✨ feature: color detection
yuanjiong
parent
d30a0e0610
commit
ec73674356
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#include "who_color_detection.hpp"
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#include "esp_log.h"
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#include "esp_camera.h"
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#include "dl_image.hpp"
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#include "fb_gfx.h"
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#include "color_detector.hpp"
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#include "who_ai_utils.hpp"
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using namespace std;
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using namespace dl;
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static const char *TAG = "color_detection";
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static QueueHandle_t xQueueFrameI = NULL;
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static QueueHandle_t xQueueEvent = NULL;
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static QueueHandle_t xQueueFrameO = NULL;
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static QueueHandle_t xQueueResult = NULL;
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static color_detection_state_t gEvent = COLOR_DETECTION_IDLE;
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static bool register_mode = false;
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static bool gReturnFB = true;
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static bool draw_box = true;
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static SemaphoreHandle_t xMutex;
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vector<color_info_t> std_color_info = {{{156, 10, 70, 255, 90, 255}, 64, "red"},
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{{11, 22, 70, 255, 90, 255}, 64, "orange"},
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{{23, 33, 70, 255, 90, 255}, 64, "yellow"},
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{{34, 75, 70, 255, 90, 255}, 64, "green"},
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{{76, 96, 70, 255, 90, 255}, 64, "cyan"},
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{{97, 124, 70, 255, 90, 255}, 64, "blue"},
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{{125, 155, 70, 255, 90, 255}, 64, "purple"},
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{{0, 180, 0, 40, 220, 255}, 64, "white"},
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{{0, 180, 0, 50, 50, 219}, 64, "gray"},
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// {{0, 180, 0, 255, 0, 45}, 64, "black"}
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};
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#define RGB565_LCD_RED 0x00F8
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#define RGB565_LCD_ORANGE 0x20FD
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#define RGB565_LCD_YELLOW 0xE0FF
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#define RGB565_LCD_GREEN 0xE007
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#define RGB565_LCD_CYAN 0xFF07
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#define RGB565_LCD_BLUE 0x1F00
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#define RGB565_LCD_PURPLE 0x1EA1
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#define RGB565_LCD_WHITE 0xFFFF
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#define RGB565_LCD_GRAY 0x1084
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#define RGB565_LCD_BLACK 0x0000
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#define FRAME_DELAY_NUM 16
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static void rgb_print(camera_fb_t *fb, uint32_t color, const char *str)
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{
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fb_gfx_print(fb, (fb->width - (strlen(str) * 14)) / 2, 10, color, str);
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}
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static int rgb_printf(camera_fb_t *fb, uint32_t color, const char *format, ...)
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{
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char loc_buf[64];
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char *temp = loc_buf;
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int len;
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va_list arg;
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va_list copy;
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va_start(arg, format);
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va_copy(copy, arg);
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len = vsnprintf(loc_buf, sizeof(loc_buf), format, arg);
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va_end(copy);
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if (len >= sizeof(loc_buf))
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{
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temp = (char *)malloc(len + 1);
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if (temp == NULL)
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{
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return 0;
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}
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}
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vsnprintf(temp, len + 1, format, arg);
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va_end(arg);
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rgb_print(fb, color, temp);
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if (len > 64)
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{
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free(temp);
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}
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return len;
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}
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static void draw_color_detection_result(uint16_t *image_ptr, int image_height, int image_width, vector<color_detect_result_t> &results, uint16_t color)
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{
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for (int i = 0; i < results.size(); ++i)
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{
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dl::image::draw_hollow_rectangle(image_ptr, image_height, image_width,
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results[i].box[0],
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results[i].box[1],
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results[i].box[2],
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results[i].box[3],
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color);
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}
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}
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static void task_process_handler(void *arg)
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{
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camera_fb_t *frame = NULL;
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ColorDetector detector;
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detector.set_detection_shape({80, 80, 1});
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for (int i = 0; i < std_color_info.size(); ++i)
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{
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detector.register_color(std_color_info[i].color_thresh, std_color_info[i].area_thresh, std_color_info[i].name);
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}
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vector<vector<int>> color_thresh_boxes = {{110, 110, 130, 130}, {100, 100, 140, 140}, {90, 90, 150, 150}, {80, 80, 160, 160}, {60, 60, 180, 180}, {40, 40, 200, 200}, {20, 20, 220, 220}};
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int color_thresh_boxes_num = color_thresh_boxes.size();
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int color_thresh_boxes_index = color_thresh_boxes_num / 2;
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vector<int> color_area_threshes = {1, 4, 16, 32, 64, 128, 256, 512, 1024};
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int color_area_thresh_num = color_area_threshes.size();
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int color_area_thresh_index = color_area_thresh_num / 2;
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detector.set_area_thresh({color_area_threshes[color_area_thresh_index]});
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vector<uint16_t> draw_lcd_colors = {RGB565_LCD_RED,
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RGB565_LCD_ORANGE,
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RGB565_LCD_YELLOW,
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RGB565_LCD_GREEN,
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RGB565_LCD_CYAN,
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RGB565_LCD_BLUE,
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RGB565_LCD_PURPLE,
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RGB565_LCD_WHITE,
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RGB565_LCD_GRAY,
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// RGB565_LCD_BLACK
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};
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int draw_colors_num = draw_lcd_colors.size();
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color_detection_state_t _gEvent;
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vector<uint8_t> color_thresh;
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while (true)
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{
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xSemaphoreTake(xMutex, portMAX_DELAY);
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_gEvent = gEvent;
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gEvent = COLOR_DETECTION_IDLE;
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xSemaphoreGive(xMutex);
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if (xQueueReceive(xQueueFrameI, &frame, portMAX_DELAY))
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{
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if (register_mode)
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{
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switch (_gEvent)
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{
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case INCREASE_COLOR_AREA:
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color_thresh_boxes_index = min(color_thresh_boxes_num - 1, color_thresh_boxes_index + 1);
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ets_printf("increase color area\n");
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dl::image::draw_hollow_rectangle((uint16_t *)frame->buf, (int)frame->height, (int)frame->width,
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color_thresh_boxes[color_thresh_boxes_index][0],
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color_thresh_boxes[color_thresh_boxes_index][1],
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color_thresh_boxes[color_thresh_boxes_index][2],
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color_thresh_boxes[color_thresh_boxes_index][3],
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draw_lcd_colors[1]);
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break;
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case DECREASE_COLOR_AREA:
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color_thresh_boxes_index = max(0, color_thresh_boxes_index - 1);
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ets_printf("decrease color area\n");
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dl::image::draw_hollow_rectangle((uint16_t *)frame->buf, (int)frame->height, (int)frame->width,
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color_thresh_boxes[color_thresh_boxes_index][0],
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color_thresh_boxes[color_thresh_boxes_index][1],
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color_thresh_boxes[color_thresh_boxes_index][2],
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color_thresh_boxes[color_thresh_boxes_index][3],
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draw_lcd_colors[1]);
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break;
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case REGISTER_COLOR:
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color_thresh = detector.cal_color_thresh((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3}, color_thresh_boxes[color_thresh_boxes_index]);
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detector.register_color(color_thresh);
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ets_printf("register color, color_thresh: %d, %d, %d, %d, %d, %d\n", color_thresh[0], color_thresh[1], color_thresh[2], color_thresh[3], color_thresh[4], color_thresh[5]);
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xSemaphoreTake(xMutex, portMAX_DELAY);
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register_mode = false;
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xSemaphoreGive(xMutex);
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break;
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case CLOSE_REGISTER_COLOR_BOX:
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ets_printf("close register color box \n");
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xSemaphoreTake(xMutex, portMAX_DELAY);
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register_mode = false;
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xSemaphoreGive(xMutex);
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break;
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default:
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dl::image::draw_hollow_rectangle((uint16_t *)frame->buf, (int)frame->height, (int)frame->width,
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color_thresh_boxes[color_thresh_boxes_index][0],
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color_thresh_boxes[color_thresh_boxes_index][1],
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color_thresh_boxes[color_thresh_boxes_index][2],
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color_thresh_boxes[color_thresh_boxes_index][3],
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draw_lcd_colors[1]);
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break;
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}
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}
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else
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{
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switch (_gEvent)
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{
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case INCREASE_COLOR_AREA:
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color_area_thresh_index = min(color_area_thresh_num - 1, color_area_thresh_index + 1);
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detector.set_area_thresh({color_area_threshes[color_area_thresh_index]});
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ets_printf("increase color area thresh to %d\n", color_area_threshes[color_area_thresh_index]);
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break;
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case DECREASE_COLOR_AREA:
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color_area_thresh_index = max(0, color_area_thresh_index - 1);
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detector.set_area_thresh({color_area_threshes[color_area_thresh_index]});
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ets_printf("decrease color area thresh to %d\n", color_area_threshes[color_area_thresh_index]);
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break;
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case DELETE_COLOR:
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detector.delete_color();
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ets_printf("delete color \n");
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break;
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default:
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std::vector<std::vector<color_detect_result_t>> &results = detector.detect((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3});
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if (draw_box)
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{
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for (int i = 0; i < results.size(); ++i)
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{
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draw_color_detection_result((uint16_t *)frame->buf, (int)frame->height, (int)frame->width, results[i], draw_lcd_colors[i % draw_colors_num]);
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}
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}
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else
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{
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detector.draw_segmentation_results((uint16_t *)frame->buf, {(int)frame->height, (int)frame->width, 3}, draw_lcd_colors, true, 0x0000);
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}
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break;
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}
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}
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}
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if (xQueueFrameO)
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{
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xQueueSend(xQueueFrameO, &frame, portMAX_DELAY);
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}
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else if (gReturnFB)
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{
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esp_camera_fb_return(frame);
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}
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else
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{
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free(frame);
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}
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}
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}
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static void task_event_handler(void *arg)
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{
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color_detection_state_t _gEvent;
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while (true)
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{
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xQueueReceive(xQueueEvent, &(_gEvent), portMAX_DELAY);
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xSemaphoreTake(xMutex, portMAX_DELAY);
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gEvent = _gEvent;
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xSemaphoreGive(xMutex);
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if (gEvent == OPEN_REGISTER_COLOR_BOX)
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{
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xSemaphoreTake(xMutex, portMAX_DELAY);
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register_mode = true;
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xSemaphoreGive(xMutex);
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}
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else if(gEvent == SWITCH_RESULT)
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{
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draw_box = !draw_box;
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}
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}
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}
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void register_color_detection(const QueueHandle_t frame_i,
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const QueueHandle_t event,
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const QueueHandle_t result,
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const QueueHandle_t frame_o,
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const bool camera_fb_return)
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{
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xQueueFrameI = frame_i;
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xQueueFrameO = frame_o;
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xQueueEvent = event;
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xQueueResult = result;
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gReturnFB = camera_fb_return;
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xMutex = xSemaphoreCreateMutex();
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xTaskCreatePinnedToCore(task_process_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
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if (xQueueEvent)
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xTaskCreatePinnedToCore(task_event_handler, TAG, 4 * 1024, NULL, 5, NULL, 1);
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}
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@ -0,0 +1,24 @@
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#pragma once
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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typedef enum
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{
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COLOR_DETECTION_IDLE = 0,
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OPEN_REGISTER_COLOR_BOX,
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CLOSE_REGISTER_COLOR_BOX,
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REGISTER_COLOR,
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DELETE_COLOR,
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INCREASE_COLOR_AREA,
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DECREASE_COLOR_AREA,
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SWITCH_RESULT,
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} color_detection_state_t;
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void register_color_detection(QueueHandle_t frame_i,
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QueueHandle_t event,
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QueueHandle_t result,
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QueueHandle_t frame_o = NULL,
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const bool camera_fb_return = false);
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@ -0,0 +1,16 @@
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# Color Detection Example [[中文]](./README_ZH.md)
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This example currently only supports the ESP32-S3-EYE development board. To use other development boards, you need to modify the button input logic configuration yourself.
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## How to Use Example
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- The interactive buttons are the BOOT , MENU, Play, UP, and DN.
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- Press the Boot button: Switch the output display mode.
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- Press MENU: Switch between color entry mode and color detection mode.
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- Press the PLAY (entry mode): Entry the color in the indicator box.
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- Press the PLAY (detection mode): Delete the last color that are entered.
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- Press the UP (entry mode): Increase the size of the indicator box.
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- Press the UP (detection mode): Increase the area of the smallest color block filtered by color detection.
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- Press the DN (entry mode): Decrease the size of the indicator box.
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- Press the DN (detection mode): Decrease the area of the smallest color block filtered by color detection.
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@ -0,0 +1,15 @@
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# Color Detection Example [[English]](./README.md)
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目前该示例仅支持ESP32-S3-EYE开发板，若要使用其他开发板，需要自己修改按键输入逻辑配置。
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## 如何使用示例
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- 交互按键为Boot键，MENU键，PLAY键，UP键和DN键。
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- 按下BOOT键：切换输出显示模式。
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- 按下MENU：切换录入模式和检测模式。
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- 按下PLAY键（录入模式）： 录入指示框内的颜色。
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- 按下PLAY键（检测模式）： 删除最后一个被录入的颜色。
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- 按下UP键（录入模式）： 增大指示框的尺寸。
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- 按下UP键（检测模式）： 增大颜色检测过滤的最小色块的面积。
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- 按下DN键（录入模式）： 减小指示框的尺寸。
|
||||||
|
- 按下DN键（检测模式）： 减小颜色检测过滤的最小色块的面积。
|
||||||
|
|
@ -0,0 +1,8 @@
|
||||||
|
# The following lines of boilerplate have to be in your project's
|
||||||
|
# CMakeLists in this exact order for cmake to work correctly
|
||||||
|
cmake_minimum_required(VERSION 3.5)
|
||||||
|
|
||||||
|
set(EXTRA_COMPONENT_DIRS ../../../components)
|
||||||
|
add_compile_options(-fdiagnostics-color=always)
|
||||||
|
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||||
|
project(color_detection_lcd)
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
set(src_dirs .)
|
||||||
|
|
||||||
|
set(include_dirs .)
|
||||||
|
|
||||||
|
idf_component_register(SRC_DIRS ${src_dirs} INCLUDE_DIRS ${include_dirs})
|
||||||
|
|
@ -0,0 +1,38 @@
|
||||||
|
#include "who_camera.h"
|
||||||
|
#include "who_color_detection.hpp"
|
||||||
|
#include "who_lcd.h"
|
||||||
|
#include "who_button.h"
|
||||||
|
#include "event_logic.hpp"
|
||||||
|
#include "who_adc_button.h"
|
||||||
|
|
||||||
|
static QueueHandle_t xQueueAIFrame = NULL;
|
||||||
|
static QueueHandle_t xQueueLCDFrame = NULL;
|
||||||
|
static QueueHandle_t xQueueADCKeyState = NULL;
|
||||||
|
static QueueHandle_t xQueueGPIOKeyState = NULL;
|
||||||
|
static QueueHandle_t xQueueEventLogic = NULL;
|
||||||
|
static button_adc_config_t buttons[4] = {{1, 2800, 3000}, {2, 2250, 2450}, {3, 300, 500}, {4, 850, 1050}};
|
||||||
|
|
||||||
|
#define GPIO_BOOT GPIO_NUM_0
|
||||||
|
|
||||||
|
extern "C" void app_main()
|
||||||
|
{
|
||||||
|
gpio_config_t gpio_conf;
|
||||||
|
gpio_conf.mode = GPIO_MODE_OUTPUT_OD;
|
||||||
|
gpio_conf.intr_type = GPIO_INTR_DISABLE;
|
||||||
|
gpio_conf.pin_bit_mask = 1LL << GPIO_NUM_3;
|
||||||
|
gpio_config(&gpio_conf);
|
||||||
|
|
||||||
|
xQueueAIFrame = xQueueCreate(2, sizeof(camera_fb_t *));
|
||||||
|
xQueueLCDFrame = xQueueCreate(2, sizeof(camera_fb_t *));
|
||||||
|
xQueueADCKeyState = xQueueCreate(1, sizeof(int));
|
||||||
|
xQueueGPIOKeyState = xQueueCreate(1, sizeof(int));
|
||||||
|
xQueueEventLogic = xQueueCreate(1, sizeof(int));
|
||||||
|
|
||||||
|
register_camera(PIXFORMAT_RGB565, FRAMESIZE_240X240, 2, xQueueAIFrame);
|
||||||
|
register_adc_button(buttons, 4, xQueueADCKeyState);
|
||||||
|
register_button(GPIO_NUM_0, xQueueGPIOKeyState);
|
||||||
|
register_event(xQueueADCKeyState, xQueueGPIOKeyState, xQueueEventLogic);
|
||||||
|
register_color_detection(xQueueAIFrame, xQueueEventLogic, NULL, xQueueLCDFrame, false);
|
||||||
|
register_lcd(xQueueLCDFrame, NULL, true);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,74 @@
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "event_logic.hpp"
|
||||||
|
#include "who_button.h"
|
||||||
|
#include "who_color_detection.hpp"
|
||||||
|
|
||||||
|
typedef enum
|
||||||
|
{
|
||||||
|
MENU = 1,
|
||||||
|
PLAY,
|
||||||
|
UP,
|
||||||
|
DOWN
|
||||||
|
} key_name_t;
|
||||||
|
|
||||||
|
static QueueHandle_t xQueueKeyStateIGPIO = NULL;
|
||||||
|
static QueueHandle_t xQueueKeyStateIADC = NULL;
|
||||||
|
static QueueHandle_t xQueueEventO = NULL;
|
||||||
|
static key_state_t key_state;
|
||||||
|
static key_name_t adc_button_name;
|
||||||
|
static color_detection_state_t detector_state;
|
||||||
|
|
||||||
|
void event_generate_from_gpio_button(void *arg)
|
||||||
|
{
|
||||||
|
color_detection_state_t switch_mode = SWITCH_RESULT;
|
||||||
|
while (1)
|
||||||
|
{
|
||||||
|
xQueueReceive(xQueueKeyStateIGPIO, &key_state, portMAX_DELAY);
|
||||||
|
xQueueSend(xQueueEventO, &switch_mode, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void event_generate_from_adc_button(void *arg)
|
||||||
|
{
|
||||||
|
bool register_mode = false;
|
||||||
|
while (1)
|
||||||
|
{
|
||||||
|
xQueueReceive(xQueueKeyStateIADC, &adc_button_name, portMAX_DELAY);
|
||||||
|
switch (adc_button_name)
|
||||||
|
{
|
||||||
|
case MENU:
|
||||||
|
detector_state = register_mode ? CLOSE_REGISTER_COLOR_BOX : OPEN_REGISTER_COLOR_BOX;
|
||||||
|
register_mode = !register_mode;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case PLAY:
|
||||||
|
detector_state = register_mode ? REGISTER_COLOR : DELETE_COLOR;
|
||||||
|
register_mode = false;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case UP:
|
||||||
|
detector_state = INCREASE_COLOR_AREA;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case DOWN:
|
||||||
|
detector_state = DECREASE_COLOR_AREA;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
detector_state = COLOR_DETECTION_IDLE;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
xQueueSend(xQueueEventO, &detector_state, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void register_event(const QueueHandle_t key_state_i_adc, const QueueHandle_t key_state_i_gpio, const QueueHandle_t event_o)
|
||||||
|
{
|
||||||
|
xQueueKeyStateIADC = key_state_i_adc;
|
||||||
|
xQueueKeyStateIGPIO = key_state_i_gpio;
|
||||||
|
xQueueEventO = event_o;
|
||||||
|
if (xQueueKeyStateIADC != NULL)
|
||||||
|
xTaskCreatePinnedToCore(event_generate_from_adc_button, "event_logic_task1", 1024, NULL, 5, NULL, 0);
|
||||||
|
if (xQueueKeyStateIGPIO != NULL)
|
||||||
|
xTaskCreatePinnedToCore(event_generate_from_gpio_button, "event_logic_task2", 1024, NULL, 5, NULL, 0);
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,14 @@
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/queue.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief
|
||||||
|
*
|
||||||
|
* @param key_state_i_adc
|
||||||
|
* @param key_state_i_gpio
|
||||||
|
* @param event_o
|
||||||
|
*/
|
||||||
|
void register_event(const QueueHandle_t key_state_i_adc, const QueueHandle_t key_state_i_gpio, const QueueHandle_t event_o);
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
# Name, Type, SubType, Offset, Size, Flags
|
||||||
|
# Note: if you change the phy_init or app partition offset, make sure to change the offset in Kconfig.projbuild
|
||||||
|
factory, app, factory, , 3840K
|
||||||
|
nvs, data, nvs, , 16K
|
||||||
|
fr, data, , , 128K
|
||||||
|
|
|
@ -0,0 +1,14 @@
|
||||||
|
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||||
|
|
||||||
|
CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
|
||||||
|
CONFIG_ESPTOOLPY_FLASHMODE_QIO=y
|
||||||
|
|
||||||
|
CONFIG_SPIRAM_SPEED_80M=y
|
||||||
|
CONFIG_SPIRAM_USE_CAPS_ALLOC=y
|
||||||
|
|
||||||
|
CONFIG_PARTITION_TABLE_CUSTOM=y
|
||||||
|
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
|
||||||
|
|
||||||
|
CONFIG_S16=y
|
||||||
|
CONFIG_ESP_INT_WDT=n
|
||||||
|
CONFIG_ESP_TASK_WDT=n
|
||||||
|
|
@ -0,0 +1,17 @@
|
||||||
|
CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
|
||||||
|
|
||||||
|
CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
|
||||||
|
CONFIG_ESP32S3_SPIRAM_SUPPORT=y
|
||||||
|
|
||||||
|
CONFIG_ESP32S3_DATA_CACHE_64KB=y
|
||||||
|
CONFIG_ESP32S3_DATA_CACHE_8WAYS=y
|
||||||
|
CONFIG_ESP32S3_DATA_CACHE_LINE_64B=y
|
||||||
|
|
||||||
|
CONFIG_CAMERA_MODULE_ESP_S3_EYE=y
|
||||||
|
CONFIG_LCD_DRIVER_SCREEN_CONTROLLER_ST7789=y
|
||||||
|
CONFIG_ESPTOOLPY_NO_STUB=y
|
||||||
|
CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
|
||||||
|
|
||||||
|
CONFIG_SPIRAM_MODE_OCT=y
|
||||||
|
|
||||||
|
CONFIG_S8=y
|
||||||
Loading…
Reference in New Issue