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¼³¸í:
OpenMV Ä·Àº ÀÛ°í ÀúÀü·Â, ¸¶ÀÌÅ©·Î ÄÁÆ®·Ñ·¯ º¸µå ½±°Ô ±¸ÇöÇÒ ¼ö ÀÖ½À´Ï´Ù ÀÀ¿ë ÇÁ·Î±×·¥ »ç¿ëÇÏ¿© ±â°è ºñÀü ½ÇÁ¦. ´ç½ÅÀº C/C + ´ë½Å ³ôÀº ¼öÁØÀÇ P ython ½ºÅ©¸³Æ® (MicroP ython ¿î¿µ üÁ¦ÀÇ ¿¹ÀÇ) ¿¡¼ OpenMV Ä·À» ÇÁ·Î±×·¥. ÀÌ°ÍÀº ±â°è ºñÀü ¾Ë°í¸®ÁòÀÇ º¹ÀâÇÑ Ãâ·ÂÀ» ó¸®ÇÏ°í ³ôÀº ¼öÁØÀÇ µ¥ÀÌÅÍ ±¸Á¶·Î ÀÛ¾÷Çϱ⠽±½À´Ï´Ù. ±×·¯³ª, ´ç½ÅÀº ¿©ÀüÈ÷ ´ç½ÅÀÇ OpenMV Ä·°ú P ython¿¡ ÀÖ´Â ±×°ÍÀÇ I/O ÇÉÀ» ÅëÇØ ÃÑ ÅëÁ¦°¡ ÀÖ½À´Ï´Ù. ´ç½ÅÀº ½±°Ô ¿ÜºÎ À̺¥Æ®¿¡ »çÁø°ú ºñµð¿À¸¦ ÃÔ¿µÇϰųª I/O ÇÉÀ» Á¦¾îÇÏ´Â ¹æ¹ýÀ» ÆľÇÇÏ´Â ±â°è ºñÀü ¾Ë°í¸®ÁòÀ» ½ÇÇàÇÒ ¼ö ÀÖ½À´Ï´Ù.
OpenMV °ø½Ä À¥ »çÀÌÆ®: https://openmv.io/
OpenMV Á¤º¸: https://pan.baidu.com/s/1jIkQgp4
OpenMV ½ÃÀÛ ºñµð¿À: https://pan.baidu.com/s/1eR7cE22
OpenMV ķ Ư¡:
STM32F765VI ARM Cortex M7 ÇÁ·Î¼¼¼ 216 mhz¿¡¼ ½ÇÇà 512KB RAM ¹× 2 MB Ç÷¡½Ã. 3.3V Ãâ·ÂµÇ´Â ¸ðµç ÀÔ·Â/Ãâ·Â ÇÉÀº 5V °ü´ëÇÕ´Ï´Ù. ÇÁ·Î¼¼¼´Â ´ÙÀ½°ú °°Àº I/O ÀÎÅÍÆäÀ̽º¸¦ °¡Áö°í ÀÖ½À´Ï´Ù.
-ÄÄÇ»ÅÍ¿¡ Ç® ½ºÇǵå USB (12Mbs) ÀÎÅÍÆäÀ̽º. OpenMV camÀº °¡»ó COM Æ÷Æ®¿Í USB Ç÷¡½Ã µå¶óÀ̺ê·Î ¿¬°áµÇ¸é ³ªÅ¸³³´Ï´Ù.
-100mbsÀÇ °¡´ÉÇÑ USD Ä«µå ¼ÒÄÏÀº SD Ä«µåÀÇ ¶³¾îÁ® ¿µ»ó°ú ½¬¿î Àâ¾Æ´ç±â±â ±â°è ½Ã°¢ ÀÚ»êÀ» ±â·ÏÇÏ´Â ´ç½ÅÀÇ OpenMV Ä·À» Çã¿ëÇÏ´Â Àбâ/±â·ÏÇÕ´Ï´Ù.
-54mbs±îÁö ´Þ¸± ¼ö ÀÖ´Â SPI ¹ö½º´Â LCD ¹æÆÐ, WiFi ¹æÆÐ, ¶Ç´Â ´Ù¸¥ ¸¶ÀÌÅ©·Î Á¦¾î±â ¾î´À ÂÊÀ̵ç ü°è¿¡¼ À̹ÌÁö ÀڷḦ ½±°Ô ½ºÆ®¸®¹ÖÇÏ´Â °ÍÀ» Çã¿ëÇÏ.
-I2C ¹ö½º, CAN ¹ö½º ¹× ºñµ¿±â Á÷·Ä ¹ö½º (TX/RX) ´Â ´Ù¸¥ ¸¶ÀÌÅ©·Î ÄÁÆ®·Ñ·¯ ¹× ¼¾¼¿Í ÅëÇÕÇÕ´Ï´Ù.
-12 ºñÆ® ADC ¹× 12 ºñÆ® DAC.
-¼º¸ Á¦¾î¸¦À§ÇÑ ¼¼ °³ÀÇ I/O ÇÉ.
-¸ðµç ÀÔ·Â/Ãâ·Â ÇÉ¿¡ ÀÎÅÍ·´Æ® ¹× PWM (º¸µå¿¡ 10 ÀÔ·Â/Ãâ·Â ÇÉÀÌ ÀÖÀ½).
-±×¸®°í, RGB led¿Í 2°³ÀÇ °í¼º´É 850nm IR LEDs.
-OV7725 À̹ÌÁö ¼¾¼´Â 30 fps¿¡¼ 640x480 8 ºñÆ® ±×·¹ÀÌ ½ºÄÉÀÏ À̹ÌÁö ¶Ç´Â 320x240 16 ºñÆ® RGB565 À̹ÌÁö¸¦ ÂïÀ» ¼ö ÀÖ½À´Ï´Ù. OpenMV Ä·Àº Ç¥ÁØ M12 ·»Áî ¸¶¿îÆ®¿¡ 2.8mm ·»Áî¿Í ÇÔ²² Á¦°øµË´Ï´Ù. OpenMV camÀ¸·Î ´õ ¸¹Àº s pecialized ·»Á »ç¿ëÇÏ°í ½Í´Ù¸é ½±°Ô ±¸ÀÔÇÏ°í Á÷Á¢ ºÎÂø ÇÒ ¼ö ÀÖ½À´Ï´Ù.
-OpenMV cam¿¡ ´ëÇÑ ÀÚ¼¼ÇÑ ³»¿ëÀº ¿ì¸®ÀÇ ¹®¼¸¦ ÂüÁ¶ÇϽʽÿÀ.
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OpenMV Ä·Àº ÇöÀç ´ÙÀ½°ú °°Àº °ÍµéÀ» »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù (¹Ì·¡¿¡ ´õ):
ÇÁ·¹ÀÓ Differencing
´ç½ÅÀº ´ç½ÅÀÇ OpenMV Ä·¿¡ Â÷º°È ÇÁ·¹ÀÓÀ» »ç¿ëÇÏ¿© º¯°æ »çÇ×À» º¸¸é¼ ÇöÀå¿¡¼ ¿òÁ÷ÀÓÀ» °¨Áö ÇÒ ¼ö ÀÖ½À´Ï´Ù. ÇÁ·¹ÀÓ Â÷º°È º¸¾È ÀÀ¿ë ÇÁ·Î±×·¥¿¡ ´ëÇÑ OpenMV Ä·À» »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù.
Ä÷¯ ÃßÀû
´ç½ÅÀº ´ç½ÅÀÇ OpenMV Ä·À» »ç¿ëÇÏ¿© À̹ÌÁö¿¡¼ ÇÑ ¹ø¿¡ 32 °¡Áö »ö»óÀ» °¨Áö ÇÒ ¼ö ÀÖ½À´Ï´Ù (Çö½ÇÀûÀ¸·Î ´ç½ÅÀº 4 °³ ÀÌ»óÀÇ Ã£À» ¼ö ¾ø½À´Ï´Ù) ±×¸®°í °¢ »ö»óÀº º°°³ÀÇ ºí·ÓÀÇ ¼ýÀÚ¸¦ °¡Áú ¼ö ÀÖ½À´Ï´Ù. ´ç½ÅÀÇ OpenMV Ä·Àº ±× ¶§ ´ç½Å¿¡°Ô °¢ blobÀÇ À§Ä¡, Å©±â, centroid ¹× ¹æÇâÀ» ¸»ÇÒ °ÍÀÔ´Ï´Ù. ´ç½ÅÀÇ OpenMV Ä·À» ÃßÀûÇÏ´Â »ö±òÀ» »ç¿ëÇÏ¿© žç, µû¸£´Â ¼±, Ç¥Àû ÃßÀû ¹× ´Ù·®, ´Ù·®, ´õ ¸¹Àº °ÍÀ» ÃßÀûÇϱâ À§ÇÏ¿© ÇÁ·Î±×·¥µÉ ¼ö ÀÖ½À´Ï´Ù.
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´ç½ÅÀº µ¶¸³Àû ÀÎ »ö»ó ´ë½Å »ö»óÀÇ ±×·ìÀ» °¨ÁöÇϱâ À§ÇØ OpenMV Ä·À» »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. À̸¦ ÅëÇØ °³Ã¼¿¡ ³ÖÀ» ¼öÀÖ´Â Ä÷¯ ¸ÞÀÌÄ¿ (2 °³ ÀÌ»óÀÇ Ä÷¯ ű×) À» ¸¸µé ¼ö ÀÖ½À´Ï´Ù. OpenMV camÀÌ ÅÂ±×µÈ ¹°Ã¼°¡ ¹«¾ùÀÎÁö ÀÌÇØÇÒ ¼ö ÀÖ½À´Ï´Ù.
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OpenMV Cam (¶Ç´Â ÀÏ¹Ý °³Ã¼) À¸·Î ¾ó±¼À» °¨Áö ÇÒ ¼ö ÀÖ½À´Ï´Ù. ´ç½ÅÀÇ OpenMV Ä·Àº ÀϹÝÀûÀÎ ¸ñÇ¥ ŽÁö¸¦ Çϱâ À§ÇØ Haar ij½ºÄÉÀ̵å ó¸® ÇÏ °í ¾ó±¼°ú ´«À» °¨Áö Çϱâ À§ÇØ ³»Àå µÈ Á¤¸é ¾ó±¼ ij½ºÄÉÀÌµå ¹× ´« Haar ij½ºÄÉÀ̵å ÇÔ²² Á¦°ø ÇÒ ¼ö ÀÖ½À´Ï´Ù.
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´ç½ÅÀº ´©±º°¡ÀÇ ½Ã¼±À» °¨ÁöÇϱâ À§ÇØ OpenMV Ä·°ú ´« ÃßÀûÀ» »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. ¿¹¸¦ µé¾î ·Îº¿À» Á¦¾îÇÏ´Â µ¥ »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. ´« ÃßÀûÀº À̹ÌÁö¿¡ ÀÖ´Â ´«ÀÌ ÀÖ´Â °æ¿ì¿¡ ´«µ¿ÀÚ °ËÃâ¿¡ ´ë º¸´Â À§Ä¡¸¦ °ËÃâÇÕ´Ï´Ù.
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´ç½ÅÀº ´ç½ÅÀÇ OpenMV Ä·ÀÌ º¸´Â ¹«½¼ÀÇ ¹ø¿ªÀ» °ËÃâÇϱâ À§ÇÏ¿© ±¤ÇÐÀûÀÎ ±³·ù¸¦ »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. ¿¹¸¦ µé¾î, Äõµå Ç︮ÄßÅÍ¿¡ ±¤ÇÐ È帧À» »ç¿ëÇÏ¿© °øÁß¿¡ ¾ó¸¶³ª ¾ÈÁ¤ÀûÀÎÁö °áÁ¤ÇÒ ¼ö ÀÖ½À´Ï´Ù.
QR ÄÚµå °¨Áö/µðÄÚµù
OpenMV camÀ» »ç¿ëÇÏ¿© QR Äڵ带 º¼ ¼ö ÀÖ½À´Ï´Ù. QR ÄÚµå °¨Áö/µðÄÚµùÀ¸·Î ȯ°æ¿¡¼ ¶óº§À» ÀÐÀ» ¼öÀÖ´Â ½º¸¶Æ® ·Îº¿À» ¸¸µé ¼ö ÀÖ½À´Ï´Ù.
AprilTag ̧˞
À§ÀÇ QR Äڵ庸´Ù ´õ ³ªÀº, OpenMV Ä· M7 ¶ÇÇÑ ¾à 12 fps±îÁö 160x120 AprilTags ÃßÀû ÇÒ ¼ö ÀÖ½À´Ï´Ù. AprilTags ȸÀü, ±Ô¸ð, Àü´Ü ¹× Á¶¸í ºÒº¯ÀÇ ÃÖ÷´Ü fidicual ¸¶Ä¿ÀÔ´Ï´Ù.
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´ç½ÅÀº °¡ÀåÀÚ¸® ŽÁö¸¦ ÅëÇØ °¡ÀåÀÚ¸® ŽÁö¸¦ À§ÇØ ¼±ÇàµÈ °¡ÀåÀÚ¸® ¹ß°ßÀÚ »ê¹ý ¶Ç´Â °£´ÜÇÑ ³ô ÅëÇà °Å¸£´Â ´ëÁö¸¦ ÅëÇØ ¼±Á¤ÇÒ ¼ö ÀÖ½À´Ï´Ù. ´ç½ÅÀÌ ÀÌÁø À̹ÌÁö°¡ ÀÖ´Â ÈÄ¿¡ ´ç½ÅÀº ±× ¶§ À̹ÌÁö¿¡ ÀÖ´Â ¸ðµç ¼±À» ã¾Æ³»±â À§ÇÏ¿© Hough ¹ß°ßÀÚ¸¦ »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. °¡ÀåÀÚ¸®/¼± ŽÁö¸¦ À§ÇØ ´ç½ÅÀº ½±°Ô °³Ã¼ÀÇ ¹æÇâÀ» °ËÃâÇϱâ À§ÇÏ¿© ´ç½ÅÀÇ OpenMV Ä·À» »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù.
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´ç½ÅÀº ¹ø¿ª µÈ »çÀü ÀúÀå À̹ÌÁö°¡ º¼ ¶§ °¨Áö OpenMV Ä·°ú ÅÛÇø´ ÀÏÄ¡¸¦ »ç¿ëÇÒ ¼ö ÀÖ½À´Ï´Ù. ¿¹¸¦ µé¾î, ÅÛÇø´ ¸ÅĪÀº pcb¿¡¼ fiducialsÀ» ã°Å³ª µð½ºÇ÷¹ÀÌ¿¡ ¾Ë·ÁÁø ¼ýÀÚ¸¦ ÀÐÀ» ¼ö ÀÖ½À´Ï´Ù.
À̹ÌÁö ĸó
´ç½ÅÀº OpenMV Ä·À» »ç¿ëÇÏ¿© ÃÖ´ë 320x240 RGB565 (¶Ç´Â 640x480 ±×·¹ÀÌ ½ºÄÉÀÏ) BMP/JPG/PPM/PGM À̹ÌÁö¸¦ ĸóÇÒ ¼ö ÀÖ½À´Ï´Ù. ´ç½ÅÀº ´ç½ÅÀÇ P ython script Æ®¿¡¼ À̹ÌÁö¸¦ ĸóÇÏ´Â ¹æ¹ýÀ» Á÷Á¢ Á¦¾îÇÕ´Ï´Ù. ¹«¾ùº¸´Ùµµ, ´ç½ÅÀº ±× (°Í) µéÀ» ÀúÀåÇϱâ Àü¿¡ ±â°è ½Ã°¢ ±â´É ¹×/¶Ç´Â ±¸Á¶¿¡ ´ç±æ ¼ö ÀÖ½À´Ï´Ù.
ºñµð¿À ³ìÈ
´ç½ÅÀº OpenMV Ä·À» »ç¿ëÇÏ¿© ÃÖ´ë 320x240 RGB565 (¶Ç´Â 640x480 ±×·¹ÀÌ ½ºÄÉÀÏ) MJPEG ºñµð¿À ¶Ç´Â GIF À̹ÌÁö¸¦ ±â·ÏÇÒ ¼ö ÀÖ½À´Ï´Ù. °¢ ºñµð¿À ÇÁ·¹ÀÓÀÌ P ython script Æ®¿¡ ±â·ÏµÇ¾î ºñµð¿À ³ìÈ°¡ ½ÃÀÛµÇ°í ³¡³ª´ÂÁö¿¡ ´ëÇÑ ÃÑ Á¦¾î¸¦ °®´Â ¹æ¹ýÀ» Á÷Á¢ Á¦¾îÇÕ´Ï´Ù. ±×¸®°í À̹ÌÁö¸¦ ĸóÇÏ´Â °Í°ú ¸¶Âù°¡Áö·Î ±â°è ºñÀü ±â´ÉÀ» ¿¹ºñÇϰųª ÀúÀåÇϱâ Àü¿¡ ºñµð¿À ÇÁ·¹ÀÓ¿¡ ±×¸± ¼ö ÀÖ½À´Ï´Ù.
¸¶Áö¸·À¸·Î, À§ÀÇ ¸ðµç ±â´ÉÀº I/O ÇÉ ÄÁÆ®·Ñ°ú ÇÔ²² ÀÚ½ÅÀÇ »ç¿ëÀÚ Á¤ÀÇ ÀÀ¿ë ÇÁ·Î±×·¥¿¡¼ È¥ÇÕ ¹× ÀÏÄ¡ ÇÒ ¼ö ÀÖ½À´Ï´Ù.
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