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54 lines
1.4 KiB
Python
54 lines
1.4 KiB
Python
# This work is licensed under the MIT license.
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# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
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# https://github.com/openmv/openmv/blob/master/LICENSE
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#
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# This example shows how to overlay a depth map onto frames
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# captured from the main camera.
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import sensor
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import image
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import time
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import tof
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sensor.reset() # Reset and initialize the sensor.
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sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
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sensor.set_framesize(sensor.VGA) # Set frame size to QVGA (320x240)
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sensor.set_framerate(30)
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sensor.set_windowing((400, 400)) # Set window size to 240x240
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# Initialize the ToF sensor
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tof.init()
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# FPS clock
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clock = time.clock()
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while True:
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clock.tick()
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# Capture an image
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img = sensor.snapshot()
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# Capture TOF data [depth map, min distance, max distance]
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try:
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depth, dmin, dmax = tof.read_depth(vflip=True, hmirror=True)
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except RuntimeError:
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tof.reset()
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continue
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# Scale the image and belnd it with the framebuffer
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tof.draw_depth(
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img,
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depth,
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x_scale=img.width() / 8,
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y_scale=img.height() / 8,
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hint=image.BILINEAR,
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alpha=100,
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scale=(0, 4000),
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color_palette=image.PALETTE_DEPTH,
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)
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# Draw min and max distance.
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img.draw_string(
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0, 0, f"Distance min: {int(dmin):4d}mm max: {int(dmax):4d}mm", color=(255, 0, 0), mono_space=False
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)
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# Print FPS.
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print(clock.fps())
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