static mp_obj_t py_image_threshold(mp_obj_t image_obj, mp_obj_t color_list_obj, mp_obj_t threshold)
{
color_t *color;
image_t *image;
/* sanity checks */
PY_ASSERT_TRUE(sensor.pixformat == PIXFORMAT_RGB565);
PY_ASSERT_TRUE(sensor.framesize <= FRAMESIZE_QCIF);
/* read arguments */
image = py_image_cobj(image_obj);
int thresh = mp_obj_get_int(threshold);
/* returned image */
image_t bimage = {
.w=image->w,
.h=image->h,
.bpp=1,
.pixels=image->data+(image->w*image->h*image->bpp)
};
/* copy color list */
uint len;
mp_obj_t *color_arr;
mp_obj_get_array(color_list_obj, &len, &color_arr);
color = xalloc(len*sizeof*color);
for (int i=0; i<len; i++) {
mp_obj_t *color_obj;
mp_obj_get_array_fixed_n(color_arr[i], 3, &color_obj);
color[i].r = mp_obj_get_int(color_obj[0]);
color[i].g = mp_obj_get_int(color_obj[1]);
color[i].b = mp_obj_get_int(color_obj[2]);
}
/* Threshold image using reference color */
imlib_threshold(image, &bimage, color, len, thresh);
return py_image_from_struct(&bimage);
}
static mp_obj_t py_image_rainbow(mp_obj_t src_image_obj)
{
image_t *src_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(src_image_obj);
/* sanity checks */
PY_ASSERT_TRUE(src_image->bpp==1);
image_t dst_image = {
.w=src_image->w,
.h=src_image->h,
.bpp=2,
.pixels=xalloc(src_image->w*src_image->h*2)
};
imlib_rainbow(src_image, &dst_image);
*src_image = dst_image;
return src_image_obj;
}
static mp_obj_t py_image_compress(mp_obj_t image_obj, mp_obj_t quality)
{
image_t *image = py_image_cobj(image_obj);
image_t cimage = {
.w=image->w,
.h=image->h,
.bpp=0,
.pixels= NULL
};
jpeg_compress(image, &cimage, mp_obj_get_int(quality));
return py_image_from_struct(&cimage);
}
static mp_obj_t py_image_draw_line(mp_obj_t image_obj, mp_obj_t line_obj)
{
/* get image pointer */
struct image *image;
image = py_image_cobj(image_obj);
mp_obj_t *array;
mp_obj_get_array_fixed_n(line_obj, 4, &array);
int x0 = mp_obj_get_int(array[0]);
int y0 = mp_obj_get_int(array[1]);
int x1 = mp_obj_get_int(array[2]);
int y1 = mp_obj_get_int(array[3]);
imlib_draw_line(image, x0, y0, x1, y1);
return mp_const_none;
}
static mp_obj_t py_image_draw_circle(mp_obj_t image_obj, mp_obj_t c_obj, mp_obj_t r_obj)
{
int cx, cy, r;
mp_obj_t *array;
struct image *image;
color_t c = {.r=0xFF, .g=0xFF, .b=0xFF};
/* get image pointer */
image = py_image_cobj(image_obj);
/* center */
mp_obj_get_array_fixed_n(c_obj, 2, &array);
cx = mp_obj_get_int(array[0]);
cy = mp_obj_get_int(array[1]);
/* radius */
r = mp_obj_get_int(r_obj);
imlib_draw_circle(image, cx, cy, r, &c);
return mp_const_none;
}
static mp_obj_t py_image_draw_string(uint n_args, const mp_obj_t *args)
{
int x = mp_obj_get_int(args[1]);
int y = mp_obj_get_int(args[2]);
image_t *image =py_image_cobj(args[0]);
const char *str = mp_obj_str_get_str(args[3]);
color_t c = {.r=0xFF, .g=0xFF, .b=0xFF};
if (n_args == 5) {
// get color
mp_obj_t *array;
mp_obj_get_array_fixed_n(args[4], 3, &array);
c.r = mp_obj_get_int(array[0]);
c.g = mp_obj_get_int(array[1]);
c.b = mp_obj_get_int(array[2]);
}
imlib_draw_string(image, x, y, str, &c);
return mp_const_none;
}
static mp_obj_t py_image_erode(mp_obj_t image_obj, mp_obj_t ksize_obj)
{
image_t *image = NULL;
image = py_image_cobj(image_obj);
/* sanity checks */
PY_ASSERT_TRUE(image->bpp==1);
imlib_erode(image, mp_obj_get_int(ksize_obj));
return mp_const_none;
}
mp_obj_t mlx90620_read()
{
float temp[64];
float max_temp = FLT_MIN;
float min_temp = FLT_MAX;
image_t img = {
.w=4,
.h=16,
.bpp=1,
.pixels=xalloc(16*4)
};
// get raw temperatures
mlx90620_read_to(temp);
// normalize temp readings
for (int i=0; i<64; i++) {
if (temp[i] > max_temp) {
max_temp = temp[i];
} else if (temp[i] < min_temp) {
min_temp = temp[i];
}
}
for (int i=0; i<64; i++) {
img.pixels[i] = (uint8_t)(((temp[i]-min_temp)/(max_temp-min_temp))*255.0f);
}
return py_image_from_struct(&img);
}
mp_obj_t mlx90620_read_raw()
{
float *t = m_new(float, 64);
mp_obj_t t_list = mp_obj_new_list(0, NULL);
// get raw temperatures
mlx90620_read_to(t);
// normalize temp readings
for (int i=0; i<64; i++) {
mp_obj_list_append(t_list, mp_obj_new_float(t[i]));
}
return t_list;
}
mp_obj_t mlx90620_init()
{
uint8_t cmd_buf[5];
uint8_t EEPROM_DATA[256];
// Init I2C
soft_i2c_init();
// Read EEPROM data
cmd_buf[0]=REG_EEPROM_DATA;
soft_i2c_write_bytes(MLX_EEPROM_ADDR, cmd_buf, 1, false);
soft_i2c_read_bytes(MLX_EEPROM_ADDR, EEPROM_DATA, 256, true);
// Write oscillator trimming value
uint8_t trim = EEPROM_DATA[OSC_TRIM_OFFSET];
memcpy(cmd_buf, (uint8_t [5]){WRITE_OSC_TRIM, (uint8_t)(trim-0xAA), trim, 0x56, 0x00}, 5);
soft_i2c_write_bytes(MLX_SLAVE_ADDR, cmd_buf, sizeof(cmd_buf), true);
// Write configuration register
uint8_t lsb = 0x0A; //0x09==16Hz
uint8_t msb = 0x74;
memcpy(cmd_buf, (uint8_t [5]){SET_CONFIG_DATA, (uint8_t)(lsb-0x55), lsb, (uint8_t)(msb-0x55), msb}, 5);
soft_i2c_write_bytes(MLX_SLAVE_ADDR, cmd_buf, sizeof(cmd_buf), true);
// Calculate Ta constants
v_th = (256 * EEPROM_DATA[VTH_H] + EEPROM_DATA[VTH_L]);
k_t1 = (256 * EEPROM_DATA[KT1_H] + EEPROM_DATA[KT1_L]) / 1024.0f;
k_t2 = (256 * EEPROM_DATA[KT2_H] + EEPROM_DATA[KT2_L]) / 1048576.0f;
emissivity = ((unsigned int)256 * EEPROM_DATA[CAL_EMIS_H] + EEPROM_DATA[CAL_EMIS_L]) / 32768.0f;
k_t1_sq = k_t1 * k_t1;
a_cp = (int8_t)EEPROM_DATA[CAL_ACP];
b_cp = (int8_t)EEPROM_DATA[CAL_BCP];
tgc = (int8_t)EEPROM_DATA[CAL_TGC];
b_i_scale = EEPROM_DATA[CAL_BI_SCALE];
// Hack
for (int i=0; i<8; i++) {
EEPROM_DATA[i]=EEPROM_DATA[i+8];
EEPROM_DATA[i+64]=EEPROM_DATA[i+8+64];
}
for (int i=0; i<64; i++) {
// Read pixel offsets
a_ij[i] = (int8_t)EEPROM_DATA[i];
// Read slope coefficients
b_ij[i] = (int8_t)EEPROM_DATA[i+4];
}
return mp_const_true;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(mlx90620_init_obj, mlx90620_init);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(mlx90620_read_obj, mlx90620_read);
STATIC MP_DEFINE_CONST_FUN_OBJ_0(mlx90620_read_raw_obj, mlx90620_read_raw);
static const mp_map_elem_t globals_dict_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_mlx) },
//{ MP_OBJ_NEW_QSTR(MP_QSTR_HZ_8), MP_OBJ_NEW_SMALL_INT(MLX_HZ_8)},
//{ MP_OBJ_NEW_QSTR(MP_QSTR_HZ_16), MP_OBJ_NEW_SMALL_INT(MLX_HZ_16)},
//{ MP_OBJ_NEW_QSTR(MP_QSTR_HZ_32), MP_OBJ_NEW_SMALL_INT(MLX_HZ_32)},
//{ MP_OBJ_NEW_QSTR(MP_QSTR_HZ_64), MP_OBJ_NEW_SMALL_INT(MLX_HZ_64)},
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&mlx90620_init_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_read), (mp_obj_t)&mlx90620_read_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_read_raw), (mp_obj_t)&mlx90620_read_raw_obj },
};
STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
static const mp_obj_module_t mlx_module = {
.base = { &mp_type_module },
.name = MP_QSTR_mlx,
.globals = (mp_obj_t)&globals_dict,
};
const mp_obj_module_t *py_mlx90620_init()
{
return &mlx_module;
}
static mp_obj_t py_image_scale(mp_obj_t image_obj, mp_obj_t size_obj)
{
int w,h;
mp_obj_t *array;
image_t *src_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(image_obj);
/* get x,y */
mp_obj_get_array_fixed_n(size_obj, 2, &array);
w = mp_obj_get_int(array[0]);
h = mp_obj_get_int(array[1]);
image_t dst_image = {
.w=w,
.h=h,
.bpp=src_image->bpp,
.pixels=xalloc(w*h*src_image->bpp)
};
imlib_scale(src_image, &dst_image, INTERP_BILINEAR);
*src_image = dst_image;
return image_obj;
}
static mp_obj_t py_image_scaled(mp_obj_t image_obj, mp_obj_t size_obj)
{
int w,h;
mp_obj_t *array;
image_t *src_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(image_obj);
/* get x,y */
mp_obj_get_array_fixed_n(size_obj, 2, &array);
w = mp_obj_get_int(array[0]);
h = mp_obj_get_int(array[1]);
image_t dst_image = {
.w=w,
.h=h,
.bpp=src_image->bpp,
.pixels=xalloc(w*h*src_image->bpp)
};
imlib_scale(src_image, &dst_image, INTERP_NEAREST);
return py_image_from_struct(&dst_image);
}
static mp_obj_t py_image_subimg(mp_obj_t image_obj, mp_obj_t subimg_obj)
{
rectangle_t r;
image_t *image;
mp_obj_t *array;
/* image pointer */
image = py_image_cobj(image_obj);
/* sub image */
mp_obj_get_array_fixed_n(subimg_obj, 4, &array);
r.x = mp_obj_get_int(array[0]);
r.y = mp_obj_get_int(array[1]);
r.w = mp_obj_get_int(array[2]);
r.h = mp_obj_get_int(array[3]);
image_t subimg = {
.w=r.w,
.h=r.h,
.bpp=image->bpp,
.pixels=xalloc(r.w*r.h*image->bpp)
};
imlib_subimage(image, &subimg, r.x, r.y);
return py_image_from_struct(&subimg);
}
static mp_obj_t py_image_blit(mp_obj_t dst_image_obj, mp_obj_t src_image_obj, mp_obj_t offset_obj)
{
int x,y;
image_t *src_image = NULL;
image_t *dst_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(src_image_obj);
dst_image = py_image_cobj(dst_image_obj);
/* get x,y */
mp_obj_t *array;
mp_obj_get_array_fixed_n(offset_obj, 2, &array);
x = mp_obj_get_int(array[0]);
y = mp_obj_get_int(array[1]);
if ((src_image->w+x)>dst_image->w ||
(src_image->h+y)>dst_image->h) {
printf("src image > dst image\n");
return mp_const_none;
}
imlib_blit(src_image, dst_image, x, y);
return mp_const_none;
}
static mp_obj_t py_image_threshold(mp_obj_t image_obj, mp_obj_t color_list_obj, mp_obj_t threshold)
{
color_t *color;
image_t *image;
/* sanity checks */
PY_ASSERT_TRUE_MSG(sensor.pixformat == PIXFORMAT_RGB565,
"This function is only supported on RGB565 images");
PY_ASSERT_TRUE_MSG(sensor.framesize <= OMV_MAX_BLOB_FRAME,
"This function is only supported on "OMV_MAX_BLOB_FRAME_STR" and smaller frames");
/* read arguments */
image = py_image_cobj(image_obj);
int thresh = mp_obj_get_int(threshold);
/* returned image */
image_t bimage = {
.w=image->w,
.h=image->h,
.bpp=1,
.pixels=image->data+(image->w*image->h*image->bpp)
};
/* copy color list */
uint len;
mp_obj_t *color_arr;
mp_obj_get_array(color_list_obj, &len, &color_arr);
color = xalloc(len*sizeof*color);
for (int i=0; i<len; i++) {
mp_obj_t *color_obj;
mp_obj_get_array_fixed_n(color_arr[i], 3, &color_obj);
color[i].r = mp_obj_get_int(color_obj[0]);
color[i].g = mp_obj_get_int(color_obj[1]);
color[i].b = mp_obj_get_int(color_obj[2]);
}
/* Threshold image using reference color */
imlib_threshold(image, &bimage, color, len, thresh);
return py_image_from_struct(&bimage);
}
static mp_obj_t py_image_rainbow(mp_obj_t src_image_obj)
{
image_t *src_image = NULL;
/* get C image pointer */
src_image = py_image_cobj(src_image_obj);
/* sanity checks */
PY_ASSERT_TRUE_MSG(src_image->bpp == 1,
"This function is only supported on GRAYSCALE images");
image_t dst_image = {
.w=src_image->w,
.h=src_image->h,
.bpp=2,
.pixels=xalloc(src_image->w*src_image->h*2)
};
imlib_rainbow(src_image, &dst_image);
*src_image = dst_image;
return src_image_obj;
}
static mp_obj_t py_image_compress(mp_obj_t image_obj, mp_obj_t quality)
{
image_t *image = py_image_cobj(image_obj);
image_t cimage = {
.w=image->w,
.h=image->h,
.bpp = JPEG_INIT_BUF,
.pixels = xalloc(JPEG_INIT_BUF)
};
jpeg_compress(image, &cimage, mp_obj_get_int(quality));
return py_image_from_struct(&cimage);
}
