# Time of Flight overlay Demo # # This example shows off how to overlay a depth map onto # OpenMV Cam's live video output from the main camera. import sensor import image import time import tof sensor.reset() # Reset and initialize the sensor. sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE) sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240) sensor.set_windowing((0, 0, 240, 240)) # Set window size to 240x240 # Initialize the ToF sensor tof.init() # FPS clock clock = time.clock() while True: clock.tick() # Capture an image img = sensor.snapshot() # Capture TOF data [depth map, min distance, max distance] try: depth, dmin, dmax = tof.read_depth() except OSError: continue # Scale the image and belnd it with the framebuffer tof.draw_depth( img, depth, hint=image.BILINEAR, alpha=200, scale=(0, 4000), color_palette=tof.PALETTE_IRONBOW, ) # Draw min and max distance. img.draw_string( 8, 0, "Min distance: %d mm" % dmin, color=(255, 0, 0), mono_space=False ) img.draw_string( 8, 8, "Max distance: %d mm" % dmax, color=(255, 0, 0), mono_space=False ) # Force high quality streaming img.compress(quality=90) # Print FPS. print(clock.fps())