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Repository: openmv/openmv-projects
Branch: master
Commit: ff2fd706f1cd
Files: 28
Total size: 710.5 KB
Directory structure:
gitextract_ouy8kveg/
├── .gitattributes
├── .gitignore
├── LICENSE
├── README.md
├── robotics/
│ ├── README.md
│ ├── autonomous-rover/
│ │ └── README.md
│ └── donkey-car/
│ ├── README.md
│ ├── download/
│ │ ├── Magnet_Plate_v7.stl
│ │ ├── Magnet_Roll_Cage_v2.stl
│ │ └── OpenMV_Donkey_Mount.stl
│ ├── line_follower_main.py
│ ├── pca9685.py
│ ├── servo.py
│ └── servo_controller/
│ └── servo_controller.ino
└── tools/
├── README.md
├── ccm-tuning/
│ ├── README.md
│ ├── ccm_tuning_on_cam.py
│ └── ccm_tuning_on_pc.py
├── genx320-event-streaming/
│ ├── README.md
│ ├── genx320_event_mode_streaming_on_cam.py
│ ├── genx320_event_mode_streaming_on_pc.py
│ └── genx320_raw_event_mode_streaming_on_cam.py
├── genx320-overlay-calibration/
│ ├── README.md
│ ├── genx320_overlay_calibration_on_cam.py
│ └── genx320_overlay_calibration_on_pc.py
└── thermal-overlay-calibration/
├── README.md
├── thermal_overlay_calibration_on_cam.py
└── thermal_overlay_calibration_on_pc.py
================================================
FILE CONTENTS
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FILE: .gitattributes
================================================
*.mp4 !text !filter !merge !diff
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FILE: .gitignore
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# Claude session folder
.claude/
# Python cache
__pycache__/
*.pyc
# CCM tuner generated output files
ccm_frame_*.bmp
ccm_params_*.txt
# GenX320 event streaming saved output files
events_*.png
events_*.csv
# Thermal overlay calibration saved output files
thermal_main_*.png
thermal_lepton_*.png
thermal_composite_*.png
thermal_transform_*.txt
# GenX320 overlay calibration saved output files
genx320_overlay_main_*.png
genx320_overlay_genx320_*.png
genx320_overlay_composite_*.png
genx320_overlay_transform_*.txt
================================================
FILE: LICENSE
================================================
MIT License
Copyright (c) 2017 OpenMV
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================
FILE: README.md
================================================
[](https://github.com/openmv/openmv-projects/blob/master/LICENSE)
[](https://github.com/openmv/openmv-projects/network)
[](https://github.com/openmv/openmv-projects/stargazers)
[](https://github.com/openmv/openmv-projects/issues)
<img width="480" src="https://raw.githubusercontent.com/openmv/openmv-media/master/logos/openmv-logo/logo.png">
# OpenMV Projects
A collection of projects built with the [OpenMV Cam](https://openmv.io) — a small, low-power microcontroller board with a built-in camera, designed for machine vision applications at the edge.
- [PC Tools](#pc-tools)
- [Robotics](#robotics)
- [Contributing to the project](#contributing-to-the-project)
+ [Contribution guidelines](#contribution-guidelines)
---
## PC Tools
Desktop GUI applications that pair with an OpenMV Cam over USB to provide real-time visualization, calibration, and analysis workflows. These tools run on your PC while the camera handles capture and streaming.
| Project | Description |
|---------|-------------|
| [GenX320 Viz](tools/genx320-event-streaming/README.md) | Real-time event camera visualization with per-pixel frequency mapping for the Prophesee GenX320 sensor. |
| [GenX320 Overlay Calibration](tools/genx320-overlay-calibration/README.md) | Streams color and GenX320 histogram frames simultaneously and composites them with manual or automatic blob-grid checkerboard homography alignment. |
| [Thermal Overlay Calibration](tools/thermal-overlay-calibration/README.md) | Streams color and FLIR Lepton thermal frames simultaneously and composites them with manual or automatic heated-checkerboard homography alignment. |
| [CCM Tuning](tools/ccm-tuning/README.md) | Interactive Color Correction Matrix tuner — streams raw Bayer frames and replicates the N6 ISP pipeline in software. |
[Browse all tools](tools/README.md)
---
## Robotics
Complete robotics projects that use the OpenMV Cam as the primary perception system — from autonomous rovers to self-driving cars.
| Project | Description |
|---------|-------------|
| [Donkey Car](robotics/donkey-car/README.md) | OpenMV-powered Donkey Car build with line following and autonomous driving. |
| [Autonomous Rover](robotics/autonomous-rover/README.md) | Tracked rover using monocular edge detection for obstacle avoidance, controlled by a Teensy 3.5. |
[Browse all robotics projects](robotics/README.md)
---
## Contributing to the project
Contributions are most welcome. If you are interested in contributing to the project, start by creating a fork of the following repository:
* https://github.com/openmv/openmv-projects.git
Clone the forked repository, and add a remote to the main repository:
```bash
git clone https://github.com/<username>/openmv-projects.git
git -C openmv-projects remote add upstream https://github.com/openmv/openmv-projects.git
```
Now the repository is ready for pull requests. To send a pull request, create a new feature branch and push it to origin, and use GitHub to create the pull request from the forked repository to the upstream openmv/openmv-projects repository. For example:
```bash
git checkout -b <some_branch_name>
<commit changes>
git push origin -u <some_branch_name>
```
### Contribution guidelines
Please follow the [best practices](https://developers.google.com/blockly/guides/modify/contribute/write_a_good_pr) when sending pull requests upstream. In general, the pull request should:
* Fix one problem. Don't try to tackle multiple issues at once.
* Split the changes into logical groups using git commits.
* Pull request title should be less than 78 characters, and match this pattern:
* `<scope>:<1 space><description><.>`
* Commit subject line should be less than 78 characters, and match this pattern:
* `<scope>:<1 space><description><.>`
================================================
FILE: robotics/README.md
================================================
# OpenMV Robotics Projects
Complete robotics builds that use the OpenMV Cam as the primary perception system. The camera runs MicroPython on-board — no desktop PC required during operation — and communicates with a microcontroller over UART or I2C to drive motors, servos, and other actuators.
---
## [Donkey Self-Driving Car](donkey-car/README.md)
An [OpenMV Cam](https://openmv.io)-powered build of the [Donkey Car](https://www.donkeycar.com/) platform — a 1/10-scale RC car converted to run autonomous laps around a track using a trained neural network.
<img src="donkey-car/images/donkey-car-clean.jpg" width="480">
The OpenMV Cam replaces the standard Raspberry Pi camera, providing a compact self-contained vision system. A custom 3D-printed roll cage and camera mount fit the OpenMV Cam directly onto the standard Donkey Car chassis. A line-follower mode is also included that runs entirely on-camera without a host PC.
**Includes:**
- 3D-printable parts: roll cage, camera mount, and magnet plate (STL files in `download/`)
- Step-by-step build photo guide (40+ steps)
- `line_follower_main.py` — on-camera line following script
- PCA9685 servo driver and servo controller Arduino sketch
---
## [Autonomous Rover](autonomous-rover/README.md)
A tracked rover that uses monocular edge detection on the OpenMV Cam to navigate obstacle-free corridors without any external sensors for vision. A Teensy 3.5 handles all motor control, orientation, and odometry while the OpenMV Cam finds the widest gap ahead and reports its angular position over UART.
<img src="autonomous-rover/images/Rover2.png" width="480">
The detection algorithm identifies the largest contiguous horizontal gap in a Canny edge map, finds its center of mass, and converts it to an angle within the camera's field of view. The Teensy then uses a VL53L0X TOF sensor and BNO055 IMU to execute the turn and track distance traveled before requesting the next frame analysis.
**Hardware:**
- OpenMV Cam (vision + UART)
- Teensy 3.5 (motion control, odometry)
- VL53L0X TOF sensor (close-range fallback distance)
- BNO055 IMU (turn control)
- Tracked aluminum chassis with Hall effect odometry sensors
- Adafruit Motor Shield V2
================================================
FILE: robotics/autonomous-rover/README.md
================================================
# Teensy 3.5/OpenMV Rover
This project was based off a couple of other rover's that I built using multi-sonar sensors for obstacle detection and avoidance. Needless to say they eye sores with everything hanging off the platform. For many years wanted to do something with machine vision but most of the papers and projects used stereo vision vs monocular vision. This also required you to send back to the PC the image to process and then send the commands back. I wanted to keep the whole system closed on the rover platform with the need for any desktop software. That's where the OpenMV camera came into play. Forgot how I found out about it but when I saw it I knew I was going to start another project.
About the same time I found another project that used a web camera and OpenCV to identify objects and associated avoidance code. Peter Neal of [Big Face Robotics](https://bigfacerobotics.wordpress.com/2014/12/18/obstacle-detection-using-opencv/) describes the process as follows:
> The method I am using involves capturing an image, converting it to grayscale, blurring it slightly
and then using canny edge detection to highlight the edges in the image. Using the edge detected image, starting from the left and moving
along the width of the image in intervals, I scan from the bottom of the image until I reach a pixel that is white, indicating the first
edge encountered. I am left with an array that contains coordinates of the first edges found in front of the robot. Using this array, I
then look for changes in the direction of the slope of the edges that may indicate an object is present. At the moment I am ignoring
anything in the top half of the image as anything found here will probably be far enough away from the robot to not be too concerned
about. This will change depending on the angle of the head. If the head is looking down towards the ground, obviously everything in the
scene may be of interest. With the changes of slope found, I then scan in both directions to try and find the edge of the object,
indicated by a sharp change in values in the array of nearest edges.
With the help of Nyamekye over at OpenMV I was able to implement a similar method. Instead of changing the head angle, as Mr. Neal does, I determined the center position of large gaps (you can specify the gap size in pixels in the code) and found the center point. Using this I was able to determing the angluar position in the FOV and then transmitted over the OpenMV UART to the Teensy 3.5 which does the rest. I did add WiFi capabality to send the images but it slows the frame rate down too much. The results of this process is illustrated in following figure:
Now for the Rover design itself. I used an off the shelf tracked chasis that I picked up off ebay quite a while ago. Couldn't find the link to the exact one that i am using but a similar one is still available, http://www.ebay.com/itm/Tracked-Robot-Smart-Car-Platform-Aluminum-alloy-Chassis-with-Dual-DC-9V-Motor-/282615264298?hash=item41cd2eb42a:g:~FQAAOSw3ntZkVza . One of the nice things about the chasis is that it had a Hall Effector Sensor that I could use for odometry. A little different than the quad encoders but usuable.
Angular information is passed to the T3.5 which does the Obstacle avoidance stuff. It uses a single VL53L0X TOF sensor for distance measures, a BN055 for orientation which is used for turn control once the obstacle free direction is picked, a RC TX/Receiver and a RF module for telemetry and commands. As in my other project it has an odometry module for relative tracking based on the hall effect sensors on the motors (fixed the errors in my other code). It also has a manual mode for just sending motor commands. The odometry module receives manual commands individually in the format fx, bx, ly,ry where x is distance you want to travel in cm's and y is the relative angle you want to turn. I also use odometry once a direction is picked by the detection algorithm and then move half that distance before another round of image analysis is performed.
The whole thing is powered from a single 7.4 battery. For power to the OpenMV camera the battery power goes to a 3.3v Pololu regulator.
I designed custom break out board for the T3.5 so it would fit on a Arduino Mega type foot print with a custom IO board where I break out where i can mount Arduino break out boards. In this case i use a Adafruit Motor Shield V2 to control the motors and a breadboard shield to hold a Adafruit TSL2561 light sensor.
If the camera can not see an edge, can happen if it gets too close to walls the obstacle avoidance algorith Tuses a modified vfh/bubble alogithm is the camera can not detect edge which relies on the VL53 sensor to get distances.
To see it in action check the video out, https://photos.app.goo.gl/JIc3378SOzJR2bSn1. Discussion of the process and challenges can be seen in the OpenMV forum.
Source Code and this readme is found on the TeensyOpenMV github page: https://github.com/mjs513/TeensyOpenMV
Here are a couple of screen shots of the rover:
1. http://forums.openmv.io/viewtopic.php?f=5&t=276
2. http://forums.openmv.io/viewtopic.php?f=6&t=393
================================================
FILE: robotics/donkey-car/README.md
================================================
# Donkey Self-Driving Car
This instructable shows off how to create a [DIY Robocar](https://diyrobocars.com/) forked off of the ["Donkey"](http://www.donkeycar.com/) Self-Driving car platform using the OpenMV Cam instead of the RaspberryPi. You can see the car in action in this video [here](https://youtu.be/Pm88BEz3upM).
## Parts
The OpenMV Cam Donkey Car is designed to be easy to build out of parts that you can buy online and assemble together with basic tools. Below is the list of essential parts you'll need to build the self-driving car.
Part Description | Part Link | Part Count | Part Cost
---------------- | --------- | ---------- | ---------
1/16 2.4Ghz Exceed RC Magnet Car<br /> | https://www.amazon.com/2-4Ghz-Exceed-RC-Magnet-Electric/dp/9269803775 | 1 | $79.95
Magnet Car Base Plate<br /> | https://www.shapeways.com/product/6YD3XR9ND/magnet-car-base-plate<br /><br />You can download the STL file for this part [here](download/Magnet_Plate_v7.stl).<br /><br />*Magnet Base Plate by Adam Conway*. | 1 | $55.10
Magnet Car Roll Cage</br > | https://www.shapeways.com/product/74VXFV7AT/magnet-car-roll-cage<br /><br />You can download the STL file for this part [here](download/Magnet_Roll_Cage_v2.stl).<br /><br />*Magnet Car Roll Cage by Adam Conway*. | 1 | $66.92
OpenMV Cam Donkey Mount<br /> | https://www.shapeways.com/product/G7YQBUMRC/openmv-cam-donkey-mount<br /><br />You can download the STL file for these parts [here](download/OpenMV_Donkey_Mount.stl).<br /><br />*OpenMV Cam Donkey Mount by Chris Anderson*. | 1 | $21.18
M2 Machine Screw Set<br /> | https://www.amazon.com/Glarks-280-Pieces-Phillips-Stainless-Assortment/dp/B01G0KRGXC | 1 | $11.89
M3 35mm Machine Screws<br /> | https://www.amazon.com/M3-3mm-0-50-Stainless-MonsterBolts/dp/B016YZTEB0 | 1 | $4.00
M3 Machine Screw Nuts<br /> | https://www.amazon.com/M3-0-5-3mm-Metric-Stainless-MonsterBolts/dp/B01528BPIU | 1 | $3.49
30 CM Servo Lead Extension Assemblies<br /> | http://hobbyking.com/en_us/30cm-servo-lead-extention-jr-with-hook-26awg-5pcs-bag-1.html | 1 | $1.39
OpenMV Cam M7<br /> | https://openmv.io/products/openmv-cam-m7<br /><br />Note: You will need a soldering iron and solder to attach the pin headers for this part. | 1 | $65.00
OpenMV Cam Servo Shield<br /> | https://openmv.io/products/servo-shield<br /><br />Note: You will need a soldering iron and solder to attach the pin headers for this part. | 1 | $15.00
Zip Ties<br /> | https://www.amazon.com/Cable-Zip-Ties-Fastening-Organization/dp/B01LPOB2JW | 1 | $9.99
Micro USB Cable<br /> | https://www.amazon.com/AmazonBasics-USB-Male-Micro-Cable/dp/B01EK87T9M | 1 | $5.99
**Sub-Total $339.90** - However, if you can 3D print parts it's significantly cheaper to build the robocar. You may also have some of the above parts lying around (like the Micro USB cable).
While the above parts list is all you need you may wish to instead control your robocar's servos using the below parts for an arduino based servo controller board which will allow you to control your robot remotely using the RC transmitter that comes with the magnet car. You don't need the servo shield above if you build your car using the below components. **I HEAVILY RECOMMEND THAT YOU BUY THE PARTS FOR THE ARDUINO SERVO SHIELD SO THAT YOU CAN CONTROL YOUR ROBOCAR THROTTLE REMOTELY. YOU WILL LIKELY IMMEDIATELY DAMAGE YOUR ROBOCAR WITHOUT IT BY ACCIDENTALLY DRIVING INTO A WALL!**
Part Description | Part Link | Part Count | Part Cost
---------------- | --------- | ---------- | ---------
5V 16 MHz Arduino Pro Mini<br /> | https://www.amazon.com/Arducam-Atmega328-Development-Compatible-Arduino/dp/B01981EBBA | 1 | $6.49
Arduino Pro Mini Programmer<br /> | https://www.amazon.com/Micro-Basic-Breakout-Module-Arduino/dp/B00N4MCS1A | 1 | $9.95
Servo Controller Board<br /> | https://oshpark.com/shared_projects/2bKUWmbq<br /><br />You can download the Gerber files for this part [here](https://644db4de3505c40a0444-327723bce298e3ff5813fb42baeefbaa.ssl.cf1.rackcdn.com/ab7a7db45c3c6b37bcca1d8fc84e26e4.zip).<br /><br />*Servo Controller Board by Chris Anderson*. | 1 | $10.50
Male Headers<br /> | https://www.amazon.com/SamIdea-15-Pack-Straight-Connector-Prototype/dp/B01M9FCAXW<br /><br />Note: You will need a soldering iron and solder to attach these pin headers to the above PCB. | 1 | $5.69
8-pin Stackable Headers<br /> | https://www.amazon.com/Venel-Electronic-Component-Stackable-Shields/dp/B071454KP1<br /><br />Note: You will need a soldering iron and solder to attach these pin headers to the above PCB. | 1 | $5.08
RC Receiver Servo Adapters<br /> | https://www.amazon.com/Hobbypower-Futaba-Servo-Extension-Cable/dp/B00RVDVWTC | 1 | $4.49
**Sub-Total $42.20** - You may have some of the above parts lying around.
In addition to all of the above I **strongly** recommend that your purchase a wide angle lens for your OpenMV Cam. With the wide angle lens it's much easier for your self-driving car to make tight turns and not lose sight of the road ahead. Without it you *will* have to reduce your maximum speed in-order to make tight turns.
Part Description | Part Link | Part Count | Part Cost
---------------- | --------- | ---------- | ---------
OpenMV Cam Wide Angle Lens<br /> | https://openmv.io/products/ultra-wide-angle-lens | 1 | $15.00
**Sub-Total $15.00**
Moving on, for better performance I recommend that you purchase LiPo batteries, adapters, and a LiPo charger. The NiMh battery that comes with the Magnet Car will quickly run out of power making it hard for you to test for hours before a race on the same day.
Part Description | Part Link | Part Count | Part Cost
---------------- | --------- | ---------- | ---------
Turnigy 1300mAh 2S 20C LiPo Pack<br /> | http://hobbyking.com/en_us/turnigy-1300mah-2s-20c-lipo-pack-suit-1-18th-truck.html | 3 | $10.03
Tamiya Mini Female to XT60 Male Adapters<br /> | http://hobbyking.com/en_us/female-mini-tamiya-gt-male-xt60-3pcs-bag.html | 1 | $3.36
Turnigy E3 Compact 2S/3S Lipo Charger<br /> | http://hobbyking.com/en_us/turnigy-e3-compact-2s-3s-lipo-charger-100-240v-us-plug.html | 1 | $12.35
**Sub-Total $45.77**
Finally, for wireless programming I recommend that you purchase a WiFi shield for the OpenMV Cam. With the WiFi shield you'll be able to comfortably test your self-driving car from one position versus having to follow your car around tethered by a USB cable.
Part Description | Part Link | Part Count | Part Cost
---------------- | --------- | ---------- | ---------
OpenMV Cam WiFi Shield<br /> | https://openmv.io/products/wifi-shield | 1 | $35.00
*Note, as of 8/15/2017 wireless programming has not yet been implemented for the OpenMV Cam but it is coming soon.*
**Sub-Total $35.00**
## Assembly
Once you've purchased and received all the parts you want for your DIY Robocar above you can now build it.
small.jpg "Parts")
Note that you're going to need an exacto knife, a philips screw driver, pliers, a soldering iron, and some solder.
small.jpg "Tools")
### Step 1 - Clean up parts:
Your 3D printed parts are most-likely going to need some cleanup. Using the extaco knife remove any burs on the 3D printed parts and cleanout any excess material in any of the holes in the 3D printed parts. In particular, you're going to want to make sure to clear out material left over in the slots on the sides of the roll bar.
small.jpg "De-bur")
Next, try to insert the 3D printed OpenMV Cam mount neck part into its holder. The parts are designed to fit snuggly so this takes a bit of work. If you're having trouble try widening the neck holder with a file. Since we want the most height for the camera you just need to get the neck mount in enough to line up the first set of holes.
small.jpg "Insert")
### Step 2 - Assemble the body:
The rollbar mounts to the base plate using three M2 screws and nuts - a pair for each leg on the rollbar. Feel free to use any M2 screw length that fits. Moving on, before mounting the rollbar to the base plate make sure the screw stands on the base plate are facing up. The screw stands are for a Raspberry Pi and a servo controller which we won't be using, but, the screw holes shouldn't be upside down if you want to mount something else on there later on.
small.jpg "Body")
To attach the rollbar to the base plate you need to insert a nut into the slots on either side of the front two rollbar legs (note that the screws are inserted from the bottom of the base plate). You then have to keep the nuts in place while screwing in the M2 screws. Doing this isn't particularly easy. You may wish to use a tool to keep the nuts from spinning in their slots.
small.jpg "Body")
After you've attached both of the front legs to the base plate you can then attach the third back leg. This should be rather easy as you can just press down on the nut from the top to keep it from spinning as you tighten the M2 screw from the bottom.
small.jpg "Last")
Next, attach the OpenMV Cam neck holder mount to the top of the rollbar using four more medium-length M2 screws. Note that this will take some work since the screw holes are unlikely to lineup exactly. I recommend screwing in all four screws only a little bit to get them started first before screwing each one in all the way.
small.jpg "Align")
Moving on, insert one of the long M3 screws in between the neck holder and the neck part's bottom hole. Use an M3 locknut afterwards to tighten the connection to make sure the neck part is stable.
small.jpg "Lock")
Now, attach the OpenMV Cam holder to the top of the neck part and use another long M3 screw and locknut secure the holder in place. Make sure to get the orientation right like in the picture below.
small.jpg "Holder")
Next, remove the plastic hood from your RC car. The hood is held on by four metal pin clips. After removing the hood you should see the guts of your RC car like in the image below. We'll mount the base onto the four posts on your RC car. To secure the base we'll use the same metal clips the hood was held on with. However, we'll have to put some effort into doing this since cutouts on the base to secure the base to the RC car are tight.
small.jpg "Hood")
So first, bend the four metal clips slightly so we can more easily get them through the holes in the mounting stands after we've attached the base.
small.jpg "Clip")
Afterwards, cut away material using your exacto knife from the groves in the base to make space for the metal pins to go through the stand holes.
small.jpg "Exacto")
Finally, push each pin through each stand hole to firmly attach the base to the RC Car.
small.jpg "Attach")
Once you've finished this your car should look like this below.
small.jpg "Done")
### Step 3 - Assemble the head:
Now we're going to assemble the OpenMV Cam head of your Robocar. First, remove the lens mount from your OpenMV Cam using a screw driver and clean off the camera IC under the lens mount using some isopropyl alcohol and a Q-Tip. Make sure to get off any dirt and don't leave any fibers on the camera IC.
small.jpg "Clean-up")
Then reattach the lens mount. Next, we need to solder the pin headers onto the OpenMV Cam that it comes with. Using a soldering iron attach the two 8-pin headers on each side of the camera so that the 8-pin header legs are sticking out the back of the OpenMV Cam.
small.jpg "Legs")
Finally, if you bought the wide angle lens above replace the lens that your OpenMV Cam comes with the wide angle lens.
small.jpg "Lens")
Next, let's build up the servo shield for your OpenMV Cam so that it can control the RC car.
small.jpg "Shield")
You need to solder on the two 8-pin headers on either side of the servo controller board with the pin legs facing down. Then, solder on the two servo connection headers. The plastic parts on each header should be vertical and not flat against the servo controller board.
small.jpg "Soldered")
If you bought a WiFi shield let's build that up too. Solder the two 8-pin headers it came with on either side of it with the legs facing down.
small.jpg "WiFi")
Finally, let's stack everything up. You can mount shields on the OpenMV Cam from either the top or bottom of the board. But, let's put the WiFi shield on the bottom of the OpenMV Cam and the servo shield on the top.
small.jpg "Stack")
### Step 4 - Putting it together:
Attach the OpenMV Cam using it's two screw mounting holes to the OpenMV Cam mount on the top of the robocar body. To give ourselves more freedom we're mounting the OpenMV Cam upside down. You'll be able to un-rotate the OpenMV Cam's field of view in software.
small.jpg "Mounting")
Next, using the servo extension headers attach channels 0 and 1 from the servo shield to the throttle and steering servo wires respectively. Make sure to thread the servo extension wires through the hole in the base plate. Also, use the zip ties to tie down all your wires so they aren't swaying everywhere. You don't want your robocar accidentally destroying itself by running over one of its wires. Your car should like the picture below once done.
small.jpg "Controller")
Finally, put the black tube that comes with your RC Car over the antenna to protect the antenna.
small.jpg "Antenna")
If you bought the LiPo battery upgrade parts let's install those next. First, attach the XT60 adapters to each LiPo battery.
small.jpg "Adapters")
Then, replace the NiMh battery on your RC car with one of the LiPo batteries. Make sure to place the battery with the wires going towards the front of the car like in the picture below.
small.jpg "Lipo")
After your done it should look like the picture below.
small.jpg "Done")
**LAST, MAKE SURE TO MOVE THE JUMPER ON YOUR ESC TO THE LIPO POSITION TOO!**
small.jpg "Danger")
### Step 5 - Installing the software:
Because you're using the OpenMV Cam this is going to be the easiest part. Download OpenMV IDE from [here](https://openmv.io/pages/download) and install it on your laptop. Once that's done attach the micro USB cable to your OpenMV Cam and to your laptop.
small.jpg "OpenMV_Cam")
Next, launch OpenMV IDE and hit the connect button the bottom left hand corner of the IDE. After doing so OpenMV IDE should display on the bottom right hand corner that your OpenMV Cam's firmware is out-of-date.
.png "Update")
Click on the text and walk through the dialog to update your OpenMV Cam's firmware. When OpenMV IDE asks you if you want to erase the OpenMV Cam's flash drive select yes. Afterwards, OpenMV IDE will update your OpenMV Cam's firmware. Note that your OpenMV Cam is unbrickable, so, if anything goes wrong you can recover.
.png "Firmware")
Now that your OpenMV Cam is updated. You need to focus the lens. Please run the hello world script (click the green run arrow) and turn the lens until the picture comes into focus on the frame buffer viewer in OpenMV IDE.
.png "View")
After doing all of this download the code for the robocar [here](https://github.com/openmv/openmv-projects/blob/master/donkey-car/line_follower_main.py) and open the script in OpenMV IDE. How the script works is documented in the comments. Note that you need to set the ``ARDUINO_SERVO_CONTROLLER_ATTACHED`` variable to ``True`` for the OpenMV Cam to output serial data to control the Arduino Servo Controller Shield and ``False`` for the OpenMV Cam to output serial data to control the Servo Controller Shield (the non-Arduino one).
.png "Script")
Finally, once you're done tweaking settings go to ``Tools->Save open script to OpenMV Cam`` and save the script while keeping comments. Then click ``Tools->Reset OpenMV Cam``. You can now disconnect your OpenMV Cam from your laptop and it will run the script by itself. Follow the above two steps each time you want your OpenMV Cam to run the script without the laptop attached to it. For quick testing and debug while your laptop is connected just use the run button and stop button to start and stop the script between edits.
*If you're using the Servo Controller Shield (the non-Arduino one), you also need to copy two scripts from OpenMV IDE to the OpenMV Cam board for things to work. Please go to ``Files->Examples->15-Servo-Shield->pca9865.py`` and save it on your OpenMV Cam's internal flash drive. Additionally, you also need to save ``Files->Examples->15-Servo-Shield->servo.py`` on your OpenMV Cam's internal flash drive. These two steps only need to be done once (You can also get these two scripts from the directory where this README is located).*
### Optional Step 1 - Building the Arduino based Servo Controller:
If you opted to get the Arduino based Servo Controller so you can use your RC controller to act as a kill switch for your robocar (which is a **VERY** good idea) here's how to build it.
small.jpg "Parts")
First, solder up the Arduino Pro Mini like the image below.
small.jpg "Arduino")
Next, solder the Arduino onto the ``123D Circuits`` circuits main board like below. We're trying to mount this onto the back of the OpenMV Cam board so the layout looks a little bit reversed. Just copy what's in the image below.
small.jpg "Controller")
It should look like this on the bottom.
small.jpg "Bottom")
Now, mount the board onto the back of the OpenMV Cam shield stack-up. Note that we don't need the extra length of the board connectors coming out of the back. Feel free to trim them if you like. Or, leave them on to stack more boards. If you decide to leave them on make sure they don't short with each other.
small.jpg "Stack-up")
Finally, let's connect the steering servo to channel (1) on the Arduino, the throttle servo to channel (2), the RC radio receiver steering output to channel (3), and the RC radio receiver throttle output to channel (4). Note that the RC radio receiver's steering output is channel (1) and its throttle output is channel (2). Also, you're going to need to use the short-length female-to-female RC servo wire extension cables and long extension cables to wire up the RC radio receiver to the Arduino Servo Controller board.
small.jpg "Wire")
Once you're finished with all of this your robot should look like this below. Note that you should use the cable ties to clean-up the wiring job.
small.jpg "Done")
### Optional Step 2 - Programming the Arduino based Servo Controller:
Connect the USB to serial adapter to the 6-pin header sticking out of the top on your Arduino Pro Mini. Make sure to connect ``GND`` to ``GND`` and ``DTR`` to ``DTR``. Next, connect the micro USB cable to the USB to serial converter and your laptop.
small.jpg "Programmer")
Install the Arduino IDE from [here](https://www.arduino.cc/en/Main/Software). Download the servo controller code from [here](https://github.com/openmv/openmv-projects/blob/master/donkey-car/servo_controller/servo_controller.ino) and open it using the Arduino IDE. Go to ``Tools->Board`` and select ``Arduino Pro or Arduino Pro Mini`` and ``Tools->Processor`` and select ``Atmega328 (5V, 16Mhz)`` .
.png "Arduino_IDE")
Finally, go to ``Tools->Port`` and select the COM port your USB to serial convert is connected to (it's usually the highest numbered COM port) and then click the upload button (round right arrow). The Arduino IDE should then compile the code and start programming the Arduino Pro Mini. Once it's finished remove the USB to serial converter from your Arduino Pro Mini and your servo controller board will be ready to use.
.png "Arduino_IDE_Done")
The Arduino Servo Controller board allows you to directly control the robot's throttle and steering when the OpenMV Cam isn't running using the RC transmitter. Once the OpenMV Cam starts running and sending commands to the Arduino the Arduino will only drive the steering servo if the RC transmitter is on and will only drive the throttle if the RC transmitter throttle trigger is engaged (either for going forward or backwards). At any time you can use the steering control on the RC transmitter to override the OpenMV Cam steering. Finally, for fully autonomous control just adjust the throttle trim knob on the RC transmitter after turning it on with the throttle trim knob set to zero. Make sure to set the throttle trim knob back to zero after turning off the RC transmitter.
## How does the robocar follow the line?
The OpenMV Cam uses linear regression to detect where the line is and then follow it. With the OpenMV Cam the machine vision part is simple. Most of the work the script the OpenMV Cam is running has to do with turning the line detection into servo outputs to control the robocar. You can read more about what's going on at the blog post [here](https://openmv.io/blogs/news/linear-regression-line-following).
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gitextract_ouy8kveg/
├── .gitattributes
├── .gitignore
├── LICENSE
├── README.md
├── robotics/
│ ├── README.md
│ ├── autonomous-rover/
│ │ └── README.md
│ └── donkey-car/
│ ├── README.md
│ ├── download/
│ │ ├── Magnet_Plate_v7.stl
│ │ ├── Magnet_Roll_Cage_v2.stl
│ │ └── OpenMV_Donkey_Mount.stl
│ ├── line_follower_main.py
│ ├── pca9685.py
│ ├── servo.py
│ └── servo_controller/
│ └── servo_controller.ino
└── tools/
├── README.md
├── ccm-tuning/
│ ├── README.md
│ ├── ccm_tuning_on_cam.py
│ └── ccm_tuning_on_pc.py
├── genx320-event-streaming/
│ ├── README.md
│ ├── genx320_event_mode_streaming_on_cam.py
│ ├── genx320_event_mode_streaming_on_pc.py
│ └── genx320_raw_event_mode_streaming_on_cam.py
├── genx320-overlay-calibration/
│ ├── README.md
│ ├── genx320_overlay_calibration_on_cam.py
│ └── genx320_overlay_calibration_on_pc.py
└── thermal-overlay-calibration/
├── README.md
├── thermal_overlay_calibration_on_cam.py
└── thermal_overlay_calibration_on_pc.py
SYMBOL INDEX (100 symbols across 12 files)
FILE: robotics/donkey-car/line_follower_main.py
function constrain (line 121) | def constrain(value, min, max):
function steer (line 129) | def steer(throttle, angle):
function figure_out_my_steering (line 152) | def figure_out_my_steering(line, img):
function figure_out_my_throttle (line 181) | def figure_out_my_throttle(steering): # steering -> [0:180]
function set_servos (line 196) | def set_servos(throttle, steering):
FILE: robotics/donkey-car/pca9685.py
class PCA9685 (line 4) | class PCA9685:
method __init__ (line 5) | def __init__(self, i2c, address=0x40):
method _write (line 10) | def _write(self, address, value):
method _read (line 13) | def _read(self, address):
method reset (line 16) | def reset(self):
method freq (line 19) | def freq(self, freq=None):
method pwm (line 30) | def pwm(self, index, on=None, off=None):
method duty (line 37) | def duty(self, index, value=None, invert=False):
FILE: robotics/donkey-car/servo.py
class Servos (line 4) | class Servos:
method __init__ (line 5) | def __init__(self, i2c, address=0x40, freq=50, min_us=600, max_us=2400...
method _us2duty (line 14) | def _us2duty(self, value):
method position (line 17) | def position(self, index, degrees=None, radians=None, us=None, duty=No...
method release (line 32) | def release(self, index):
FILE: tools/ccm-tuning/ccm_tuning_on_cam.py
class BayerChannel (line 54) | class BayerChannel:
method size (line 55) | def size(self):
method shape (line 58) | def shape(self):
method read (line 61) | def read(self, offset, size):
method poll (line 72) | def poll(self):
FILE: tools/ccm-tuning/ccm_tuning_on_pc.py
function list_com_ports (line 80) | def list_com_ports():
function bayer_channel_stats (line 89) | def bayer_channel_stats(bayer_raw, bayer_pattern):
function compute_awb (line 100) | def compute_awb(avg_r, avg_g, avg_b):
function build_bcg_lut (line 117) | def build_bcg_lut(brightness, contrast, gamma):
function process_frame (line 128) | def process_frame(bayer_raw, bayer_pattern, state, lut=None):
function compute_homography (line 185) | def compute_homography(src, dst):
function camera_worker (line 200) | def camera_worker(args, state_lock, state, frame_q, stop_evt):
function str2bool (line 314) | def str2bool(v):
function parse_args (line 324) | def parse_args():
function run_benchmark (line 359) | def run_benchmark(args):
function main (line 453) | def main(args=None):
FILE: tools/genx320-event-streaming/genx320_event_mode_streaming_on_cam.py
function read_available (line 49) | def read_available():
function write_available (line 56) | def write_available():
class EventChannel (line 67) | class EventChannel:
method size (line 68) | def size(self):
method read (line 73) | def read(self, offset, size):
method poll (line 85) | def poll(self):
FILE: tools/genx320-event-streaming/genx320_event_mode_streaming_on_pc.py
function _rgb565_to_rgb888 (line 127) | def _rgb565_to_rgb888(table565):
function _canvas_to_texture (line 151) | def _canvas_to_texture(canvas_u8, color_mode):
function _draw_freq_legend (line 164) | def _draw_freq_legend(tag, dh, min_freq, max_freq, use_log, n_bins):
function _make_freq_legend_pil (line 211) | def _make_freq_legend_pil(height, min_freq, max_freq, use_log, n_bins):
function list_com_ports (line 246) | def list_com_ports():
function _make_freq_lut (line 258) | def _make_freq_lut():
function _freq_filter_coeffs (line 272) | def _freq_filter_coeffs(cutoff_period):
function _update_freq_cam (line 294) | def _update_freq_cam(xs, ys, pols, ts_f,
function _freq_to_texture (line 357) | def _freq_to_texture(fc_per, fc_t_ud, fc_t_du, t_now, n_timeout, min_fre...
function patch_script (line 412) | def patch_script(script, csi_fifo_depth, evt_fifo_depth, evt_res, raw_mo...
function decode_raw_events (line 447) | def decode_raw_events(buf, time_high_ref):
function camera_worker (line 531) | def camera_worker(args, state_lock, state, event_q, stop_evt):
function processing_worker (line 654) | def processing_worker(state_lock, state, raw_q, result_q, stop_evt,
function str2bool (line 786) | def str2bool(v):
function parse_args (line 796) | def parse_args():
function run_benchmark (line 831) | def run_benchmark(args):
function main (line 933) | def main(args=None):
FILE: tools/genx320-event-streaming/genx320_raw_event_mode_streaming_on_cam.py
class RawEventChannel (line 101) | class RawEventChannel:
method size (line 103) | def size(self):
method shape (line 106) | def shape(self):
method read (line 109) | def read(self, offset, size):
method poll (line 119) | def poll(self):
FILE: tools/genx320-overlay-calibration/genx320_overlay_calibration_on_cam.py
class MainChannel (line 51) | class MainChannel:
method size (line 52) | def size(self):
method shape (line 55) | def shape(self):
method read (line 58) | def read(self, offset, size):
method poll (line 69) | def poll(self):
class GenX320Channel (line 73) | class GenX320Channel:
method size (line 74) | def size(self):
method shape (line 77) | def shape(self):
method read (line 80) | def read(self, offset, size):
method poll (line 91) | def poll(self):
FILE: tools/genx320-overlay-calibration/genx320_overlay_calibration_on_pc.py
function rgb565_to_rgb888 (line 66) | def rgb565_to_rgb888(data, w, h):
function gray_to_rgb888 (line 75) | def gray_to_rgb888(data, w, h):
function to_dpg_rgba (line 81) | def to_dpg_rgba(rgb888):
function patch_script (line 94) | def patch_script(script, main_res, main_pixfmt):
function camera_worker (line 119) | def camera_worker(args, state_lock, state, frame_q, stop_evt):
function parse_args (line 233) | def parse_args():
function list_com_ports (line 258) | def list_com_ports():
function run_benchmark (line 266) | def run_benchmark(args):
function main (line 331) | def main(args=None):
FILE: tools/thermal-overlay-calibration/thermal_overlay_calibration_on_cam.py
class MainChannel (line 55) | class MainChannel:
method size (line 56) | def size(self):
method shape (line 59) | def shape(self):
method read (line 62) | def read(self, offset, size):
method poll (line 73) | def poll(self):
class LeptonChannel (line 77) | class LeptonChannel:
method size (line 78) | def size(self):
method shape (line 81) | def shape(self):
method read (line 84) | def read(self, offset, size):
method poll (line 95) | def poll(self):
FILE: tools/thermal-overlay-calibration/thermal_overlay_calibration_on_pc.py
function rgb565_to_rgb888 (line 76) | def rgb565_to_rgb888(data, w, h):
function gray_to_rgb888 (line 85) | def gray_to_rgb888(data, w, h):
function to_dpg_rgba (line 91) | def to_dpg_rgba(rgb888):
function patch_script (line 104) | def patch_script(script, main_res, lepton_res, main_pixfmt, lepton_pixfm...
function camera_worker (line 139) | def camera_worker(args, state_lock, state, frame_q, stop_evt):
function parse_args (line 258) | def parse_args():
function list_com_ports (line 284) | def list_com_ports():
function run_benchmark (line 292) | def run_benchmark(args):
function main (line 360) | def main(args=None):
Condensed preview — 28 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (758K chars).
[
{
"path": ".gitattributes",
"chars": 33,
"preview": "*.mp4 !text !filter !merge !diff\n"
},
{
"path": ".gitignore",
"chars": 518,
"preview": "# Claude session folder\n.claude/\n\n# Python cache\n__pycache__/\n*.pyc\n\n# CCM tuner generated output files\nccm_frame_*.bmp\n"
},
{
"path": "LICENSE",
"chars": 1063,
"preview": "MIT License\n\nCopyright (c) 2017 OpenMV\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof "
},
{
"path": "README.md",
"chars": 4139,
"preview": "[](https://gith"
},
{
"path": "robotics/README.md",
"chars": 2209,
"preview": "# OpenMV Robotics Projects\n\nComplete robotics builds that use the OpenMV Cam as the primary perception system. The camer"
},
{
"path": "robotics/autonomous-rover/README.md",
"chars": 5376,
"preview": "# Teensy 3.5/OpenMV Rover\n\nThis project was based off a couple of other rover's that I built using multi-sonar sensors f"
},
{
"path": "robotics/donkey-car/README.md",
"chars": 23914,
"preview": "# Donkey Self-Driving Car\n\nThis instructable shows off how to create a [DIY Robocar](https://diyrobocars.com/) forked of"
},
{
"path": "robotics/donkey-car/download/OpenMV_Donkey_Mount.stl",
"chars": 402779,
"preview": "solid stl_item0\n facet normal 1 0 0\n outer loop\n vertex 61 -57 20\n vertex 61 -60 20\n vertex 61 -59.09"
},
{
"path": "robotics/donkey-car/line_follower_main.py",
"chars": 13438,
"preview": "# This file is part of the OpenMV project.\n# Copyright (c) 2013-2017 Ibrahim Abdelkader <iabdalkader@openmv.io> & Kwaben"
},
{
"path": "robotics/donkey-car/pca9685.py",
"chars": 1894,
"preview": "import utime\nimport ustruct\n\nclass PCA9685:\n def __init__(self, i2c, address=0x40):\n self.i2c = i2c\n se"
},
{
"path": "robotics/donkey-car/servo.py",
"chars": 1159,
"preview": "import pca9685\nimport math\n\nclass Servos:\n def __init__(self, i2c, address=0x40, freq=50, min_us=600, max_us=2400, de"
},
{
"path": "robotics/donkey-car/servo_controller/servo_controller.ino",
"chars": 7499,
"preview": "// This file is part of the OpenMV project.\n// Copyright (c) 2013-2017 Ibrahim Abdelkader <iabdalkader@openmv.io> & Kwab"
},
{
"path": "tools/README.md",
"chars": 4972,
"preview": "# OpenMV PC Tools\n\nDesktop GUI applications that pair with an OpenMV Cam over USB serial. Each tool runs a companion Mic"
},
{
"path": "tools/ccm-tuning/README.md",
"chars": 7874,
"preview": "# CCM Tuning GUI for OpenMV N6\n\nA PC-side GUI tool for tuning the Color Correction Matrix (CCM) and related ISP paramete"
},
{
"path": "tools/ccm-tuning/ccm_tuning_on_cam.py",
"chars": 2216,
"preview": "# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights reserved.\n# https://gith"
},
{
"path": "tools/ccm-tuning/ccm_tuning_on_pc.py",
"chars": 46244,
"preview": "#!/usr/bin/env python3\n#\n# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights"
},
{
"path": "tools/genx320-event-streaming/README.md",
"chars": 8874,
"preview": "# GenX320 Event Streaming\n\nA PC-side GUI for streaming and visualizing events from a Prophesee GenX320 event camera sens"
},
{
"path": "tools/genx320-event-streaming/genx320_event_mode_streaming_on_cam.py",
"chars": 3022,
"preview": "# This work is licensed under the MIT license.\n# Copyright (c) 2013-2025 OpenMV LLC. All rights reserved.\n# https://gith"
},
{
"path": "tools/genx320-event-streaming/genx320_event_mode_streaming_on_pc.py",
"chars": 71684,
"preview": "#!/usr/bin/env python3\n#\n# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights"
},
{
"path": "tools/genx320-event-streaming/genx320_raw_event_mode_streaming_on_cam.py",
"chars": 4433,
"preview": "# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights reserved.\n# https://gith"
},
{
"path": "tools/genx320-overlay-calibration/README.md",
"chars": 6763,
"preview": "# GenX320 Overlay Calibration\n\nA PC-side GUI that streams a color frame and a 320×320 grayscale histogram frame from the"
},
{
"path": "tools/genx320-overlay-calibration/genx320_overlay_calibration_on_cam.py",
"chars": 2971,
"preview": "# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights reserved.\n# https://gith"
},
{
"path": "tools/genx320-overlay-calibration/genx320_overlay_calibration_on_pc.py",
"chars": 48139,
"preview": "#!/usr/bin/env python3\n#\n# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights"
},
{
"path": "tools/thermal-overlay-calibration/README.md",
"chars": 6377,
"preview": "# Thermal Overlay Calibration\n\nA PC-side GUI that streams a color frame and a FLIR Lepton thermal frame simultaneously f"
},
{
"path": "tools/thermal-overlay-calibration/thermal_overlay_calibration_on_cam.py",
"chars": 3037,
"preview": "# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights reserved.\n# https://gith"
},
{
"path": "tools/thermal-overlay-calibration/thermal_overlay_calibration_on_pc.py",
"chars": 46944,
"preview": "#!/usr/bin/env python3\n#\n# This work is licensed under the MIT license.\n# Copyright (c) 2013-2026 OpenMV LLC. All rights"
}
]
// ... and 2 more files (download for full content)
About this extraction
This page contains the full source code of the openmv/openmv-projects GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 28 files (710.5 KB), approximately 254.0k tokens, and a symbol index with 100 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.