robot/esp32-opencv
1
0
Fork 0
mirror of https://gitcode.com/gh_mirrors/es/esp32-opencv.git synced 2025-08-06 18:24:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added houghline test + uses idf_component_register in cmakelist

Browse Source
This commit is contained in:
Joachim
2020-03-26 23:19:53 +01:00
parent 50b4e6fc53
commit 0284052fae
5 changed files with 29 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
esp32/examples/esp_opencv_tests/main/CMakeLists.txt
View File

@ -1,14 +1,12 @@
set(COMPONENT_SRCS
main.cpp
system.cpp
idf_component_register(
SRCS
main.cpp
system.cpp
INCLUDE_DIRS
.
./opencv
)
set(COMPONENT_ADD_INCLUDEDIRS
.
./opencv/
)
register_component()
# Be aware that the order of the librairies is important
add_prebuilt_library(opencv_imgcodecs "opencv/libopencv_imgcodecs.a")
add_prebuilt_library(libpng "opencv/3rdparty/liblibpng.a")

24
esp32/examples/esp_opencv_tests/main/main.cpp
View File

@ -147,7 +147,8 @@ void test_resize(const Mat &src)
BENCHMARK_MS("linear resize", REPEAT, resize, src, dst, Size(), 0.75, 0.75, INTER_LINEAR);
BENCHMARK_MS("cubic resize", REPEAT, resize, src, dst, Size(), 0.75, 0.75, INTER_CUBIC);
BENCHMARK_MS("pyrUp", REPEAT, pyrUp, src, dst, Size(), BORDER_DEFAULT);
BENCHMARK_MS("pyrDown", REPEAT, pyrDown, src, dst, Size(), BORDER_DEFAULT);
// FIXME: pyrDown uses a lot of stack and then causes the next function to crash with a LoadProhibited
//BENCHMARK_MS("pyrDown", REPEAT, pyrDown, src, dst, Size(), BORDER_DEFAULT);
}
void test_edge_detect(const Mat &src)
@ -171,12 +172,21 @@ void test_hough(const Mat &src)
{
ESP_LOGI(TAG, "================= Hough transform tests =================");
Mat dst, gray;
Mat dst, gray, edge;
// convert to grayscale
// Grayscale and edge detection
cvtColor(src, gray, COLOR_BGR2GRAY);
Canny(gray, edge, 8, 24, 3, false);
// hough
vector<Vec2f> lines;
BENCHMARK_MS("HoughLines", REPEAT, HoughLines, edge, lines, 1, CV_PI/180, 200, 0, 0, 0, CV_PI);
cout << lines.size() << " lines were detected" << endl;
// probabilistic hough
vector<Vec4i> linesP;
BENCHMARK_MS("HoughLineP", REPEAT, HoughLinesP, edge, linesP, 1, CV_PI/180, 200, 30, 10);
cout << linesP.size() << " lines were detected" << endl;
}
void app_main(void)
@ -214,13 +224,15 @@ void app_main(void)
test_morphology_transform(src);
disp_mem_infos();
/* Edge detection */
test_edge_detect(src);
disp_mem_infos();
/* Image resizing */
test_resize(src);
disp_mem_infos();
/* Edge detection */
test_edge_detect(src);
disp_mem_infos();
wait_msec(500);
/* Hough transform */
test_hough(src);

2
esp32/examples/esp_opencv_tests/main/system.cpp
View File

@ -53,6 +53,6 @@ void wait_sec(uint16_t v) {
}
void disp_mem_infos() {
ESP_LOGI(TAG, "task stack left: %d Bytes", uxTaskGetStackHighWaterMark(NULL));
ESP_LOGI(TAG, "task stack watermark: %d Bytes", uxTaskGetStackHighWaterMark(NULL));
ESP_LOGI(TAG, "heap left: %d Bytes", esp_get_free_heap_size());
}

6
esp32/examples/esp_opencv_tests/sdkconfig
View File

@ -355,7 +355,7 @@ CONFIG_ADC_CAL_LUT_ENABLE=y
CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE=32
CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=2304
CONFIG_ESP_MAIN_TASK_STACK_SIZE=32768
CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
CONFIG_ESP_IPC_TASK_STACK_SIZE=1024
CONFIG_ESP_IPC_USES_CALLERS_PRIORITY=y
CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048
@ -567,7 +567,7 @@ CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK=y
CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
@ -1088,7 +1088,7 @@ CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y
# CONFIG_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set
CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304
CONFIG_MAIN_TASK_STACK_SIZE=32768
CONFIG_MAIN_TASK_STACK_SIZE=16384
CONFIG_IPC_TASK_STACK_SIZE=1024
CONFIG_CONSOLE_UART_DEFAULT=y
# CONFIG_CONSOLE_UART_CUSTOM is not set

149
esp32/examples/esp_opencv_tests/sdkconfig.old
View File

@ -1013,152 +1013,3 @@ CONFIG_WPA_MBEDTLS_CRYPTO=y
#
# CONFIG_LEGACY_INCLUDE_COMMON_HEADERS is not set
# end of Compatibility options
# Deprecated options for backward compatibility
CONFIG_TOOLPREFIX="xtensa-esp32-elf-"
# CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set
# CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set
# CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set
CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y
# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set
# CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set
CONFIG_LOG_BOOTLOADER_LEVEL=3
# CONFIG_APP_ROLLBACK_ENABLE is not set
# CONFIG_FLASH_ENCRYPTION_ENABLED is not set
# CONFIG_FLASHMODE_QIO is not set
# CONFIG_FLASHMODE_QOUT is not set
CONFIG_FLASHMODE_DIO=y
# CONFIG_FLASHMODE_DOUT is not set
# CONFIG_MONITOR_BAUD_9600B is not set
# CONFIG_MONITOR_BAUD_57600B is not set
CONFIG_MONITOR_BAUD_115200B=y
# CONFIG_MONITOR_BAUD_230400B is not set
# CONFIG_MONITOR_BAUD_921600B is not set
# CONFIG_MONITOR_BAUD_2MB is not set
# CONFIG_MONITOR_BAUD_OTHER is not set
CONFIG_MONITOR_BAUD_OTHER_VAL=115200
CONFIG_MONITOR_BAUD=115200
# CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG is not set
# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set
CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y
# CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set
# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set
CONFIG_CXX_EXCEPTIONS=y
CONFIG_CXX_EXCEPTIONS_EMG_POOL_SIZE=0
# CONFIG_STACK_CHECK_NONE is not set
CONFIG_STACK_CHECK_NORM=y
# CONFIG_STACK_CHECK_STRONG is not set
# CONFIG_STACK_CHECK_ALL is not set
CONFIG_STACK_CHECK=y
# CONFIG_WARN_WRITE_STRINGS is not set
# CONFIG_DISABLE_GCC8_WARNINGS is not set
# CONFIG_ESP32_APPTRACE_DEST_TRAX is not set
CONFIG_ESP32_APPTRACE_DEST_NONE=y
CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y
CONFIG_BTDM_CONTROLLER_BLE_MAX_CONN_EFF=0
CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_ACL_CONN_EFF=0
CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_SYNC_CONN_EFF=0
CONFIG_BTDM_CONTROLLER_PINNED_TO_CORE=0
CONFIG_ADC2_DISABLE_DAC=y
CONFIG_SPIRAM_SUPPORT=y
# CONFIG_WIFI_LWIP_ALLOCATION_FROM_SPIRAM_FIRST is not set
CONFIG_TRACEMEM_RESERVE_DRAM=0x0
# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set
CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y
CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4
# CONFIG_ULP_COPROC_ENABLED is not set
CONFIG_ULP_COPROC_RESERVE_MEM=0
CONFIG_BROWNOUT_DET=y
CONFIG_BROWNOUT_DET_LVL_SEL_0=y
# CONFIG_BROWNOUT_DET_LVL_SEL_1 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_2 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_3 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_4 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_5 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_6 is not set
# CONFIG_BROWNOUT_DET_LVL_SEL_7 is not set
CONFIG_BROWNOUT_DET_LVL=0
CONFIG_REDUCE_PHY_TX_POWER=y
CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y
# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL is not set
# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_OSC is not set
# CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_8MD256 is not set
# CONFIG_DISABLE_BASIC_ROM_CONSOLE is not set
# CONFIG_NO_BLOBS is not set
# CONFIG_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set
CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32
CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304
CONFIG_MAIN_TASK_STACK_SIZE=16384
CONFIG_IPC_TASK_STACK_SIZE=1024
CONFIG_CONSOLE_UART_DEFAULT=y
# CONFIG_CONSOLE_UART_CUSTOM is not set
# CONFIG_CONSOLE_UART_NONE is not set
CONFIG_CONSOLE_UART_NUM=0
CONFIG_CONSOLE_UART_TX_GPIO=1
CONFIG_CONSOLE_UART_RX_GPIO=3
CONFIG_CONSOLE_UART_BAUDRATE=115200
CONFIG_INT_WDT=y
CONFIG_INT_WDT_TIMEOUT_MS=300
CONFIG_INT_WDT_CHECK_CPU1=y
# CONFIG_TASK_WDT is not set
# CONFIG_EVENT_LOOP_PROFILING is not set
CONFIG_POST_EVENTS_FROM_ISR=y
CONFIG_POST_EVENTS_FROM_IRAM_ISR=y
CONFIG_TIMER_TASK_STACK_SIZE=3584
CONFIG_MB_MASTER_TIMEOUT_MS_RESPOND=150
CONFIG_MB_MASTER_DELAY_MS_CONVERT=200
CONFIG_MB_QUEUE_LENGTH=20
CONFIG_MB_SERIAL_TASK_STACK_SIZE=2048
CONFIG_MB_SERIAL_BUF_SIZE=256
CONFIG_MB_SERIAL_TASK_PRIO=10
# CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT is not set
CONFIG_MB_CONTROLLER_NOTIFY_TIMEOUT=20
CONFIG_MB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
CONFIG_MB_CONTROLLER_STACK_SIZE=4096
CONFIG_MB_EVENT_QUEUE_TIMEOUT=20
CONFIG_MB_TIMER_PORT_ENABLED=y
CONFIG_MB_TIMER_GROUP=0
CONFIG_MB_TIMER_INDEX=0
CONFIG_SUPPORT_STATIC_ALLOCATION=y
# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
CONFIG_TIMER_TASK_PRIORITY=1
CONFIG_TIMER_TASK_STACK_DEPTH=2048
CONFIG_TIMER_QUEUE_LENGTH=10
# CONFIG_L2_TO_L3_COPY is not set
# CONFIG_USE_ONLY_LWIP_SELECT is not set
CONFIG_ESP_GRATUITOUS_ARP=y
CONFIG_GARP_TMR_INTERVAL=60
CONFIG_TCPIP_RECVMBOX_SIZE=32
CONFIG_TCP_MAXRTX=12
CONFIG_TCP_SYNMAXRTX=6
CONFIG_TCP_MSS=1436
CONFIG_TCP_MSL=60000
CONFIG_TCP_SND_BUF_DEFAULT=5744
CONFIG_TCP_WND_DEFAULT=5744
CONFIG_TCP_RECVMBOX_SIZE=6
CONFIG_TCP_QUEUE_OOSEQ=y
# CONFIG_ESP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
CONFIG_TCP_OVERSIZE_MSS=y
# CONFIG_TCP_OVERSIZE_QUARTER_MSS is not set
# CONFIG_TCP_OVERSIZE_DISABLE is not set
CONFIG_UDP_RECVMBOX_SIZE=6
CONFIG_TCPIP_TASK_STACK_SIZE=3072
CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y
# CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set
# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set
CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF
# CONFIG_PPP_SUPPORT is not set
CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5
CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072
CONFIG_ESP32_PTHREAD_STACK_MIN=768
CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY=y
# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 is not set
# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 is not set
CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT=-1
CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT="pthread"
CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_FAILS is not set
# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ALLOWED is not set
CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
CONFIG_SUPPORT_TERMIOS=y
# End of deprecated options