RGBやYUVの2次元配列で画像処理

EMOIC-PIC用にSpresense-Arduinoスケッチを開発する際のサンプルコードです。

camInit(); //カメラを初期化する。
camCap128(Y[128][128], U[128][128], V[128][128], CamImage); //128*128YUV422画像を2次元配列に格納する。
camCapRGB128(R[128][128], G[128][128], B[128][128], CamImage); //128*128RGB565画像を2次元配列に格納する。
camJPG(filename); //画像を1枚撮影し、1024*1024のJPG画像でSDカードに格納する。
camTake128(filename, Y_2次元配列, U_2次元配列, V_2次元配列); //画像を1枚撮影し、フルサイズでJPG画像でSDカードに格納する。128*128画像に縮小し、2次元配列に格納する。

関数はヘッダファイルに記述しており、書籍「SPRESENSEではじめるローパワーエッジAI」サポートページのサンプルコードをベースに作成しています。
https://github.com/TE-YoshinoriOota/Spresense-LowPower-EdgeAI/tree/main/Chap07/sketches

displayUtil.ino　液晶表示サンプル


/*
 *  displayUtil.ino - Graphic procedure for image_collection.ino
 *  Copyright 2022 Sony Semiconductor Solutions Corporation
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */


// ディスプレイの縦横の大きさ
#define DISPLAY_WIDTH  (320)
#define DISPLAY_HEIGHT  (240)

// 記録した学習データ用画像を表示する位置
#define GRAY_OFFSET_X (290)
#define GRAY_OFFSET_Y (100)


// 液晶ディスプレイの下部に文字列を表示する
void putStringOnLcd(String str, int color) {
  int len = str.length();
  display.fillRect(0,224, 320, 240, ILI9341_BLACK);
  display.setTextSize(2);
  int sx = 160 - len/2*12;
  if (sx < 0) sx = 0;
  display.setCursor(sx, 225);
  display.setTextColor(color);
  display.println(str);
}

// 液晶ディスプレイにLINE_THICKNESSの太さの四角形を描画する
void drawBox(uint16_t* imgBuf, int offset_x, int offset_y, int width, int height, int thickness, int color) {
  /* Draw target line */
  for (int x = offset_x; x < offset_x+width; ++x) {
    for (int n = 0; n < thickness; ++n) {
      *(imgBuf + DISPLAY_WIDTH*(offset_y+n) + x)          = color;
      *(imgBuf + DISPLAY_WIDTH*(offset_y+height-1-n) + x) = color;
    }
  }
  for (int y = offset_y; y < offset_y+height; ++y) {
    for (int n = 0; n < thickness; ++n) {
      *(imgBuf + DISPLAY_WIDTH*y + offset_x+n)           = color;
      *(imgBuf + DISPLAY_WIDTH*y + offset_x + width-1-n) = color;
    }
  } 
}

// 生成した学習データ用画像を表示する
void drawGrayImg(uint16_t* imgBuf, uint8_t* grayImg) {
  int j = 0;
  for (int y = GRAY_OFFSET_Y; y < GRAY_OFFSET_Y + DNN_HEIGHT; ++y, ++j) {
    int i = 0;
    for (int x = GRAY_OFFSET_X; x < GRAY_OFFSET_X + DNN_WIDTH; ++x, ++i) {
      uint16_t gray8 = grayImg[j*DNN_WIDTH + i];
      uint16_t gray16 = ((gray8 & 0xf8) << 8) 
                      | ((gray8 & 0xfc) << 3) 
                      | ((gray8 & 0xf8) >> 3);
      *(imgBuf + DISPLAY_WIDTH*y + x) = gray16;
    }
  }
  drawBox(imgBuf, GRAY_OFFSET_X, GRAY_OFFSET_Y, DNN_WIDTH, DNN_HEIGHT, 3, ILI9341_GREEN);
}

ImageProcess_for_PBL.ino　画像処理開発用


#include <Camera.h>
#include <Adafruit_ILI9341.h>
#include <SDHCI.h>
#include <BmpImage.h>
#include "PBL_library.h"
#define TFT_DC  9
#define TFT_CS  10
Adafruit_ILI9341 display = Adafruit_ILI9341(TFT_CS, TFT_DC);

#define DNN_HEIGHT (28)
#define DNN_WIDTH (28)

uint8_t Y[RESIZED_LENGTH][RESIZED_LENGTH];
uint8_t U[RESIZED_LENGTH][RESIZED_LENGTH];
uint8_t V[RESIZED_LENGTH][RESIZED_LENGTH];

BmpImage bmp;
char fname[16];
int take_picture_count = 0;
int test;

void CamCB(CamImage img) {

  putStringOnLcd("save jpeg", ILI9341_GREEN);
  sprintf(fname, "PICT%03d.JPG", take_picture_count);
  
  if(take_picture_count++<=10){
    test = camTake128(fname, Y,U,V,img);
    for (int n = 0; n < RESIZED_LENGTH*RESIZED_LENGTH; ++n) {
      if(n%RESIZED_LENGTH==0 && (n/RESIZED_LENGTH)%32 == 0){
        Serial.print(Y[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
        Serial.print(',');
        Serial.print(U[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
        Serial.print(',');
        Serial.println(V[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
      }
    }
    Serial.println();
  }
  test = camCapRGB128(Y,U,V,img);
  // RGB565の表示
  for (int n = 0; n < RESIZED_LENGTH*RESIZED_LENGTH; ++n) {
    if(n%RESIZED_LENGTH==0 && (n/RESIZED_LENGTH)%32 == 0){
      Serial.print(Y[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
      Serial.print(',');
      Serial.print(U[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
      Serial.print(',');
      Serial.println(V[(n/RESIZED_LENGTH)][n%RESIZED_LENGTH]);
    }
  }
  Serial.println();
  img.convertPixFormat(CAM_IMAGE_PIX_FMT_RGB565);
  display.drawRGBBitmap(0, 0, (uint16_t *)img.getImgBuff(), LENGTH, LENGTH);
}

void setup() {   
  Serial.begin(115200);
  display.begin();
  display.setRotation(3);

  if(!camInit()){
    putStringOnLcd("Failed to initialize camera", ILI9341_RED);
  }

  if (theCamera.startStreaming(true, CamCB) != CAM_ERR_SUCCESS){
    putStringOnLcd("Failed to stream camera", ILI9341_RED);
  }
}

void loop() { }

PBL_library.h 　関連ライブラリ


#include <Camera.h>
#include <SDHCI.h>
#include <stdio.h>
#include <Adafruit_ILI9341.h>
#define LENGTH (128)
#define RESIZED_LENGTH (128)
SDClass SD;

bool camInit(){
  while (!SD.begin()) { 
    Serial.println("Insert SD card");
  }

  CamErr err;
  err = theCamera.begin(1,CAM_VIDEO_FPS_30,LENGTH,LENGTH,CAM_IMAGE_PIX_FMT_YUV422,7);
  if (err != CAM_ERR_SUCCESS)
    {
      return false;
    }
  Serial.println("Set Auto white balance parameter");
  err = theCamera.setAutoWhiteBalanceMode(CAM_WHITE_BALANCE_DAYLIGHT);
  if (err != CAM_ERR_SUCCESS)
    {
      return false;
    }
  Serial.println("Set still picture format");
  err = theCamera.setStillPictureImageFormat(1024,1024,CAM_IMAGE_PIX_FMT_JPG);
  if (err != CAM_ERR_SUCCESS)
    {
      return false;
    }
  return true;
}

// YUV422を出力
bool camCap128(uint8_t Y[RESIZED_LENGTH][RESIZED_LENGTH], uint8_t U[RESIZED_LENGTH][RESIZED_LENGTH], uint8_t V[RESIZED_LENGTH][RESIZED_LENGTH], CamImage img){
  CamErr err = img.convertPixFormat(CAM_IMAGE_PIX_FMT_YUV422);
  uint16_t* imgbuf = (uint16_t*)img.getImgBuff();
  for (int n = 0; n < RESIZED_LENGTH*RESIZED_LENGTH; ++n) {
    Y[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)(((imgbuf[n] & 0xf000) >> 8) | ((imgbuf[n] & 0x00f0) >> 4));
    U[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)((imgbuf[n] & 0x0f00) >> 8);
    V[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)(imgbuf[n] & 0x000f);
  }
  return true;            
}

// RGB565を出力
bool camCapRGB128(uint8_t R[RESIZED_LENGTH][RESIZED_LENGTH], uint8_t G[RESIZED_LENGTH][RESIZED_LENGTH], uint8_t B[RESIZED_LENGTH][RESIZED_LENGTH], CamImage img){
  CamErr err = img.convertPixFormat(CAM_IMAGE_PIX_FMT_RGB565);
  uint16_t* imgbuf = (uint16_t*)img.getImgBuff();
  for (int n = 0; n < RESIZED_LENGTH*RESIZED_LENGTH; ++n) {
    R[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)((imgbuf[n] & 0xf800) >> 11);
    G[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)((imgbuf[n] & 0x07e0) >> 5 );
    B[(int)(n/RESIZED_LENGTH)][n%RESIZED_LENGTH] = (uint8_t)(imgbuf[n] & 0x001f);
  }
  return true;            
}

bool camJPG(char filename[16]){
  CamImage img = theCamera.takePicture();
  SD.remove(filename);
  File myFile = SD.open(filename, FILE_WRITE);
  myFile.write(img.getImgBuff(), img.getImgSize());
  myFile.close();
  return true;
}

bool camTake128(char filename[16], uint8_t Y[128][128], uint8_t U[128][128], uint8_t V[128][128],CamImage img){
  if(!camCap128(Y,U,V,img)){
    return false;
  };
  if(!camJPG(filename)){
    return false;
  };
  return true;
}

コメント無し