openmv/scripts/examples/01-Camera/06-Time-of-Flight/tof_overlay.py
2024-10-21 13:03:41 -07:00

54 lines
1.4 KiB
Python

# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# This example shows how to overlay a depth map onto frames
# captured 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.VGA) # Set frame size to QVGA (320x240)
sensor.set_framerate(30)
sensor.set_windowing((400, 400)) # 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(vflip=True, hmirror=True)
except RuntimeError:
tof.reset()
continue
# Scale the image and belnd it with the framebuffer
tof.draw_depth(
img,
depth,
x_scale=img.width() / 8,
y_scale=img.height() / 8,
hint=image.BILINEAR,
alpha=100,
scale=(0, 4000),
color_palette=image.PALETTE_DEPTH,
)
# Draw min and max distance.
img.draw_string(
0, 0, f"Distance min: {int(dmin):4d}mm max: {int(dmax):4d}mm", color=(255, 0, 0), mono_space=False
)
# Print FPS.
print(clock.fps())