automatic_grayscale_color_tracking#
# 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()
具体接口使用请参考相关文档说明：