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Add Hough Transform example script.
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usr/examples/09-Feature-Detection/lines.py
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usr/examples/09-Feature-Detection/lines.py
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# Hough Transform Example:
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#
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# This example demonstrates using the Hough transform to find lines in an image.
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import sensor, image, time
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kernel_size = 1 # kernel width = (size*2)+1, kernel height = (size*2)+1
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kernel = [-1, -1, -1,\
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-1, +8, -1,\
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-1, -1, -1]
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# This is a high pass filter kernel. see here for more kernels:
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# http://www.fmwconcepts.com/imagemagick/digital_image_filtering.pdf
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thresholds = [(200, 255)] # grayscale thresholds
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sensor.reset() # Initialize the camera sensor.
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sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.RGB565
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sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)
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sensor.skip_frames(30) # Let new settings take affect.
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clock = time.clock() # Tracks FPS.
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# On the OV7725 sensor, edge detection can be enhanced
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# significantly by setting the sharpness/edge registers.
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# Note: This will be implemented as a function later.
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if (sensor.get_id() == sensor.OV7725):
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sensor.__write_reg(0xAC, 0xDF)
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sensor.__write_reg(0x8F, 0xFF)
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while(True):
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clock.tick() # Track elapsed milliseconds between snapshots().
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sensor.set_pixformat(sensor.GRAYSCALE)
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img = sensor.snapshot() # Take a picture and return the image.
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img.morph(kernel_size, kernel)
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img.binary(thresholds)
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# Erode pixels with less than 2 neighbors using a 3x3 image kernel
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img.erode(1, threshold = 2)
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img.draw_rectangle((0, 0, 160, 120), color=0x00)
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# Find lines.
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lines = img.find_lines(threshold=40)
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# Switch back to RGB to draw red lines.
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sensor.set_pixformat(sensor.RGB565) # or sensor.RGB565
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img = sensor.snapshot()
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for l in lines:
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img.draw_line(l, color=(0xFF, 0x00, 0x00))
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print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
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img = sensor.snapshot() # Take a picture and return the image.
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