import time, os, gc, sys + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 +SCALE = 4 +DETECT_WIDTH = DISPLAY_WIDTH // SCALE +DETECT_HEIGHT = DISPLAY_HEIGHT // SCALE + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # config vb for osd layer + config = k_vb_config() + config.max_pool_cnt = 1 + config.comm_pool[0].blk_size = 4*DISPLAY_WIDTH*DISPLAY_HEIGHT + config.comm_pool[0].blk_cnt = 1 + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE + # meida buffer config + media.buffer_config(config) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output nv12 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DETECT_WIDTH, DETECT_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # request media buffer for osd image + globals()["buffer"] = media.request_buffer(4 * DISPLAY_WIDTH * DISPLAY_HEIGHT) + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # release media buffer + media.release_buffer(globals()["buffer"]) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + # create image for osd + buffer = globals()["buffer"] + osd_img = image.Image(DETECT_WIDTH, DETECT_HEIGHT, image.RGB565, alloc=image.ALLOC_VB, phyaddr=buffer.phys_addr, virtaddr=buffer.virt_addr, poolid=buffer.pool_id) + osd_img.clear() + display.show_image(osd_img, 0, 0, DISPLAY_CHN_OSD0) + mills = time.ticks_ms() + counter = 0 + fps = time.clock() + while True: + fps.tick() + try: + os.exitpoint() + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + img = rgb888_img.to_rgb565() + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + img.replace(vflip=(counter//2)%2, + hmirror=(counter//4)%2, + transpose=False) + + if (time.ticks_ms() > (mills + 1000)): + mills = time.ticks_ms() + counter += 1 + img.copy_to(osd_img) + del img + gc.collect() + print(fps.fps()) + except KeyboardInterrupt as e: + print("user stop: ", e) + break + except BaseException as e: + sys.print_exception(e) + break + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE) + camera_is_init = False + try: + print("camera init") + camera_init() + camera_is_init = True + print("camera capture") + capture_picture() + except Exception as e: + sys.print_exception(e) + finally: + if camera_is_init: + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/13-Snapshot/emboss_snapshot.py b/share/qtcreator/examples/13-Snapshot/emboss_snapshot.py new file mode 100644 index 00000000000..7a7a513bd25 --- /dev/null +++ b/share/qtcreator/examples/13-Snapshot/emboss_snapshot.py @@ -0,0 +1,77 @@ +# Emboss Snapshot Example +# +# Note: You will need an SD card to run this example. +# +# You can use your CanMV Cam to save modified image files. + +from media.camera import * +from media.display import * +from media.media import * +import time, os + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output rgb888 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + time.sleep(1) + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + try: + img = rgb888_img.to_rgb565() + img.morph(1, [+2, +1, +0, + +1, +1, -1, + +0, -1, -2]) # Emboss the image. + img.save("/sdcard/snapshot_emboss.jpg") + print("save image ok") + except Exception as e: + print("save image fail: ", e) + # release image for dev and chn + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + print("camera init") + camera_init() + print("camera capture") + capture_picture() + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/13-Snapshot/snapshot.py b/share/qtcreator/examples/13-Snapshot/snapshot.py new file mode 100644 index 00000000000..9656f264693 --- /dev/null +++ b/share/qtcreator/examples/13-Snapshot/snapshot.py @@ -0,0 +1,73 @@ +# Snapshot Example +# +# Note: You will need an SD card to run this example. +# +# You can use your CanMV Cam to save image files. + +from media.camera import * +from media.display import * +from media.media import * +import time, os + +DISPLAY_WIDTH = ALIGN_UP(1920, 16) +DISPLAY_HEIGHT = 1080 + +def camera_init(): + # use hdmi for display + display.init(LT9611_1920X1080_30FPS) + # init default sensor + camera.sensor_init(CAM_DEV_ID_0, CAM_DEFAULT_SENSOR) + # set chn0 output size + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_0, DISPLAY_WIDTH, DISPLAY_HEIGHT) + # set chn0 output format + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_0, PIXEL_FORMAT_YUV_SEMIPLANAR_420) + # create meida source device + globals()["meida_source"] = media_device(CAMERA_MOD_ID, CAM_DEV_ID_0, CAM_CHN_ID_0) + # create meida sink device + globals()["meida_sink"] = media_device(DISPLAY_MOD_ID, DISPLAY_DEV_ID, DISPLAY_CHN_VIDEO1) + # create meida link + media.create_link(meida_source, meida_sink) + # set display plane with video channel + display.set_plane(0, 0, DISPLAY_WIDTH, DISPLAY_HEIGHT, PIXEL_FORMAT_YVU_PLANAR_420, DISPLAY_MIRROR_NONE, DISPLAY_CHN_VIDEO1) + # set chn1 output rgb888 + camera.set_outsize(CAM_DEV_ID_0, CAM_CHN_ID_1, DISPLAY_WIDTH, DISPLAY_HEIGHT) + camera.set_outfmt(CAM_DEV_ID_0, CAM_CHN_ID_1, PIXEL_FORMAT_RGB_888) + # media buffer init + media.buffer_init() + # start stream for camera device0 + camera.start_stream(CAM_DEV_ID_0) + +def camera_deinit(): + # stop stream for camera device0 + camera.stop_stream(CAM_DEV_ID_0) + # deinit display + display.deinit() + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + time.sleep_ms(100) + # destroy media link + media.destroy_link(globals()["meida_source"], globals()["meida_sink"]) + # deinit media buffer + media.buffer_deinit() + +def capture_picture(): + time.sleep(1) + rgb888_img = camera.capture_image(CAM_DEV_ID_0, CAM_CHN_ID_1) + try: + rgb888_img.to_jpeg().save("/sdcard/snapshot.jpg") + print("save image ok") + except Exception as e: + print("save image fail: ", e) + # release image for dev and chn + camera.release_image(CAM_DEV_ID_0, CAM_CHN_ID_1, rgb888_img) + +def main(): + os.exitpoint(os.EXITPOINT_ENABLE_SLEEP) + print("camera init") + camera_init() + print("camera capture") + capture_picture() + print("camera deinit") + camera_deinit() + +if __name__ == "__main__": + main() diff --git a/share/qtcreator/examples/14-Socket/http_client.py b/share/qtcreator/examples/14-Socket/http_client.py new file mode 100644 index 00000000000..4882afee386 --- /dev/null +++ b/share/qtcreator/examples/14-Socket/http_client.py @@ -0,0 +1,39 @@ +import socket + + +def main(use_stream=True): + #创建socket + s = socket.socket() + #获取地址及端口号 对应地址 + ai = socket.getaddrinfo("www.baidu.com", 80) + #ai = socket.getaddrinfo("10.100.228.5", 8080) + + print("Address infos:", ai) + addr = ai[0][-1] + + print("Connect address:", addr) + #连接 + s.connect(addr) + + if use_stream: + # MicroPython socket objects support stream (aka file) interface + # directly, but the line below is needed for CPython. + s = s.makefile("rwb", 0) + #发送http请求 + s.write(b"GET /index.html HTTP/1.0\r\n\r\n") + #打印请求内容 + print(s.read()) + else: + #发送http请求 + s.send(b"GET /index.html HTTP/1.0\r\n\r\n") + #打印请求内容 + print(s.recv(4096)) + #print(s.read()) + #关闭socket + s.close() + + +#main() +main(use_stream=True) +main(use_stream=False) + diff --git a/share/qtcreator/examples/14-Socket/http_server.py b/share/qtcreator/examples/14-Socket/http_server.py new file mode 100644 index 00000000000..8bb647116bb --- /dev/null +++ b/share/qtcreator/examples/14-Socket/http_server.py @@ -0,0 +1,81 @@ +# port from micropython/examples/network/http_server.py +import socket +import network +import time +# print(network.LAN().ifconfig()[0]) +# print("Listening, connect your browser to http://%s:8081/" % (network.LAN().ifconfig()[0])) + +CONTENT = b"""\ +HTTP/1.0 200 OK + +Hello #%d from k230 canmv MicroPython! +""" + + +def main(micropython_optimize=True): + #建立socket + s = socket.socket() + #获取地址及端口号 对应地址 + # Binding to all interfaces - server will be accessible to other hosts! + ai = socket.getaddrinfo("0.0.0.0", 8081) + print("Bind address info:", ai) + addr = ai[0][-1] + #设置属性 + s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + #绑定地址 + s.bind(addr) + #开始监听 + s.listen(5) + print("Listening, connect your browser to http://%s:8081/" % (network.LAN().ifconfig()[0])) + + counter = 0 + while True: + #接受连接 + res = s.accept() + client_sock = res[0] + client_addr = res[1] + print("Client address:", client_addr) + print("Client socket:", client_sock) + #非阻塞模式 + client_sock.setblocking(False) + if not micropython_optimize: + # To read line-oriented protocol (like HTTP) from a socket (and + # avoid short read problem), it must be wrapped in a stream (aka + # file-like) object. That's how you do it in CPython: + client_stream = client_sock.makefile("rwb") + else: + # .. but MicroPython socket objects support stream interface + # directly, so calling .makefile() method is not required. If + # you develop application which will run only on MicroPython, + # especially on a resource-constrained embedded device, you + # may take this shortcut to save resources. + client_stream = client_sock + + print("Request:") + #获取内容 + req = client_stream.read() + print(req) + + while True: + ##获取内容 + h = client_stream.read() + if h == b"" or h == b"\r\n": + break + print(h) + #回复内容 + client_stream.write(CONTENT % counter) + #time.sleep(0.5) + #关闭 + client_stream.close() + # if not micropython_optimize: + # client_sock.close() + counter += 1 + #print("wjx", counter) + if counter > 20 : + print("http server exit!") + #关闭 + s.close() + break + + +main() diff --git a/share/qtcreator/examples/14-Socket/iperf3.py b/share/qtcreator/examples/14-Socket/iperf3.py new file mode 100755 index 00000000000..996836396e9 --- /dev/null +++ b/share/qtcreator/examples/14-Socket/iperf3.py @@ -0,0 +1,582 @@ +""" +Pure Python, iperf3-compatible network performance test tool. + +MIT license; Copyright (c) 2018-2019 Damien P. George + +Supported modes: server & client, TCP & UDP, normal & reverse + +Usage: + import iperf3 + iperf3.server() + iperf3.client('192.168.1.5') + iperf3.client('192.168.1.5', udp=True, reverse=True) +""" + +import sys, struct +import time, select, socket +import json + +# Provide a urandom() function, supporting devices without os.urandom(). +try: + from os import urandom +except ImportError: + from random import randint + + def urandom(n): + return bytes(randint(0, 255) for _ in range(n)) + + +#DEBUG = False +DEBUG = True + +# iperf3 cookie size, last byte is null byte +COOKIE_SIZE = 37 + +# iperf3 commands +TEST_START = 1 +TEST_RUNNING = 2 +TEST_END = 4 +PARAM_EXCHANGE = 9 +CREATE_STREAMS = 10 +EXCHANGE_RESULTS = 13 +DISPLAY_RESULTS = 14 +IPERF_DONE = 16 + +if DEBUG: + cmd_string = { + TEST_START: "TEST_START", + TEST_RUNNING: "TEST_RUNNING", + TEST_END: "TEST_END", + PARAM_EXCHANGE: "PARAM_EXCHANGE", + CREATE_STREAMS: "CREATE_STREAMS", + EXCHANGE_RESULTS: "EXCHANGE_RESULTS", + DISPLAY_RESULTS: "DISPLAY_RESULTS", + IPERF_DONE: "IPERF_DONE", + } + + +def fmt_size(val, div): + for mult in ("", "K", "M", "G"): + if val < 10: + return "% 5.2f %s" % (val, mult) + elif val < 100: + return "% 5.1f %s" % (val, mult) + elif mult == "G" or val < 1000: + return "% 5.0f %s" % (val, mult) + else: + val /= div + + +class Stats: + def __init__(self, param): + self.pacing_timer_us = param["pacing_timer"] * 1000 + self.udp = param.get("udp", False) + self.reverse = param.get("reverse", False) + self.running = False + + def start(self): + self.running = True + self.t0 = self.t1 = ticks_us() + self.nb0 = self.nb1 = 0 # num bytes + self.np0 = self.np1 = 0 # num packets + self.nm0 = self.nm1 = 0 # num lost packets + if self.udp: + if self.reverse: + extra = " Jitter Lost/Total Datagrams" + else: + extra = " Total Datagrams" + else: + extra = "" + print("Interval Transfer Bitrate" + extra) + + def max_dt_ms(self): + if not self.running: + return -1 + return max(0, (self.pacing_timer_us - ticks_diff(ticks_us(), self.t1)) // 1000) + + def add_bytes(self, n): + if not self.running: + return + self.nb0 += n + self.nb1 += n + self.np0 += 1 + self.np1 += 1 + + def add_lost_packets(self, n): + self.np0 += n + self.np1 += n + self.nm0 += n + self.nm1 += n + + def print_line(self, ta, tb, nb, np, nm, extra=""): + dt = tb - ta + print( + " %5.2f-%-5.2f sec %sBytes %sbits/sec" + % (ta, tb, fmt_size(nb, 1024), fmt_size(nb * 8 / dt, 1000)), + end="", + ) + if self.udp: + if self.reverse: + print( + " %6.3f ms %u/%u (%.1f%%)" % (0, nm, np, 100 * nm / (max(1, np + nm))), end="" + ) + else: + print(" %u" % np, end="") + print(extra) + + def update(self, final=False): + if not self.running: + return + t2 = ticks_us() + dt = ticks_diff(t2, self.t1) + if final or dt > self.pacing_timer_us: + ta = ticks_diff(self.t1, self.t0) * 1e-6 + tb = ticks_diff(t2, self.t0) * 1e-6 + self.print_line(ta, tb, self.nb1, self.np1, self.nm1) + self.t1 = t2 + self.nb1 = 0 + self.np1 = 0 + self.nm1 = 0 + + def stop(self): + self.update(True) + self.running = False + self.t3 = ticks_us() + dt = ticks_diff(self.t3, self.t0) + print("- " * 30) + self.print_line(0, dt * 1e-6, self.nb0, self.np0, self.nm0, " sender") + + def report_receiver(self, stats): + st = stats["streams"][0] + + # iperf servers pre 3.2 do not transmit start or end time, + # so use local as fallback if not available. + dt = ticks_diff(self.t3, self.t0) + + self.print_line( + st.get("start_time", 0.0), + st.get("end_time", dt * 1e-6), + st["bytes"], + st["packets"], + st["errors"], + " receiver", + ) + + +def recvn(s, n): + data = b"" + while len(data) < n: + data += s.recv(n - len(data)) + return data + + +def recvinto(s, buf): + if hasattr(s, "readinto"): + return s.readinto(buf) + else: + return s.recv_into(buf) + + +def recvninto(s, buf): + if hasattr(s, "readinto"): + n = s.readinto(buf) + assert n == len(buf) + else: + mv = memoryview(buf) + off = 0 + while off < len(buf): + off += s.recv_into(mv[off:]) + + +def make_cookie(): + cookie_chars = b"abcdefghijklmnopqrstuvwxyz234567" + cookie = bytearray(COOKIE_SIZE) + for i, x in enumerate(urandom(COOKIE_SIZE - 1)): + cookie[i] = cookie_chars[x & 31] + return cookie + + +def server_once(): + # Listen for a connection + ai = socket.getaddrinfo("0.0.0.0", 5201) + ai = ai[0] + print("Server listening on", ai[-1]) + s_listen = socket.socket(ai[0], socket.SOCK_STREAM) + s_listen.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + s_listen.bind(ai[-1]) + s_listen.listen(1) + s_ctrl, addr = s_listen.accept() + + # Read client's cookie + cookie = recvn(s_ctrl, COOKIE_SIZE) + if DEBUG: + print(cookie) + + # Ask for parameters + s_ctrl.sendall(bytes([PARAM_EXCHANGE])) + + # Get parameters + n = struct.unpack(">I", recvn(s_ctrl, 4))[0] + param = recvn(s_ctrl, n) + param = json.loads(str(param, "ascii")) + if DEBUG: + print(param) + reverse = param.get("reverse", False) + + # Ask to create streams + s_ctrl.sendall(bytes([CREATE_STREAMS])) + + if param.get("tcp", False): + # Accept stream + s_data, addr = s_listen.accept() + print("Accepted connection:", addr) + recvn(s_data, COOKIE_SIZE) + elif param.get("udp", False): + # Close TCP connection and open UDP "connection" + s_listen.close() + s_data = socket.socket(ai[0], socket.SOCK_DGRAM) + s_data.bind(ai[-1]) + data, addr = s_data.recvfrom(4) + s_data.sendto(b"\x12\x34\x56\x78", addr) + else: + assert False + + # Start test + s_ctrl.sendall(bytes([TEST_START])) + + # Run test + s_ctrl.sendall(bytes([TEST_RUNNING])) + + # Read data, and wait for client to send TEST_END + poll = select.poll() + poll.register(s_ctrl, select.POLLIN) + if reverse: + poll.register(s_data, select.POLLOUT) + else: + poll.register(s_data, select.POLLIN) + stats = Stats(param) + stats.start() + running = True + data_buf = bytearray(urandom(param["len"])) + while running: + for pollable in poll.poll(stats.max_dt_ms()): + if pollable_is_sock(pollable, s_ctrl): + cmd = recvn(s_ctrl, 1)[0] + if DEBUG: + print(cmd_string.get(cmd, "UNKNOWN_COMMAND")) + if cmd == TEST_END: + running = False + elif pollable_is_sock(pollable, s_data): + if reverse: + n = s_data.send(data_buf) + stats.add_bytes(n) + else: + recvninto(s_data, data_buf) + stats.add_bytes(len(data_buf)) + stats.update() + + # Need to continue writing so other side doesn't get blocked waiting for data + if reverse: + while True: + for pollable in poll.poll(0): + if pollable_is_sock(pollable, s_data): + s_data.send(data_buf) + break + else: + break + + stats.stop() + + # Ask to exchange results + s_ctrl.sendall(bytes([EXCHANGE_RESULTS])) + + # Get client results + n = struct.unpack(">I", recvn(s_ctrl, 4))[0] + results = recvn(s_ctrl, n) + results = json.loads(str(results, "ascii")) + if DEBUG: + print(results) + + # Send our results + results = { + "cpu_util_total": 1, + "cpu_util_user": 0.5, + "cpu_util_system": 0.5, + "sender_has_retransmits": 1, + "congestion_used": "cubic", + "streams": [ + { + "id": 1, + "bytes": stats.nb0, + "retransmits": 0, + "jitter": 0, + "errors": 0, + "packets": stats.np0, + "start_time": 0, + "end_time": ticks_diff(stats.t3, stats.t0) * 1e-6, + } + ], + } + results = json.dumps(results) + s_ctrl.sendall(struct.pack(">I", len(results))) + s_ctrl.sendall(bytes(results, "ascii")) + + # Ask to display results + s_ctrl.sendall(bytes([DISPLAY_RESULTS])) + + # Wait for client to send IPERF_DONE + cmd = recvn(s_ctrl, 1)[0] + assert cmd == IPERF_DONE + + # Close all sockets + s_data.close() + s_ctrl.close() + s_listen.close() + + +def server(): + while True: + server_once() + + +def client(host, udp=False, reverse=False, bandwidth=10 * 1024 * 1024): + print("CLIENT MODE:", "UDP" if udp else "TCP", "receiving" if reverse else "sending") + + param = { + "client_version": "3.6", + "omit": 0, + "parallel": 1, + "pacing_timer": 1000, + "time": 10, + } + + if udp: + param["udp"] = True + param["len"] = 1500 - 42 + param["bandwidth"] = bandwidth # this should be should be intended bits per second + udp_interval = 1000000 * 8 * param["len"] // param["bandwidth"] + else: + param["tcp"] = True + param["len"] = 3000 + + if reverse: + param["reverse"] = True + + # Connect to server + ai = socket.getaddrinfo(host, 5201)[0] + print("Connecting to", ai[-1]) + s_ctrl = socket.socket(ai[0], socket.SOCK_STREAM) + + s_ctrl.connect(ai[-1]) + + # Send our cookie + cookie = make_cookie() + if DEBUG: + print(cookie) + s_ctrl.sendall(cookie) + + # Object to gather statistics about the run + stats = Stats(param) + + # Run the main loop, waiting for incoming commands and dat + ticks_us_end = param["time"] * 1000000 + poll = select.poll() + poll.register(s_ctrl, select.POLLIN) + buf = None + s_data = None + start = None + udp_packet_id = 0 + udp_last_send = None + while True: + for pollable in poll.poll(stats.max_dt_ms()): + if pollable_is_sock(pollable, s_data): + # Data socket is writable/readable + t = ticks_us() + if ticks_diff(t, start) > ticks_us_end: + if reverse: + # Continue to drain any incoming data + recvinto(s_data, buf) + if stats.running: + # End of run + s_ctrl.sendall(bytes([TEST_END])) + stats.stop() + else: + # Send/receiver data + if udp: + if reverse: + recvninto(s_data, buf) + udp_in_sec, udp_in_usec, udp_in_id = struct.unpack_from(">III", buf, 0) + # print(udp_in_sec, udp_in_usec, udp_in_id) + if udp_in_id != udp_packet_id + 1: + stats.add_lost_packets(udp_in_id - (udp_packet_id + 1)) + udp_packet_id = udp_in_id + stats.add_bytes(len(buf)) + else: + # print('UDP send', udp_last_send, t, udp_interval) + if t - udp_last_send > udp_interval: + udp_last_send += udp_interval + udp_packet_id += 1 + struct.pack_into( + ">III", buf, 0, t // 1000000, t % 1000000, udp_packet_id + ) + n = s_data.sendto(buf, ai[-1]) + stats.add_bytes(n) + else: + if reverse: + recvninto(s_data, buf) + n = len(buf) + else: + # print('TCP send', len(buf)) + n = s_data.send(buf) + stats.add_bytes(n) + + elif pollable_is_sock(pollable, s_ctrl): + # Receive command + cmd = recvn(s_ctrl, 1)[0] + if DEBUG: + print(cmd_string.get(cmd, "UNKNOWN_COMMAND")) + if cmd == TEST_START: + if reverse: + # Start receiving data now, because data socket is open + poll.register(s_data, select.POLLIN) + start = ticks_us() + stats.start() + elif cmd == TEST_RUNNING: + if not reverse: + # Start sending data now + poll.register(s_data, select.POLLOUT) + start = ticks_us() + if udp: + udp_last_send = start - udp_interval + stats.start() + elif cmd == PARAM_EXCHANGE: + param_j = json.dumps(param) + s_ctrl.sendall(struct.pack(">I", len(param_j))) + s_ctrl.sendall(bytes(param_j, "ascii")) + elif cmd == CREATE_STREAMS: + if udp: + s_data = socket.socket(ai[0], socket.SOCK_DGRAM) + time.sleep(0.5) + s_data.sendto(struct.pack("I", len(results))) + s_ctrl.sendall(bytes(results, "ascii")) + + n = struct.unpack(">I", recvn(s_ctrl, 4))[0] + results = recvn(s_ctrl, n) + results = json.loads(str(results, "ascii")) + stats.report_receiver(results) + + elif cmd == DISPLAY_RESULTS: + s_ctrl.sendall(bytes([IPERF_DONE])) + s_ctrl.close() + time.sleep(1) # delay so server is ready for any subsequent client connections + return + + stats.update() + +#udp client ok --187 Kbits/sec +#tcp client ok --249 Kbits/sec +#server tcp-- 250 Kbits/sec +#server udp -- 187Kbits/sec. +def main(): + # opt_mode = None + # #-s -c + # opt_udp = False + # # True False + # opt_reverse = False + + #opt_mode = "-c" + opt_mode = "-c" + opt_host = "10.10.1.94" + #-s -c + opt_udp = False + #opt_udp = True + #True + # True False + opt_reverse = False + + + + # sys.argv.pop(0) + # while sys.argv: + # opt = sys.argv.pop(0) + # if opt == "-R": + # opt_reverse = True + # elif opt == "-u": + # opt_udp = True + # elif opt == "-s": + # opt_mode = opt + # elif opt == "-c": + # opt_mode = opt + # opt_host = sys.argv.pop(0) + # else: + # print("unknown option:", opt) + # raise SystemExit(1) + + if opt_mode == "-s": + server() + else: + client(opt_host, opt_udp, opt_reverse) + + +# if sys.platform == "linux": + +# def pollable_is_sock(pollable, sock): +# # if sock : +# # print(sock.fileno(), pollable[0],sock) +# return sock is not None and pollable[0] == sock + +# def ticks_us(): +# return int(time.time() * 1e6) + +# def ticks_diff(a, b): +# return a - b + +# if __name__ == "__main__": +# main() +# else: + +# def pollable_is_sock(pollable, sock): +# return pollable[0] == sock + +# from time import ticks_us, ticks_diff + + + +def pollable_is_sock(pollable, sock): + return sock is not None and pollable[0] == sock + +from time import ticks_us, ticks_diff +main() diff --git a/share/qtcreator/examples/14-Socket/network_lan.py b/share/qtcreator/examples/14-Socket/network_lan.py new file mode 100644 index 00000000000..5bbda94a410 --- /dev/null +++ b/share/qtcreator/examples/14-Socket/network_lan.py @@ -0,0 +1,38 @@ +import network + + +def main(): + #获取lan接口 + a=network.LAN() + #获取网口是否在使用 + print(a.active()) + #关闭网口 + print(a.active(0)) + #使能网口 + print(a.active(1)) + #查看网口 ip，掩码，网关，dns配置 + print(a.ifconfig()) + #设置网口 ip，掩码，网关，dns配置 + print(a.ifconfig(('192.168.0.4', '255.255.255.0', '192.168.0.1', '8.8.8.8'))) + #查看网口 ip，掩码，网关，dns配置 + print(a.ifconfig()) + #设置网口为dhcp模式 + print(a.ifconfig("dhcp")) + #查看网口 ip，掩码，网关，dns配置 + print(a.ifconfig()) + #查看网口mac地址 + print(a.config("mac")) + #设置网口mac地址 + print(a.config(mac="42:EA:D0:C2:0D:83")) + #查看网口mac地址 + print(a.config("mac")) + #设置网口为dhcp模式 + print(a.ifconfig("dhcp")) + #查看网口 ip，掩码，网关，dns配置 + print(a.ifconfig()) + + + + +main() + diff --git a/share/qtcreator/examples/14-Socket/tcp_client.py b/share/qtcreator/examples/14-Socket/tcp_client.py new file mode 100644 index 00000000000..007fcda380a --- /dev/null +++ b/share/qtcreator/examples/14-Socket/tcp_client.py @@ -0,0 +1,41 @@ +#配置 tcp/udp socket调试工具 +import socket +import time + +PORT=60000 + +def client(): + #获取地址及端口号 对应地址 + ai = socket.getaddrinfo("10.100.228.5", PORT) + #ai = socket.getaddrinfo("10.10.1.94", PORT) + print("Address infos:", ai) + addr = ai[0][-1] + + print("Connect address:", addr) + #建立socket + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM, 0) + #连接地址 + s.connect(addr) + + for i in range(10): + str="K230 tcp client send test {0} \r\n".format(i) + print(str) + #print(s.send(str)) + #发送字符串 + print(s.write(str)) + time.sleep(0.2) + #time.sleep(1) + #print(s.recv(4096)) + #print(s.read()) + #延时1秒 + time.sleep(1) + #关闭socket + s.close() + print("end") + + + +#main() +client() + + diff --git a/share/qtcreator/examples/14-Socket/tcp_server.py b/share/qtcreator/examples/14-Socket/tcp_server.py new file mode 100644 index 00000000000..b2b81ecd92a --- /dev/null +++ b/share/qtcreator/examples/14-Socket/tcp_server.py @@ -0,0 +1,68 @@ +#配置 tcp/udp socket调试工具 +import socket +import network +import time +PORT=60000 + + +CONTENT = b""" +Hello #%d from k230 canmv MicroPython! +""" + + + +def server(): + counter=1 + #获取地址及端口号 对应地址 + #ai = socket.getaddrinfo("10.100.228.5", 8000) + ai = socket.getaddrinfo("0.0.0.0", PORT) + print("Address infos:", ai,PORT) + addr = ai[0][-1] + + print("Connect address:", addr) + #建立socket + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM, 0) + #设置属性 + s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + #绑定 + s.bind(addr) + #监听 + s.listen(5) + print("tcp server %s port:%d\n" % ((network.LAN().ifconfig()[0]),PORT)) + + + while True: + #接受连接 + res = s.accept() + client_sock = res[0] + client_addr = res[1] + print("Client address:", client_addr) + print("Client socket:", client_sock) + client_sock.setblocking(False) + + client_stream = client_sock + #发送字符传 + client_stream.write(CONTENT % counter) + + while True: + #读取内容 + h = client_stream.read() + if h != b"" : + print(h) + #回复内容 + client_stream.write("recv :%s" % h) + + if "end" in h : + #关闭socket + client_stream.close() + break + + counter += 1 + if counter > 10 : + print("server exit!") + #关闭 + s.close() + break + +#main() +server() diff --git a/share/qtcreator/examples/14-Socket/udp_clinet.py b/share/qtcreator/examples/14-Socket/udp_clinet.py new file mode 100644 index 00000000000..d3f03d29b8b --- /dev/null +++ b/share/qtcreator/examples/14-Socket/udp_clinet.py @@ -0,0 +1,38 @@ +#配置 tcp/udp socket调试工具 +import socket +import time + + +def udpclient(): + #获取地址和端口号 对应地址 + ai = socket.getaddrinfo("10.100.228.5", 60000) + #ai = socket.getaddrinfo("10.10.1.94", 60000) + print("Address infos:", ai) + addr = ai[0][-1] + + print("Connect address:", addr) + #建立socket + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + + + for i in range(10): + str="K230 udp client send test {0} \r\n".format(i) + print(str) + #发送字符串 + print(s.sendto(str,addr)) + #延时 + time.sleep(0.2) + #time.sleep(1) + #print(s.recv(4096)) + #print(s.read()) + #延时 + time.sleep(1) + #关闭 + s.close() + print("end") + + + +#main() +udpclient() diff --git a/share/qtcreator/examples/14-Socket/udp_server.py b/share/qtcreator/examples/14-Socket/udp_server.py new file mode 100644 index 00000000000..68e0eed6283 --- /dev/null +++ b/share/qtcreator/examples/14-Socket/udp_server.py @@ -0,0 +1,45 @@ +#配置 tcp/udp socket调试工具 +import socket +import time +import network +PORT=60000 + + +def udpserver(): + #获取地址及端口号对应地址 + ai = socket.getaddrinfo("0.0.0.0", PORT) + #ai = socket.getaddrinfo("10.10.1.94", 60000) + print("Address infos:", ai) + addr = ai[0][-1] + + print("udp server %s port:%d\n" % ((network.LAN().ifconfig()[0]),PORT)) + #建立socket + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + #设置属性 + s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + #绑定 + s.bind(addr) + print("a") + #延时 + time.sleep(1) + + for j in range(10): + try: + #接受内容 + data, addr = s.recvfrom(800) + print("b") + except: + continue + #打印内容 + print("recv %d" % j,data,addr) + #回复内容 + s.sendto(b"%s have recv count=%d " % (data,j), addr) + #关闭 + s.close() + print("udp server exit!!") + + + + +#main() +udpserver() diff --git a/share/qtcreator/examples/15-Utils/db/readme.txt b/share/qtcreator/examples/15-Utils/db/readme.txt new file mode 100644 index 00000000000..a8f1f8dd323 --- /dev/null +++ b/share/qtcreator/examples/15-Utils/db/readme.txt @@ -0,0 +1 @@ +用于存放人脸数据库 diff --git a/share/qtcreator/examples/15-Utils/db_img/id_1.jpg b/share/qtcreator/examples/15-Utils/db_img/id_1.jpg new file mode 100644 index 00000000000..0cb764acf1a Binary files /dev/null and b/share/qtcreator/examples/15-Utils/db_img/id_1.jpg differ diff --git a/share/qtcreator/examples/15-Utils/db_img/id_2.png b/share/qtcreator/examples/15-Utils/db_img/id_2.png new file mode 100644 index 00000000000..95372a281bd Binary files /dev/null and b/share/qtcreator/examples/15-Utils/db_img/id_2.png differ diff --git a/share/qtcreator/examples/15-Utils/dict.txt b/share/qtcreator/examples/15-Utils/dict.txt new file mode 100755 index 00000000000..f43275c9b26 --- /dev/null +++ b/share/qtcreator/examples/15-Utils/dict.txt @@ -0,0 +1,6549 @@ +光 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