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270 lines
10 KiB
Python
270 lines
10 KiB
Python
# Remote Control - As The Remote Device
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#
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# This script configures your OpenMV Cam as a co-processor that can be remotely controlled by
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# another microcontroller or computer such as an Arduino, ESP8266/ESP32, RaspberryPi, and
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# even another OpenMV Cam.
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#
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# This script is designed to pair with "popular_features_as_the_controller_device.py".
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import image, network, math, rpc, sensor, struct, tf
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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sensor.skip_frames(time = 2000)
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# The RPC library above is installed on your OpenMV Cam and provides mutliple classes for
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# allowing your OpenMV Cam to be controlled over CAN, I2C, SPI, UART, USB VCP, or WiFi.
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################################################################
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# Choose the interface you wish to control your OpenMV Cam over.
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################################################################
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# Uncomment the below line to setup your OpenMV Cam for control over CAN.
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#
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# * message_id - CAN message to use for data transport on the can bus (11-bit).
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# * bit_rate - CAN bit rate.
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# * sampling_point - Tseg1/Tseg2 ratio. Typically 75%. (50.0, 62.5, 75, 87.5, etc.)
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#
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# NOTE: Master and slave message ids and can bit rates must match. Connect master can high to slave
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# can high and master can low to slave can lo. The can bus must be terminated with 120 ohms.
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#
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# interface = rpc.rpc_can_slave(message_id=0x7FF, bit_rate=250000, sampling_point=75)
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# Uncomment the below line to setup your OpenMV Cam for control over I2C.
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#
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# * slave_addr - I2C address.
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#
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# NOTE: Master and slave addresses must match. Connect master scl to slave scl and master sda
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# to slave sda. You must use external pull ups. Finally, both devices must share a ground.
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#
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# interface = rpc.rpc_i2c_slave(slave_addr=0x12)
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# Uncomment the below line to setup your OpenMV Cam for control over SPI.
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#
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# * cs_pin - Slave Select Pin.
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# * clk_polarity - Idle clock level (0 or 1).
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# * clk_phase - Sample data on the first (0) or second edge (1) of the clock.
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#
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# NOTE: Master and slave settings much match. Connect CS, SCLK, MOSI, MISO to CS, SCLK, MOSI, MISO.
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# Finally, both devices must share a common ground.
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#
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# interface = rpc.rpc_spi_slave(cs_pin="P3", clk_polarity=1, clk_phase=0)
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# Uncomment the below line to setup your OpenMV Cam for control over UART.
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#
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# * baudrate - Serial Baudrate.
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#
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# NOTE: Master and slave baud rates must match. Connect master tx to slave rx and master rx to
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# slave tx. Finally, both devices must share a common ground.
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#
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interface = rpc.rpc_uart_slave(baudrate=115200)
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# Uncomment the below line to setup your OpenMV Cam for control over a USB VCP.
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#
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# interface = rpc.rpc_usb_vcp_slave()
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# Uncomment the below line to setup your OpenMV Cam for control over WiFi.
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#
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# * ssid - WiFi network to connect to.
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# * ssid_key - WiFi network password.
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# * ssid_security - WiFi security.
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# * port - Port to route traffic to.
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# * mode - Regular or access-point mode.
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# * static_ip - If not None then a tuple of the (IP Address, Subnet Mask, Gateway, DNS Address)
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#
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# interface = rpc.rpc_wifi_slave(ssid="",
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# ssid_key="",
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# ssid_security=network.WINC.WPA_PSK,
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# port=0x1DBA,
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# mode=network.WINC.MODE_STA,
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# static_ip=None)
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################################################################
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# Call Backs
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################################################################
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# Helper methods used by the call backs below.
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def draw_detections(img, dects):
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for d in dects:
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c = d.corners()
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l = len(c)
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for i in range(l): img.draw_line(c[(i+0)%l] + c[(i+1)%l], color = (0, 255, 0))
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img.draw_rectangle(d.rect(), color = (255, 0, 0))
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# Remote control works via call back methods that the controller
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# device calls via the rpc module on this device. Call backs
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# are functions which take a bytes() object as their argument
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# and return a bytes() object as their result. The rpc module
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# takes care of moving the bytes() objects across the link.
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# bytes() may be the micropython int max in size.
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# When called returns x, y, w, and h of the largest face within view.
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#
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# data is unused
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def face_detection(data):
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.QVGA)
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faces = sensor.snapshot().gamma_corr(contrast=1.5).find_features(image.HaarCascade("frontalface"))
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if not faces: return bytes() # No detections.
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for f in faces: sensor.get_fb().draw_rectangle(f, color = (255, 255, 255))
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out_face = max(faces, key = lambda f: f[2] * f[3])
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return struct.pack("<HHHH", out_face[0], out_face[1], out_face[2], out_face[3])
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# When called returns if there's a "person" or "no_person" within view.
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#
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# data is unused
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def person_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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scores = tf.classify("person_detection", sensor.snapshot())[0].output()
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return ['unsure', 'person', 'no_person'][scores.index(max(scores))].encode()
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# When called returns the payload string for the largest qrcode
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# within the OpenMV Cam's field-of-view.
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#
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# data is unused
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def qrcode_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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codes = sensor.snapshot().find_qrcodes()
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if not codes: return bytes() # No detections.
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draw_detections(sensor.get_fb(), codes)
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return max(codes, key = lambda c: c.w() * c.h()).payload().encode()
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# When called returns a json list of json qrcode objects for all qrcodes in view.
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#
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# data is unused
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def all_qrcode_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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codes = sensor.snapshot().find_qrcodes()
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if not codes: return bytes() # No detections.
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draw_detections(sensor.get_fb(), codes)
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return str(codes).encode()
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# When called returns the x/y centroid, id number, and rotation of the largest
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# AprilTag within the OpenMV Cam's field-of-view.
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#
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# data is unused
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def apriltag_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QQVGA)
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tags = sensor.snapshot().find_apriltags()
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if not tags: return bytes() # No detections.
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draw_detections(sensor.get_fb(), tags)
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output_tag = max(tags, key = lambda t: t.w() * t.h())
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return struct.pack("<HHHH", output_tag.cx(), output_tag.cy(), output_tag.id(),
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int(math.degrees(output_tag.rotation())))
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# When called returns a json list of json apriltag objects for all apriltags in view.
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#
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# data is unused
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def all_apriltag_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QQVGA)
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tags = sensor.snapshot().find_apriltags()
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if not tags: return bytes() # No detections.
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draw_detections(sensor.get_fb(), tags)
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return str(tags).encode()
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# When called returns the payload string for the largest datamatrix
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# within the OpenMV Cam's field-of-view.
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#
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# data is unused
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def datamatrix_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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codes = sensor.snapshot().find_datamatrices()
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if not codes: return bytes() # No detections.
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draw_detections(sensor.get_fb(), codes)
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return max(codes, key = lambda c: c.w() * c.h()).payload().encode()
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# When called returns a json list of json datamatrix objects for all datamatrices in view.
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#
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# data is unused
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def all_datamatrix_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((320, 240))
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codes = sensor.snapshot().find_datamatrices()
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if not codes: return bytes() # No detections.
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draw_detections(sensor.get_fb(), codes)
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return str(codes).encode()
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# When called returns the payload string for the largest barcode
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# within the OpenMV Cam's field-of-view.
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#
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# data is unused
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def barcode_detection(data):
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((sensor.width(), sensor.height()//8))
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codes = sensor.snapshot().find_barcodes()
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if not codes: return bytes() # No detections.
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return max(codes, key = lambda c: c.w() * c.h()).payload().encode()
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# When called returns a json list of json barcode objects for all barcodes in view.
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#
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# data is unused
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def all_barcode_detection(data):
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sensor.set_pixformat(sensor.GRAYSCALE)
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sensor.set_framesize(sensor.VGA)
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sensor.set_windowing((sensor.width(), sensor.height()//8))
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codes = sensor.snapshot().find_barcodes()
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if not codes: return bytes() # No detections.
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return str(codes).encode()
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# When called returns the x/y centroid of the largest blob
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# within the OpenMV Cam's field-of-view.
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#
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# data is the 6-byte color tracking threshold tuple of L_MIN, L_MAX, A_MIN, A_MAX, B_MIN, B_MAX.
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def color_detection(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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thresholds = struct.unpack("<bbbbbb", data)
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blobs = sensor.snapshot().find_blobs([thresholds],
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pixels_threshold=500,
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area_threshold=500,
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merge=True,
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margin=20)
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if not blobs: return bytes() # No detections.
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for b in blobs:
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sensor.get_fb().draw_rectangle(b.rect(), color = (255, 0, 0))
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sensor.get_fb().draw_cross(b.cx(), b.cy(), color = (0, 255, 0))
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out_blob = max(blobs, key = lambda b: b.density())
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return struct.pack("<HH", out_blob.cx(), out_blob.cy())
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# When called returns a jpeg compressed image from the OpenMV
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# Cam in one RPC call.
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#
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# data is unused
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def jpeg_snapshot(data):
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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return sensor.snapshot().compress(quality=90).bytearray()
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# Register call backs.
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interface.register_callback(face_detection)
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interface.register_callback(person_detection)
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interface.register_callback(qrcode_detection)
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interface.register_callback(all_qrcode_detection)
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interface.register_callback(apriltag_detection)
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interface.register_callback(all_apriltag_detection)
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interface.register_callback(datamatrix_detection)
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interface.register_callback(all_datamatrix_detection)
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interface.register_callback(barcode_detection)
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interface.register_callback(all_barcode_detection)
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interface.register_callback(color_detection)
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interface.register_callback(jpeg_snapshot)
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# Once all call backs have been registered we can start
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# processing remote events. interface.loop() does not return.
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interface.loop()
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