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https://github.com/openmv/openmv.git
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Merge pull request #1455 from kwagyeman/kwabena/frog_eye
Add basic frogeye2020 driver
This commit is contained in:
commit
58e89f124a
39
scripts/examples/OpenMV/37-Event-Cameras/frogeye2020.py
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39
scripts/examples/OpenMV/37-Event-Cameras/frogeye2020.py
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@ -0,0 +1,39 @@
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# This example shows off using the frogeye2020 event camera.
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#
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# The frogeye2020 is a 320x240 event camera. There are two bits per pixel which show no motion,
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# motion in one direction, or motion in another direction. The sensor runs at 50 FPS.
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import sensor, image, time
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sensor.reset()
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.QVGA)
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palette = image.Image(1, 256, sensor.RGB565)
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for i in range(64):
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palette.set_pixel(0, i, (0, 0, 0))
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for i in range(64, 128):
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palette.set_pixel(0, i, (255, 0, 0))
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for i in range(128, 192):
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palette.set_pixel(0, i, (0, 0, 255))
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for i in range(192, 256):
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palette.set_pixel(0, i, (0, 255, 0))
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clock = time.clock()
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while(True):
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clock.tick()
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img = sensor.snapshot()
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# Handle sensor rotation.
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img.assign(hmirror=True, vflip=True)
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# Make pretty.
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img.to_rainbow(color_palette=palette)
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# Cleanup noise.
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img.erode(1)
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print(clock.fps())
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@ -0,0 +1,45 @@
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# This example shows off using the frogeye2020 event camera with tracking.
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#
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# The frogeye2020 is a 320x240 event camera. There are two bits per pixel which show no motion,
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# motion in one direction, or motion in another direction. The sensor runs at 50 FPS.
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import sensor, image, time
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sensor.reset()
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.QVGA)
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palette = image.Image(1, 256, sensor.RGB565)
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for i in range(64):
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palette.set_pixel(0, i, (0, 0, 0))
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for i in range(64, 128):
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palette.set_pixel(0, i, (255, 0, 0))
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for i in range(128, 192):
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palette.set_pixel(0, i, (0, 0, 255))
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for i in range(192, 256):
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palette.set_pixel(0, i, (0, 255, 0))
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clock = time.clock()
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while(True):
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clock.tick()
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img = sensor.snapshot()
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# Handle sensor rotation.
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img.assign(hmirror=True, vflip=True)
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# Make pretty.
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img.to_rainbow(color_palette=palette)
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# Cleanup noise.
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img.erode(1)
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blobs = img.find_blobs([(0, 0)], invert=True,
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pixels_threshold=10, area_threshold=10, merge=False)
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for blob in blobs:
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img.draw_rectangle(blob.rect(), color=(0, 255, 0))
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print(clock.fps())
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@ -39,6 +39,7 @@ SRCS += $(addprefix sensors/, \
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hm01b0.c \
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gc2145.c \
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paj6100.c \
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frogeye2020.c \
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)
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SRCS += $(addprefix imlib/, \
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@ -44,6 +44,7 @@
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#define OMV_ENABLE_LEPTON (0)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (0)
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#define OMV_ENABLE_FROGEYE2020 (0)
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// Set which OV767x sensor is used
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#define OMV_OV7670_VERSION (75)
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@ -57,6 +57,7 @@
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#define OMV_ENABLE_LEPTON (0)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (0)
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#define OMV_ENABLE_FROGEYE2020 (0)
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// Enable sensor features
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#define OMV_ENABLE_OV5640_AF (0)
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@ -57,6 +57,7 @@
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#define OMV_ENABLE_LEPTON (0)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (0)
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#define OMV_ENABLE_FROGEYE2020 (0)
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// Enable sensor features
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#define OMV_ENABLE_OV5640_AF (0)
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@ -64,6 +64,7 @@
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#define OMV_ENABLE_LEPTON (1)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (1)
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#define OMV_ENABLE_FROGEYE2020 (1)
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// Set which OV767x sensor is used
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#define OMV_OV7670_VERSION (70)
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@ -67,6 +67,7 @@
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#define OMV_ENABLE_LEPTON (1)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (1)
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#define OMV_ENABLE_FROGEYE2020 (1)
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// Enable sensor features
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#define OMV_ENABLE_OV5640_AF (0)
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@ -64,6 +64,7 @@
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#define OMV_ENABLE_LEPTON (0)
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#define OMV_ENABLE_HM01B0 (0)
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#define OMV_ENABLE_PAJ6100 (0)
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#define OMV_ENABLE_FROGEYE2020 (0)
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// Enable sensor features
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#define OMV_ENABLE_OV5640_AF (1)
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@ -14,36 +14,38 @@
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#include "cambus.h"
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#include "imlib.h"
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#define OV2640_SLV_ADDR (0x60)
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#define OV5640_SLV_ADDR (0x78)
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#define OV7725_SLV_ADDR (0x42)
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#define MT9V034_SLV_ADDR (0xB8)
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#define MT9M114_SLV_ADDR (0x90)
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#define LEPTON_SLV_ADDR (0x54)
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#define HM01B0_SLV_ADDR (0x48)
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#define GC2145_SLV_ADDR (0x78)
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#define OV2640_SLV_ADDR (0x60)
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#define OV5640_SLV_ADDR (0x78)
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#define OV7725_SLV_ADDR (0x42)
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#define MT9V034_SLV_ADDR (0xB8)
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#define MT9M114_SLV_ADDR (0x90)
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#define LEPTON_SLV_ADDR (0x54)
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#define HM01B0_SLV_ADDR (0x48)
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#define GC2145_SLV_ADDR (0x78)
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#define FROGEYE2020_SLV_ADDR (0x6E)
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// Chip ID Registers
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#define OV5640_CHIP_ID (0x300A)
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#define OV_CHIP_ID (0x0A)
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#define ON_CHIP_ID (0x00)
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#define HIMAX_CHIP_ID (0x0001)
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#define GC_CHIP_ID (0xF0)
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#define OV5640_CHIP_ID (0x300A)
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#define OV_CHIP_ID (0x0A)
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#define ON_CHIP_ID (0x00)
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#define HIMAX_CHIP_ID (0x0001)
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#define GC_CHIP_ID (0xF0)
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// Chip ID Values
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#define OV2640_ID (0x26)
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#define OV5640_ID (0x56)
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#define OV7670_ID (0x76)
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#define OV7690_ID (0x76)
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#define OV7725_ID (0x77)
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#define OV9650_ID (0x96)
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#define MT9V034_ID (0x13)
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#define MT9M114_ID (0x2481)
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#define LEPTON_ID (0x54)
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#define HM01B0_ID (0xB0)
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#define GC2145_ID (0x21)
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#define OV2640_ID (0x26)
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#define OV5640_ID (0x56)
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#define OV7670_ID (0x76)
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#define OV7690_ID (0x76)
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#define OV7725_ID (0x77)
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#define OV9650_ID (0x96)
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#define MT9V034_ID (0x13)
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#define MT9M114_ID (0x2481)
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#define LEPTON_ID (0x54)
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#define HM01B0_ID (0xB0)
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#define GC2145_ID (0x21)
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// Wide ID
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#define PAJ6100_ID (0x6100)
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#define PAJ6100_ID (0x6100)
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#define FROGEYE2020_ID (0x2020)
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typedef enum {
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FRAMESIZE_INVALID = 0,
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@ -27,6 +27,7 @@
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#include "lepton.h"
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#include "hm01b0.h"
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#include "paj6100.h"
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#include "frogeye2020.h"
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#include "gc2145.h"
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#include "framebuffer.h"
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#include "omv_boardconfig.h"
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@ -156,13 +157,9 @@ __weak int sensor_reset()
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// Re-enable the bus.
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cambus_enable(&sensor.bus, true);
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// Check if the control is supported.
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if (sensor.reset == NULL) {
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return SENSOR_ERROR_CTL_UNSUPPORTED;
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}
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// Call sensor-specific reset function
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if (sensor.reset(&sensor) != 0) {
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if (sensor.reset != NULL
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&& sensor.reset(&sensor) != 0) {
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return SENSOR_ERROR_CTL_FAILED;
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}
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@ -286,6 +283,14 @@ int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed)
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break;
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#endif //(OMV_ENABLE_GC2145 == 1)
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#if (OMV_ENABLE_FROGEYE2020 == 1)
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case FROGEYE2020_SLV_ADDR:
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sensor.chip_id_w = FROGEYE2020_ID;
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sensor.pwdn_pol = ACTIVE_HIGH;
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sensor.reset_pol = ACTIVE_HIGH;
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break;
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#endif // (OMV_ENABLE_FROGEYE2020 == 1)
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#if (OMV_ENABLE_PAJ6100 == 1)
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case 0:
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if (paj6100_detect(&sensor)) {
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@ -403,6 +408,15 @@ int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed)
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break;
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#endif // (OMV_ENABLE_PAJ6100 == 1)
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#if (OMV_ENABLE_FROGEYE2020 == 1)
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case FROGEYE2020_ID:
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if (sensor_set_xclk_frequency(FROGEYE2020_XCLK_FREQ) != 0) {
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return SENSOR_ERROR_TIM_INIT_FAILED;
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}
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init_ret = frogeye2020_init(&sensor);
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break;
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#endif // (OMV_ENABLE_FROGEYE2020 == 1)
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default:
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return SENSOR_ERROR_ISC_UNSUPPORTED;
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break;
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@ -757,8 +757,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
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for (int j = -ksize; j <= ksize; j++) {
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uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
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// subtract old left edge and add new right edge to sum
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acc -= (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1) & 1); // values have already been thresholded to 0x00 or 0xFF
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acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize) & 1);
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acc -= (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0);
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acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize) > 0);
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} // for j
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} else { // slower way which checks boundaries per pixel
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acc = e_or_d ? 0 : -1; // Don't count center pixel...
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@ -767,8 +767,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
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IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
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for (int k = -ksize; k <= ksize; k++) {
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acc += ((IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
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IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) >> 7);
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acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
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IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
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} // for k
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} // for j
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}
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@ -821,8 +821,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
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for (int j = -ksize; j <= ksize; j++) {
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uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
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// subtract old left column and add new right column
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acc -= IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x-ksize-1) & 1; // already 0 or FFFF
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acc += IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+ksize) & 1; // (pre-thresholded)
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acc -= IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0;
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acc += IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+ksize) > 0;
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}
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} else { // need to check boundary conditions for each pixel
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acc = e_or_d ? 0 : -1; // Don't count center pixel...
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@ -832,7 +832,7 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
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for (int k = -ksize; k <= ksize; k++) {
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acc += (IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
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IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) & 1; // already 0 or FFFF
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IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
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}
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}
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}
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@ -156,6 +156,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
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hm01b0.o \
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gc2145.o \
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paj6100.o \
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frogeye2020.o \
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)
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FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/imlib/, \
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@ -513,6 +514,7 @@ UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
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hm01b0.o \
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gc2145.o \
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paj6100.o \
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frogeye2020.o \
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)
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UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/imlib/,\
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35
src/omv/sensors/frogeye2020.c
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35
src/omv/sensors/frogeye2020.c
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@ -0,0 +1,35 @@
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/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* FrogEye2020 driver.
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*/
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#include "omv_boardconfig.h"
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#if (OMV_ENABLE_FROGEYE2020 == 1)
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#include "sensor.h"
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static int set_pixformat(sensor_t *sensor, pixformat_t pixformat)
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{
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return (pixformat == PIXFORMAT_GRAYSCALE) ? 0 : -1;
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}
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static int set_framesize(sensor_t *sensor, framesize_t framesize)
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{
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return (framesize == FRAMESIZE_QVGA) ? 0 : -1;
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}
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int frogeye2020_init(sensor_t *sensor)
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{
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sensor->set_pixformat = set_pixformat;
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sensor->set_framesize = set_framesize;
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sensor->hw_flags.pixck = 1;
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sensor->hw_flags.gs_bpp = 1;
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return 0;
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}
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#endif // (OMV_ENABLE_FROGEYE2020 == 1)
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15
src/omv/sensors/frogeye2020.h
Normal file
15
src/omv/sensors/frogeye2020.h
Normal file
@ -0,0 +1,15 @@
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/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* FrogEye2020 driver.
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*/
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#ifndef __FROGEYE2020_H__
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#define __FROGEYE2020_H__
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#define FROGEYE2020_XCLK_FREQ (5000000)
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int frogeye2020_init(sensor_t *sensor);
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#endif // __FROGEYE2020_H__
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