Merge pull request #1455 from kwagyeman/kwabena/frog_eye

Add basic frogeye2020 driver
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Ibrahim Abd Elkader 2021-10-16 22:47:14 +02:00 committed by GitHub
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15 changed files with 197 additions and 38 deletions

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@ -0,0 +1,39 @@
# This example shows off using the frogeye2020 event camera.
#
# The frogeye2020 is a 320x240 event camera. There are two bits per pixel which show no motion,
# motion in one direction, or motion in another direction. The sensor runs at 50 FPS.
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
palette = image.Image(1, 256, sensor.RGB565)
for i in range(64):
palette.set_pixel(0, i, (0, 0, 0))
for i in range(64, 128):
palette.set_pixel(0, i, (255, 0, 0))
for i in range(128, 192):
palette.set_pixel(0, i, (0, 0, 255))
for i in range(192, 256):
palette.set_pixel(0, i, (0, 255, 0))
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot()
# Handle sensor rotation.
img.assign(hmirror=True, vflip=True)
# Make pretty.
img.to_rainbow(color_palette=palette)
# Cleanup noise.
img.erode(1)
print(clock.fps())

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@ -0,0 +1,45 @@
# This example shows off using the frogeye2020 event camera with tracking.
#
# The frogeye2020 is a 320x240 event camera. There are two bits per pixel which show no motion,
# motion in one direction, or motion in another direction. The sensor runs at 50 FPS.
import sensor, image, time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
palette = image.Image(1, 256, sensor.RGB565)
for i in range(64):
palette.set_pixel(0, i, (0, 0, 0))
for i in range(64, 128):
palette.set_pixel(0, i, (255, 0, 0))
for i in range(128, 192):
palette.set_pixel(0, i, (0, 0, 255))
for i in range(192, 256):
palette.set_pixel(0, i, (0, 255, 0))
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot()
# Handle sensor rotation.
img.assign(hmirror=True, vflip=True)
# Make pretty.
img.to_rainbow(color_palette=palette)
# Cleanup noise.
img.erode(1)
blobs = img.find_blobs([(0, 0)], invert=True,
pixels_threshold=10, area_threshold=10, merge=False)
for blob in blobs:
img.draw_rectangle(blob.rect(), color=(0, 255, 0))
print(clock.fps())

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@ -39,6 +39,7 @@ SRCS += $(addprefix sensors/, \
hm01b0.c \
gc2145.c \
paj6100.c \
frogeye2020.c \
)
SRCS += $(addprefix imlib/, \

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@ -44,6 +44,7 @@
#define OMV_ENABLE_LEPTON (0)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (0)
#define OMV_ENABLE_FROGEYE2020 (0)
// Set which OV767x sensor is used
#define OMV_OV7670_VERSION (75)

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@ -57,6 +57,7 @@
#define OMV_ENABLE_LEPTON (0)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (0)
#define OMV_ENABLE_FROGEYE2020 (0)
// Enable sensor features
#define OMV_ENABLE_OV5640_AF (0)

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@ -57,6 +57,7 @@
#define OMV_ENABLE_LEPTON (0)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (0)
#define OMV_ENABLE_FROGEYE2020 (0)
// Enable sensor features
#define OMV_ENABLE_OV5640_AF (0)

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@ -64,6 +64,7 @@
#define OMV_ENABLE_LEPTON (1)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (1)
#define OMV_ENABLE_FROGEYE2020 (1)
// Set which OV767x sensor is used
#define OMV_OV7670_VERSION (70)

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@ -67,6 +67,7 @@
#define OMV_ENABLE_LEPTON (1)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (1)
#define OMV_ENABLE_FROGEYE2020 (1)
// Enable sensor features
#define OMV_ENABLE_OV5640_AF (0)

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@ -64,6 +64,7 @@
#define OMV_ENABLE_LEPTON (0)
#define OMV_ENABLE_HM01B0 (0)
#define OMV_ENABLE_PAJ6100 (0)
#define OMV_ENABLE_FROGEYE2020 (0)
// Enable sensor features
#define OMV_ENABLE_OV5640_AF (1)

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@ -22,6 +22,7 @@
#define LEPTON_SLV_ADDR (0x54)
#define HM01B0_SLV_ADDR (0x48)
#define GC2145_SLV_ADDR (0x78)
#define FROGEYE2020_SLV_ADDR (0x6E)
// Chip ID Registers
#define OV5640_CHIP_ID (0x300A)
@ -44,6 +45,7 @@
#define GC2145_ID (0x21)
// Wide ID
#define PAJ6100_ID (0x6100)
#define FROGEYE2020_ID (0x2020)
typedef enum {
FRAMESIZE_INVALID = 0,

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@ -27,6 +27,7 @@
#include "lepton.h"
#include "hm01b0.h"
#include "paj6100.h"
#include "frogeye2020.h"
#include "gc2145.h"
#include "framebuffer.h"
#include "omv_boardconfig.h"
@ -156,13 +157,9 @@ __weak int sensor_reset()
// Re-enable the bus.
cambus_enable(&sensor.bus, true);
// Check if the control is supported.
if (sensor.reset == NULL) {
return SENSOR_ERROR_CTL_UNSUPPORTED;
}
// Call sensor-specific reset function
if (sensor.reset(&sensor) != 0) {
if (sensor.reset != NULL
&& sensor.reset(&sensor) != 0) {
return SENSOR_ERROR_CTL_FAILED;
}
@ -286,6 +283,14 @@ int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed)
break;
#endif //(OMV_ENABLE_GC2145 == 1)
#if (OMV_ENABLE_FROGEYE2020 == 1)
case FROGEYE2020_SLV_ADDR:
sensor.chip_id_w = FROGEYE2020_ID;
sensor.pwdn_pol = ACTIVE_HIGH;
sensor.reset_pol = ACTIVE_HIGH;
break;
#endif // (OMV_ENABLE_FROGEYE2020 == 1)
#if (OMV_ENABLE_PAJ6100 == 1)
case 0:
if (paj6100_detect(&sensor)) {
@ -403,6 +408,15 @@ int sensor_probe_init(uint32_t bus_id, uint32_t bus_speed)
break;
#endif // (OMV_ENABLE_PAJ6100 == 1)
#if (OMV_ENABLE_FROGEYE2020 == 1)
case FROGEYE2020_ID:
if (sensor_set_xclk_frequency(FROGEYE2020_XCLK_FREQ) != 0) {
return SENSOR_ERROR_TIM_INIT_FAILED;
}
init_ret = frogeye2020_init(&sensor);
break;
#endif // (OMV_ENABLE_FROGEYE2020 == 1)
default:
return SENSOR_ERROR_ISC_UNSUPPORTED;
break;

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@ -757,8 +757,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
for (int j = -ksize; j <= ksize; j++) {
uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
// subtract old left edge and add new right edge to sum
acc -= (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1) & 1); // values have already been thresholded to 0x00 or 0xFF
acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize) & 1);
acc -= (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0);
acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize) > 0);
} // for j
} else { // slower way which checks boundaries per pixel
acc = e_or_d ? 0 : -1; // Don't count center pixel...
@ -767,8 +767,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
for (int k = -ksize; k <= ksize; k++) {
acc += ((IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) >> 7);
acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
} // for k
} // for j
}
@ -821,8 +821,8 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
for (int j = -ksize; j <= ksize; j++) {
uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
// subtract old left column and add new right column
acc -= IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x-ksize-1) & 1; // already 0 or FFFF
acc += IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+ksize) & 1; // (pre-thresholded)
acc -= IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0;
acc += IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+ksize) > 0;
}
} else { // need to check boundary conditions for each pixel
acc = e_or_d ? 0 : -1; // Don't count center pixel...
@ -832,7 +832,7 @@ static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_
for (int k = -ksize; k <= ksize; k++) {
acc += (IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) & 1; // already 0 or FFFF
IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
}
}
}

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@ -156,6 +156,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
hm01b0.o \
gc2145.o \
paj6100.o \
frogeye2020.o \
)
FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/imlib/, \
@ -513,6 +514,7 @@ UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/sensors/, \
hm01b0.o \
gc2145.o \
paj6100.o \
frogeye2020.o \
)
UVC_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/imlib/,\

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@ -0,0 +1,35 @@
/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* FrogEye2020 driver.
*/
#include "omv_boardconfig.h"
#if (OMV_ENABLE_FROGEYE2020 == 1)
#include "sensor.h"
static int set_pixformat(sensor_t *sensor, pixformat_t pixformat)
{
return (pixformat == PIXFORMAT_GRAYSCALE) ? 0 : -1;
}
static int set_framesize(sensor_t *sensor, framesize_t framesize)
{
return (framesize == FRAMESIZE_QVGA) ? 0 : -1;
}
int frogeye2020_init(sensor_t *sensor)
{
sensor->set_pixformat = set_pixformat;
sensor->set_framesize = set_framesize;
sensor->hw_flags.pixck = 1;
sensor->hw_flags.gs_bpp = 1;
return 0;
}
#endif // (OMV_ENABLE_FROGEYE2020 == 1)

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@ -0,0 +1,15 @@
/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* FrogEye2020 driver.
*/
#ifndef __FROGEYE2020_H__
#define __FROGEYE2020_H__
#define FROGEYE2020_XCLK_FREQ (5000000)
int frogeye2020_init(sensor_t *sensor);
#endif // __FROGEYE2020_H__