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✨ camera_terminal

pull/190/head
Ye Hang Yang 2021-07-16 16:20:24 +08:00
parent d502c86b71
commit fdd940ffb9
11 changed files with 653 additions and 0 deletions
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7
examples/camera_terminal/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.5)
set(EXTRA_COMPONENT_DIRS ../../components)
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(camera_terminal)

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examples/camera_terminal/main/CMakeLists.txt Normal file
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set(COMPONENT_SRCS
app_main.cpp
app_dl.cpp
app_camera.cpp
)
set(COMPONENT_ADD_INCLUDEDIRS
include
)
set(COMPONENT_REQUIRES
esp32-camera
esp-dl
)
register_component()

178
examples/camera_terminal/main/Kconfig.projbuild Executable file
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menu "Camera Terminal"
menu "Camera Pins"
choice CAMERA_MODEL
bool "Select Camera Pinout"
default CAMERA_MODEL_WROVER_KIT
help
Select Camera Pinout.
config CAMERA_MODEL_WROVER_KIT
bool "WROVER-KIT With OV2640 Module"
config CAMERA_MODEL_ESP_EYE
bool "ESP_EYE DevKit"
config CAMERA_MODEL_M5STACK_PSRAM
bool "M5Stack Camera With PSRAM"
config CAMERA_MODEL_M5STACK_WIDE
bool "M5Stack Camera F (Wide)"
config CAMERA_MODEL_AI_THINKER
bool "ESP32-CAM by AI-Thinker"
config CAMERA_MODEL_CUSTOM
bool "Custom Camera Pinout"
endchoice
config CAMERA_PIN_PWDN
depends on CAMERA_MODEL_CUSTOM
int "Power Down pin"
range -1 33
default -1
help
Select Power Down pin or -1 for unmanaged.
config CAMERA_PIN_RESET
depends on CAMERA_MODEL_CUSTOM
int "Reset pin"
range -1 33
default -1
help
Select Camera Reset pin or -1 for software reset.
config CAMERA_PIN_XCLK
depends on CAMERA_MODEL_CUSTOM
int "XCLK pin"
range 0 33
default 21
help
Select Camera XCLK pin.
config CAMERA_PIN_SIOD
depends on CAMERA_MODEL_CUSTOM
int "SIOD pin"
range 0 33
default 26
help
Select Camera SIOD pin.
config CAMERA_PIN_SIOC
depends on CAMERA_MODEL_CUSTOM
int "SIOC pin"
range 0 33
default 27
help
Select Camera SIOC pin.
config CAMERA_PIN_VSYNC
depends on CAMERA_MODEL_CUSTOM
int "VSYNC pin"
range 0 39
default 25
help
Select Camera VSYNC pin.
config CAMERA_PIN_HREF
depends on CAMERA_MODEL_CUSTOM
int "HREF pin"
range 0 39
default 23
help
Select Camera HREF pin.
config CAMERA_PIN_PCLK
depends on CAMERA_MODEL_CUSTOM
int "PCLK pin"
range 0 39
default 25
help
Select Camera PCLK pin.
config CAMERA_PIN_Y2
depends on CAMERA_MODEL_CUSTOM
int "Y2 pin"
range 0 39
default 4
help
Select Camera Y2 pin.
config CAMERA_PIN_Y3
depends on CAMERA_MODEL_CUSTOM
int "Y3 pin"
range 0 39
default 5
help
Select Camera Y3 pin.
config CAMERA_PIN_Y4
depends on CAMERA_MODEL_CUSTOM
int "Y4 pin"
range 0 39
default 18
help
Select Camera Y4 pin.
config CAMERA_PIN_Y5
depends on CAMERA_MODEL_CUSTOM
int "Y5 pin"
range 0 39
default 19
help
Select Camera Y5 pin.
config CAMERA_PIN_Y6
depends on CAMERA_MODEL_CUSTOM
int "Y6 pin"
range 0 39
default 36
help
Select Camera Y6 pin.
config CAMERA_PIN_Y7
depends on CAMERA_MODEL_CUSTOM
int "Y7 pin"
range 0 39
default 39
help
Select Camera Y7 pin.
config CAMERA_PIN_Y8
depends on CAMERA_MODEL_CUSTOM
int "Y8 pin"
range 0 39
default 34
help
Select Camera Y8 pin.
config CAMERA_PIN_Y9
depends on CAMERA_MODEL_CUSTOM
int "Y9 pin"
range 0 39
default 35
help
Select Camera Y9 pin.
endmenu
menu "DL Configuration"
choice DL_DETECT_TARGET
bool "Select Detection Model"
default DL_DETECT_HUMAN_FACE
config DL_DETECT_HUMAN_FACE
bool "Human Face Detection Model"
config DL_DETECT_CAT_FACE
bool "Cat Face Detection Model"
endchoice
config DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
bool "Enable Human Face Keypoint Detection"
default n
depends on DL_DETECT_HUMAN_FACE
config DL_RECOGNIZE_HUMAN_FACE
bool "Enable Human Face Recognition"
depends on DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
default n
endmenu
endmenu

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/* ESPRESSIF MIT License
*
* Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
*
* Permission is hereby granted for use on all ESPRESSIF SYSTEMS products, in which case,
* it is free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished
* to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "app_camera.h"
static const char *TAG = "app_camera";
void app_camera_init()
{
#if CONFIG_CAMERA_MODEL_ESP_EYE
/* IO13, IO14 is designed for JTAG by default,
* to use it as generalized input,
* firstly declair it as pullup input */
gpio_config_t conf;
conf.mode = GPIO_MODE_INPUT;
conf.pull_up_en = GPIO_PULLUP_ENABLE;
conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
conf.intr_type = GPIO_INTR_DISABLE;
conf.pin_bit_mask = 1LL << 13;
gpio_config(&conf);
conf.pin_bit_mask = 1LL << 14;
gpio_config(&conf);
#endif
camera_config_t config;
config.ledc_channel = LEDC_CHANNEL_0;
config.ledc_timer = LEDC_TIMER_0;
config.pin_d0 = Y2_GPIO_NUM;
config.pin_d1 = Y3_GPIO_NUM;
config.pin_d2 = Y4_GPIO_NUM;
config.pin_d3 = Y5_GPIO_NUM;
config.pin_d4 = Y6_GPIO_NUM;
config.pin_d5 = Y7_GPIO_NUM;
config.pin_d6 = Y8_GPIO_NUM;
config.pin_d7 = Y9_GPIO_NUM;
config.pin_xclk = XCLK_GPIO_NUM;
config.pin_pclk = PCLK_GPIO_NUM;
config.pin_vsync = VSYNC_GPIO_NUM;
config.pin_href = HREF_GPIO_NUM;
config.pin_sscb_sda = SIOD_GPIO_NUM;
config.pin_sscb_scl = SIOC_GPIO_NUM;
config.pin_pwdn = PWDN_GPIO_NUM;
config.pin_reset = -1;//RESET_GPIO_NUM;
config.xclk_freq_hz = XCLK_FREQ;
config.pixel_format = CAMERA_PIXEL_FORMAT;
config.frame_size = CAMERA_FRAME_SIZE;
config.jpeg_quality = 10;
config.fb_count = 1;
// camera init
esp_err_t err = esp_camera_init(&config);
if (err != ESP_OK) {
ESP_LOGE(TAG, "Camera init failed with error 0x%x", err);
return;
}
sensor_t * s = esp_camera_sensor_get();
s->set_vflip(s, 1);//flip it back
//initial sensors are flipped vertically and colors are a bit saturated
if (s->id.PID == OV3660_PID) {
s->set_brightness(s, 1);//up the blightness just a bit
s->set_saturation(s, -2);//lower the saturation
}
}

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#include "app_dl.hpp"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "sdkconfig.h"
#include "app_camera.h"
#include <list>
#include "dl_tool.hpp"
#include "dl_image.hpp"
#include "dl_detect_define.hpp"
#if CONFIG_DL_DETECT_HUMAN_FACE
#include "human_face_detect_msr01.hpp"
#endif
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
#include "human_face_detect_mnp01.hpp"
#endif
#if CONFIG_DL_DETECT_CAT_FACE
#include "cat_face_detect_mn03.hpp"
#endif
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
// TODO: recognize human face
#endif
static const char *TAG = "app_dl";
void task_dl(void *arg)
{
camera_fb_t *fb = NULL;
uint8_t *image_rgb888;
dl::tool::Latency latency_total(24);
dl::tool::Latency latency_fetch;
dl::tool::Latency latency_decode;
dl::tool::Latency latency_detect;
/* 1. Load configuration for detection */
#if CONFIG_DL_DETECT_HUMAN_FACE
HumanFaceDetectMSR01 detector(0.3F, 0.3F, 10, 0.3F);
#endif
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
HumanFaceDetectMNP01 detector2(0.4F, 0.3F, 10);
#endif
#if CONFIG_DL_DETECT_CAT_FACE
CatFaceDetectMN03 detector(0.4F, 0.3F, 10, 0.3F);
#endif
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
dl::tool::Latency latency_recognize;
// TODO: recognize human face
#endif
while (true)
{
latency_total.start();
/* 2. Get one image with camera */
latency_fetch.start();
fb = esp_camera_fb_get();
if (!fb)
{
ESP_LOGE(TAG, "Camera capture failed");
continue;
}
latency_fetch.end();
/* 3. Transform image to RGB */
latency_decode.start();
image_rgb888 = (uint8_t *)dl::tool::malloc_aligned(fb->height * fb->width * 3, sizeof(uint8_t));
bool res = fmt2rgb888(fb->buf, fb->len, fb->format, image_rgb888);
if (false == res)
{
ESP_LOGE(TAG, "fmt2rgb888 failed, fb: %d", fb->len);
dl::tool::free_aligned(image_rgb888);
continue;
}
int image_height = fb->height;
int image_width = fb->width;
esp_camera_fb_return(fb);
latency_decode.end();
/* 4. Do deep-learning processing */
latency_detect.start();
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
std::list<dl::detect::result_t> &candidates = detector.infer((uint8_t *)image_rgb888, {image_height, image_width, 3});
std::list<dl::detect::result_t> &results = detector2.infer((uint8_t *)image_rgb888, {image_height, image_width, 3}, candidates);
#else
std::list<dl::detect::result_t> &results = detector.infer((uint8_t *)image_rgb888, {image_height, image_width, 3});
#endif
latency_detect.end();
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
latency_recognize.start();
#endif
if (results.size() > 0)
{
int i = 0;
for (std::list<dl::detect::result_t>::iterator prediction = results.begin(); prediction != results.end(); prediction++, i++)
{
#if CONFIG_DL_DETECT_HUMAN_FACE_WITH_KEYPOINT
ESP_LOGI(TAG, "[%d]: (%3d, %3d, %3d, %3d) | left eye: (%3d, %3d), right eye: (%3d, %3d), nose: (%3d, %3d), mouth left: (%3d, %3d), mouth right: (%3d, %3d)",
i,
prediction->box[0], prediction->box[1], prediction->box[2], prediction->box[3],
prediction->keypoint[0], prediction->keypoint[1], // left eye
prediction->keypoint[6], prediction->keypoint[7], // right eye
prediction->keypoint[4], prediction->keypoint[5], // nose
prediction->keypoint[2], prediction->keypoint[3], // mouth left corner
prediction->keypoint[8], prediction->keypoint[9]); // mouth right corner
#else
ESP_LOGI(TAG, "[%d]: (%3d, %3d, %3d, %3d)",
i,
prediction->box[0], prediction->box[1], prediction->box[2], prediction->box[3]);
#endif
}
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
latency_recognize.start();
#endif
}
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
latency_recognize.end();
#endif
dl::tool::free_aligned(image_rgb888);
latency_total.end();
uint32_t frame_latency = latency_total.get_period() / 1000;
uint32_t average_frame_latency = latency_total.get_average_period() / 1000;
ESP_LOGI(TAG, "Frame: %4ums (%.1ffps), Average: %4ums (%.1ffps) | fetch: %4ums, decode: %4ums, detect: %4ums"
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
", recognize: %5ums"
#endif
,
frame_latency, 1000.0 / frame_latency, average_frame_latency, 1000.0 / average_frame_latency,
latency_fetch.get_period() / 1000,
latency_decode.get_period() / 1000,
latency_detect.get_period() / 1000
#if CONFIG_DL_RECOGNIZE_HUMAN_FACE
,
latency_recognize.get_period() / 1000
#endif
);
}
}
void app_dl_init()
{
xTaskCreatePinnedToCore(task_dl, "dl", 4 * 1024, NULL, 5, NULL, 1);
}

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examples/camera_terminal/main/app_main.cpp Normal file
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/* ESPRESSIF MIT License
*
* Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
*
* Permission is hereby granted for use on all ESPRESSIF SYSTEMS products, in which case,
* it is free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished
* to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "app_camera.h"
#include "app_dl.hpp"
extern "C" void app_main()
{
app_camera_init();
app_dl_init();
}

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/*
* ESPRESSIF MIT License
*
* Copyright (c) 2017 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
*
* Permission is hereby granted for use on ESPRESSIF SYSTEMS products only, in which case,
* it is free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished
* to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#ifndef _APP_CAMERA_H_
#define _APP_CAMERA_H_
#include "esp_log.h"
#include "esp_system.h"
#include "esp_camera.h"
/**
* PIXFORMAT_RGB565, // 2BPP/RGB565
* PIXFORMAT_YUV422, // 2BPP/YUV422
* PIXFORMAT_GRAYSCALE, // 1BPP/GRAYSCALE
* PIXFORMAT_JPEG, // JPEG/COMPRESSED
* PIXFORMAT_RGB888, // 3BPP/RGB888
*/
#define CAMERA_PIXEL_FORMAT PIXFORMAT_JPEG
/*
* FRAMESIZE_QQVGA, // 160x120
* FRAMESIZE_QQVGA2, // 128x160
* FRAMESIZE_QCIF, // 176x144
* FRAMESIZE_HQVGA, // 240x176
* FRAMESIZE_QVGA, // 320x240
* FRAMESIZE_CIF, // 400x296
* FRAMESIZE_VGA, // 640x480
* FRAMESIZE_SVGA, // 800x600
* FRAMESIZE_XGA, // 1024x768
* FRAMESIZE_SXGA, // 1280x1024
* FRAMESIZE_UXGA, // 1600x1200
*/
#define CAMERA_FRAME_SIZE FRAMESIZE_QVGA
#if CONFIG_CAMERA_MODEL_WROVER_KIT
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 19
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 5
#define Y2_GPIO_NUM 4
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif CONFIG_CAMERA_MODEL_ESP_EYE
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 4
#define SIOD_GPIO_NUM 18
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 36
#define Y8_GPIO_NUM 37
#define Y7_GPIO_NUM 38
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 35
#define Y4_GPIO_NUM 14
#define Y3_GPIO_NUM 13
#define Y2_GPIO_NUM 34
#define VSYNC_GPIO_NUM 5
#define HREF_GPIO_NUM 27
#define PCLK_GPIO_NUM 25
#elif CONFIG_CAMERA_MODEL_M5STACK_PSRAM
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif CONFIG_CAMERA_MODEL_M5STACK_WIDE
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 22
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif CONFIG_CAMERA_MODEL_AI_THINKER
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif CONFIG_CAMERA_MODEL_CUSTOM
#define PWDN_GPIO_NUM CONFIG_CAMERA_PIN_PWDN
#define RESET_GPIO_NUM CONFIG_CAMERA_PIN_RESET
#define XCLK_GPIO_NUM CONFIG_CAMERA_PIN_XCLK
#define SIOD_GPIO_NUM CONFIG_CAMERA_PIN_SIOD
#define SIOC_GPIO_NUM CONFIG_CAMERA_PIN_SIOC
#define Y9_GPIO_NUM CONFIG_CAMERA_PIN_Y9
#define Y8_GPIO_NUM CONFIG_CAMERA_PIN_Y8
#define Y7_GPIO_NUM CONFIG_CAMERA_PIN_Y7
#define Y6_GPIO_NUM CONFIG_CAMERA_PIN_Y6
#define Y5_GPIO_NUM CONFIG_CAMERA_PIN_Y5
#define Y4_GPIO_NUM CONFIG_CAMERA_PIN_Y4
#define Y3_GPIO_NUM CONFIG_CAMERA_PIN_Y3
#define Y2_GPIO_NUM CONFIG_CAMERA_PIN_Y2
#define VSYNC_GPIO_NUM CONFIG_CAMERA_PIN_VSYNC
#define HREF_GPIO_NUM CONFIG_CAMERA_PIN_HREF
#define PCLK_GPIO_NUM CONFIG_CAMERA_PIN_PCLK
#endif
#define XCLK_FREQ 20000000
void app_camera_init();
#endif

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#pragma once
/**
* @brief Initialize deep-learning application task.
*
*/
void app_dl_init();

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# Espressif ESP32 Partition Table
# Name, Type, SubType, Offset, Size
factory, app, factory, 0x010000, 2M
nvs, data, nvs, 0x310000, 16K
1 # Espressif ESP32 Partition Table
2 # Name, Type, SubType, Offset, Size
3 factory, app, factory, 0x010000, 2M
4 nvs, data, nvs, 0x310000, 16K