Background Subtraction is working!!!

Woot, all the effort to make it so you can manipulate the image buffer
with an image off disk works!

Try out the motion_detection script.
This commit is contained in:
Kwabena W. Agyeman 2016-02-27 11:58:20 -05:00
parent e28d2445b1
commit 4ed49082a1
5 changed files with 138 additions and 146 deletions

View File

@ -22,8 +22,8 @@ bool bmp_read_geometry(FIL *fp, image_t *img, const char *path, bmp_read_setting
uint32_t file_size;
read_long(fp, &file_size);
read_long_ignore(fp);
read_long_ignore(fp);
read_word_ignore(fp);
read_word_ignore(fp);
uint32_t header_size;
read_long(fp, &header_size);

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@ -406,156 +406,126 @@ void imlib_invert(image_t *img)
}
}
void imlib_and(image_t *img, const char *file, image_t *other)
static void imlib_and_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] &= other_pixels[i];
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] &= other[i];
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] &= other_pixels[i];
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] &= ((uint16_t *) other)[i];
}
}
}
void imlib_nand(image_t *img, const char *file, image_t *other)
void imlib_and(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_and_line_op);
}
static void imlib_nand_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] & other_pixels[i]);
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] & other[i]);
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] & other_pixels[i]);
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] & ((uint16_t *) other)[i]);
}
}
}
void imlib_or(image_t *img, const char *file, image_t *other)
void imlib_nand(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_nand_line_op);
}
static void imlib_or_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] |= other_pixels[i];
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] |= other[i];
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] |= other_pixels[i];
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] |= ((uint16_t *) other)[i];
}
}
}
void imlib_nor(image_t *img, const char *file, image_t *other)
void imlib_or(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_or_line_op);
}
static void imlib_nor_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] | other_pixels[i]);
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] | other[i]);
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] | other_pixels[i]);
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] | ((uint16_t *) other)[i]);
}
}
}
void imlib_xor(image_t *img, const char *file, image_t *other)
void imlib_nor(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_nor_line_op);
}
static void imlib_xor_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] ^= other_pixels[i];
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] ^= other[i];
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] ^= other_pixels[i];
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] ^= ((uint16_t *) other)[i];
}
}
}
void imlib_xnor(image_t *img, const char *file, image_t *other)
void imlib_xor(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_xor_line_op);
}
static void imlib_xnor_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] ^ other_pixels[i]);
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] ^ other[i]);
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = ~(pixels[i] ^ other_pixels[i]);
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = ~(pixels[i] ^ ((uint16_t *) other)[i]);
}
}
}
void imlib_xnor(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_xnor_line_op);
}
int imlib_pixels(image_t *img, rectangle_t *r)
{
rectangle_t rect;
@ -682,35 +652,30 @@ void imlib_negate(image_t *img)
}
}
void imlib_difference(image_t *img, const char *file, image_t *other)
static void imlib_difference_line_op(image_t *img, int line, uint8_t *other)
{
if (IM_IS_GS(img)) {
uint8_t *pixels = img->pixels;
if (file) {
} else {
uint8_t *other_pixels = other->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
pixels[i] = abs(pixels[i] - other_pixels[i]);
}
uint8_t *pixels = img->pixels + (img->w * line);
for (int i=0; i<img->w; i++) {
pixels[i] = abs(pixels[i] - other[i]);
}
} else {
uint16_t *pixels = (uint16_t *) img->pixels;
if (file) {
} else {
uint16_t *other_pixels = (uint16_t *) img->pixels;
for (int i=0, j=img->w*img->h; i<j; i++) {
const int pixel = pixels[i], other_pixel = other_pixels[i];
const int r = abs(IM_R565(pixel) - IM_R565(other_pixel));
const int g = abs(IM_G565(pixel) - IM_G565(other_pixel));
const int b = abs(IM_B565(pixel) - IM_B565(other_pixel));
pixels[i] = IM_RGB565(r, g, b);
}
uint16_t *pixels = ((uint16_t *) img->pixels) + (img->w * line);
for (int i=0; i<img->w; i++) {
const int pixel = pixels[i], other_pixel = ((uint16_t *) other)[i];
const int r = abs(IM_R565(pixel) - IM_R565(other_pixel));
const int g = abs(IM_G565(pixel) - IM_G565(other_pixel));
const int b = abs(IM_B565(pixel) - IM_B565(other_pixel));
pixels[i] = IM_RGB565(r, g, b);
}
}
}
void imlib_difference(image_t *img, const char *path, image_t *other)
{
imlib_image_operation(img, path, other, imlib_difference_line_op);
}
////////////////////////////////////////////////////////////////////////////////
uint32_t imlib_lab_distance(struct color *c0, struct color *c1)

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@ -355,12 +355,12 @@ void imlib_draw_string(image_t *img, int x_off, int y_off, const char *str, int
/* Binary functions */
void imlib_binary(image_t *img, int num_thresholds, simple_color_t *l_thresholds, simple_color_t *h_thresholds, bool invert);
void imlib_invert(image_t *img);
void imlib_and(image_t *img, const char *file, image_t *other);
void imlib_nand(image_t *img, const char *file, image_t *other);
void imlib_or(image_t *img, const char *file, image_t *other);
void imlib_nor(image_t *img, const char *file, image_t *other);
void imlib_xor(image_t *img, const char *file, image_t *other);
void imlib_xnor(image_t *img, const char *file, image_t *other);
void imlib_and(image_t *img, const char *path, image_t *other);
void imlib_nand(image_t *img, const char *path, image_t *other);
void imlib_or(image_t *img, const char *path, image_t *other);
void imlib_nor(image_t *img, const char *path, image_t *other);
void imlib_xor(image_t *img, const char *path, image_t *other);
void imlib_xnor(image_t *img, const char *path, image_t *other);
int imlib_pixels(image_t *img, rectangle_t *r);
int imlib_centroid(image_t *img, int *x_center, int *y_center, rectangle_t *r);
float imlib_orientation_radians(image_t *img, int *sum, int *x_center, int *y_center, rectangle_t *r);
@ -368,7 +368,7 @@ float imlib_orientation_degrees(image_t *img, int *sum, int *x_center, int *y_ce
/* Background Subtraction (Frame Differencing) functions */
void imlib_negate(image_t *img);
void imlib_difference(image_t *img, const char *file, image_t *other);
void imlib_difference(image_t *img, const char *path, image_t *other);
/* Clustering functions */
array_t *cluster_kmeans(array_t *points, int k);

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@ -439,8 +439,6 @@ static mp_obj_t py_image_and(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_and(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_and(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -456,8 +454,6 @@ static mp_obj_t py_image_nand(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_nand(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_nand(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -473,8 +469,6 @@ static mp_obj_t py_image_or(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_or(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_or(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -490,8 +484,6 @@ static mp_obj_t py_image_nor(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_nor(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_nor(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -507,8 +499,6 @@ static mp_obj_t py_image_xor(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_xor(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_xor(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -524,8 +514,6 @@ static mp_obj_t py_image_xnor(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_xnor(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_xnor(arg_img, NULL, arg_other);
}
return mp_const_none;
@ -607,8 +595,6 @@ static mp_obj_t py_image_difference(mp_obj_t img_obj, mp_obj_t other_obj)
imlib_difference(arg_img, mp_obj_str_get_str(other_obj), NULL);
} else {
image_t *arg_other = py_image_cobj(other_obj);
PY_ASSERT_TRUE_MSG(IM_EQUAL(arg_img, arg_other),
"Invalid Argument: img_0_geometry != img_1_geometry");
imlib_difference(arg_img, NULL, arg_other);
}
return mp_const_none;

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@ -0,0 +1,41 @@
# Motion Detection Example:
#
# This example demonstrates using frame differencing with your OpenMV Cam to do
# motion detection. After motion is detected your OpenMV Cam will take picture.
import os, pyb, sensor, image, time
if not "temp" in os.listdir(): os.mkdir("temp") # Make a temp directory
sensor.reset()
sensor.set_framesize(sensor.QVGA)
while(True):
sensor.set_pixformat(sensor.GRAYSCALE) # Grayscale is much faster than RGB.
# Warm up the cam
for i in range(10):
sensor.snapshot()
for i in [5, 4, 3, 2, 1]:
print("Saving background in... %d" % i)
time.sleep(1000)
print("Saving background...")
sensor.snapshot().save("temp/bg.bmp")
diff = 30 # wait 30 snapshot before taking picture
while(diff):
img = sensor.snapshot()
img.difference("temp/bg.bmp")
img.binary([(32, 255)])
sum, x, y = img.centroid()
if sum > 100: # 100 pixels detected
img.draw_cross(x, y, color = 127)
diff -= 1
sensor.set_pixformat(sensor.RGB565)
# Warm up the cam
for i in range(10):
sensor.snapshot()
sensor.snapshot().save("temp/movement-%d" % pyb.rng()) # Save movement