From 1d594c0adce7d98c6d85dcd7518493628c27ec75 Mon Sep 17 00:00:00 2001
From: Shahrul Kamil bin Hassan <shahrulkamil98@g.ucla.edu>
Date: Thu, 30 Sep 2021 18:42:12 +0000
Subject: [PATCH] Upload New File
---
Code/Main Feather Code/Camera.cpp | 130 ++++++++++++++++++++++++++++++
1 file changed, 130 insertions(+)
create mode 100644 Code/Main Feather Code/Camera.cpp
diff --git a/Code/Main Feather Code/Camera.cpp b/Code/Main Feather Code/Camera.cpp
new file mode 100644
index 0000000..269337e
--- /dev/null
+++ b/Code/Main Feather Code/Camera.cpp
@@ -0,0 +1,130 @@
+#include "Camera.h"
+#include <Wire.h>
+#include <Arduino.h>
+#include <openmvrpc.h>
+
+Camera::Camera(openmv::rpc_i2c_master *intface){
+ interface = intface;
+}
+
+void Camera::exe_face_detection(){
+ struct { uint16_t x, y, w, h; } face_detection_result;
+ if (interface->call_no_args(F("face_detection"), &face_detection_result, sizeof(face_detection_result))) {
+ Serial.print(F("Largest Face Detected [x="));
+ Serial.print(face_detection_result.x);
+ Serial.print(F(", y="));
+ Serial.print(face_detection_result.y);
+ Serial.print(F(", w="));
+ Serial.print(face_detection_result.w);
+ Serial.print(F(", h="));
+ Serial.print(face_detection_result.h);
+ Serial.println(F("]"));
+ }
+}
+
+void Camera::exe_person_detection(){
+ char buff[32 + 1] = {}; // null terminator
+ if (interface->call_no_args(F("person_detection"), buff, sizeof(buff) - 1)) {
+ Serial.println(buff);
+ }
+}
+
+void Camera::exe_qrcode_detection(){
+ char buff[128 + 1] = {}; // null terminator
+ if (interface->call_no_args(F("qrcode_detection"), buff, sizeof(buff) - 1)) {
+ Serial.print("qrdetected: ");
+ Serial.println(buff);
+ }
+}
+
+bool Camera::exe_apriltag_detection(int ID,int *x_temp,int *y_temp,int *angle_temp){
+ struct { uint16_t cx, cy, rot; } result;
+ if (interface->call(F("apriltags"), &ID, sizeof(ID), &result, sizeof(result))) {
+ }
+ if (result.cx == 0 && result.cy == 0 && result.rot == 0){
+ return false;
+ } else {
+ *x_temp = result.cx;
+ *y_temp = result.cy;
+ *angle_temp = result.rot;
+ return true;
+ }
+}
+
+void Camera::exe_datamatrix_detection(){
+ char buff[128 + 1] = {}; // null terminator
+ if (interface->call_no_args(F("datamatrix_detection"), buff, sizeof(buff) - 1)) {
+ Serial.println(buff);
+ }
+}
+
+void Camera::exe_barcode_detection(){
+ char buff[128 + 1] = {}; // null terminator
+ if (interface->call_no_args(F("barcode_detection"), buff, sizeof(buff) - 1)) {
+ Serial.println(buff);
+ }
+}
+
+bool Camera::exe_color_detection(int8_t l_min, int8_t l_max, int8_t a_min, int8_t a_max, int8_t b_min, int8_t b_max){
+ int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
+ short buff[128 + 1] = {};
+ if (interface->call(F("color_detection"), color_thresholds, sizeof(color_thresholds), buff, sizeof(buff)-1)) {
+ int i = 0;
+ while (buff[i] != '\0' && i<100) {
+ Serial.print(buff[i]);
+ i++;
+ }
+ Serial.println("");
+ }
+ if (buff[0] == 0){ //no blob detected
+ return false;
+ } else {
+ return true;
+ }
+}
+
+bool Camera::exe_color_detection_biggestblob(int8_t l_min, int8_t l_max, int8_t a_min, int8_t a_max, int8_t b_min, int8_t b_max, int& x, int&y){
+ int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
+ struct { uint16_t cx, cy; } color_detection_result;
+ if (interface->call(F("color_detection_single"), color_thresholds, sizeof(color_thresholds), &color_detection_result, sizeof(color_detection_result))) {
+
+ }
+ x = color_detection_result.cx;
+ y = color_detection_result.cy;
+ if (x == 0 && y == 0){
+ return false;
+ } else {
+ return true;
+ }
+}
+
+void Camera::exe_led_detection(){
+ //int8_t color_thresholds[6] = {l_min, l_max, a_min, a_max, b_min, b_max};
+ int8_t color_thresholds[6] = {26, 100, -108, -9, 0, -42};
+ //struct { uint16_t cx, cy; } color_detection_result;
+ short buff[128 + 1] = {};
+ if (interface->call(F("LED_detection"), color_thresholds, sizeof(color_thresholds), buff, sizeof(buff)-1)) {
+ int i = 0;
+ Serial.println("LED detected");
+ while (buff[i] != '\0' && i<100) {
+ Serial.print(buff[i]);
+ i++;
+ }
+ Serial.println("");
+ }
+}
+
+void Camera::exe_jpeg_snapshot(){
+
+ short buff[128 + 1] = {};
+ Serial.println("looking for image");
+ if (interface->call_no_args(F("jpeg_snapshot"), buff, sizeof(buff)-1)) {
+ Serial.println("Got JPEG");
+ int i = 0;
+ while (buff[i] != '\0') {
+ Serial.print(buff[i]);
+ i++;
+ }
+ Serial.println("");
+ }
+}
--
GitLab