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OpenMV

Python-powered machine vision modules

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This project was created on 06/03/2014 and last updated 2 days ago.

Description
The OpenMV project is a low-cost, extensible, Python-powered machine vision modules, that aims at becoming the Arduino of machine vision...

When I started this project, about a year ago, I was very disappointed with proprietary, overpriced, limited serial cameras/machine vision modules available to makers and hobbyists, so I decided to build better ones...

A few months later, the first OpenMV was born, It was able to do basic image processing algorithms and later more advanced stuff (face detection, key points extraction, template matching etc..).

The camera was programmable in C, and had a simple serial protocol and SPI/I2C/PWM..but I wanted to make it really easy and fun, so I used MicroPython to script the camera and I wrote an IDE that can view the frame buffer, run scripts or upload them to the camera...

Currently, I'm working on the second OpenMV, it's based on the same stuff, but will address a few issues with the first one, specifically, more Mhz and lots of RAM :)
Details

Features:

  • Scriptable in Python3.
  • Sub-$15 BOM/1000's including 4-layer PCB (OpenMV1).
  • On board uSD or internal flash storage for storing scripts/images/video.
  • 2MP RGB/YUV/JPEG sensor (OV2640).
  • Recording/Streaming MJPEG: to SD or via external WiFi shield.
  • Extension Header: breaks UART/PWM/SPI/I2C
  • Friendly IDE: upload/execute scripts, upload templates, view the framebuffer.
  • 16MB SDRAM:  on-board enables uClinux to run on OpenMV2
  • Image processing:
    • Viola-jones object detection (comptatible with OpenCV's cascades)
    • Template matching with NCC (normalized cross correlation) 
    • FAST/FREAK: keypoint detector/descriptor and matching.
    • Misc: RGB->LAB CLUT, kmeans clustering, histogram, median filter, scaling, sub-image and blitting, alpha blending.

The Hardware:

  • MCU: The MCU I choose is the STM32F4xx, an ARM Cortex-M4 micro running at 168-180MHz. It has a single precision FPU, DSP capabilities and a DCMI (Digital Camera Interface). Having a hardware camera interface along with the FPU/DSP made this particular MCU a perfect match for the project.
  • PCB: A 4-layer PCB is used, which costs more but much better signal integrity/EMI wise, especially when both sides have components and not much reference planes left over, plus, using 4-layers made it possible to fit everything on a 1.0x1.3 inches board. Prototypes are all done by OSHPark.
  • Image Sensor: OpenMV1 supports many single package lens/sensors, such as the OV965x(1.3MP), OV2640(2MP/JPEG). Using a single package sensor allows experimenting with different sensors easily. OpenMV2 supports only the OV2640 with an external lens.
  • Debugging/Firmware update: The serial wire debugging (SWD) is broken out on a 2.00mm header, and the DFU is easily accessible to upload new firmware images via USB. 
  • I/O Expansion: The main 2.54mm header breaks SPI, I2C, USART and PWM, for example, an SPI LCD viewing the framebuffer (the LCD driver is written completely in Python):
  • Wireless expansion:  I designed WiFi shields based on the CC3K module from TI, for OpenMV1/2. The camera can stream MJPEG to compatible browsers, and here's a custom Android demo viewing the camera stream from my phone, the CC3K module is fast enough (54Mbps) to stream live video from the camera:

The Software:

OpenMV uses a lot of cool SW, for example, ChaN's FatFS, CC3K SDK, ARM's DSP/Math libraries etc.. And of course it's completely programmable in Python 3! Yes, you can write Python scripts that have access to peripherals (SPI/I2C/UART), uSD, wireless, and of course the image processing code.

The IDE:

OpenMV also has a nice IDE that I made with Python/Glade/PyGTK. The IDE has syntax highlighting, it can upload or run scripts on the camera, view the framebuffer, and can even help with some image processing tasks, for example using the IDE you can upload templates to the camera for template matching:

I plan on extending the IDE with more features, to communicate with the camera using sockets when WiFi shields are connected, this way the IDE will have remote access to the camera to stream images or upload scripts over the air.

OpenMV2:

The second OpenMV uses the newer STM32F429 runing at 180MHz, with more built-in SRAM, external 16MB SDRAM, external lens for the sensor, 2xIR LEDs, 2xServo headers and 20 I/Os.. see full specs below:

OpenMV1 Specs:

  • Processor: STM32F407 (168MHz)
  • Features: FPU/DSP/DCMI
  • RAM:196KB SRAM
  • Flash: 512KBs
  • Sensor: OV965x(1.3MP)/OV2640(2MP/JPEG)
  • I/O: USART/SPI/I2C/PWM
  • USB 2.0 FS
  • uSD interface: SPI
  • Power consumption: 120 mA
  • Dimensions: 1.0" x 1.3"

OpenMV2 Specs:

  • Processor: STM32F429 (180MHz)
  • Features: FPU/DSP/DCMI/2D Acceleration
  • RAM:256KB SRAM/16MB SDRAM(up to 64MB)
  • Flash: 2MB
  • Sensor: OV2640(2MP/JPEG)
  • 2x IR LEDS 
  • 2x Servo headers
  • 20 I/Os: USART/SPI/I2C/PWM
  • USB 2.0 FS
  • uSD interface: SDIO (4-bit mode)
  • Power consumption: TBD
  • Dimensions: 1.6" x 2.0"

Project logs
  • OpenMV1 Prototypes

    5 days ago • 0 comments

    We're making a small batch of OpenMV1 prototypes for beta testing, if anyone's interested, they're available now for preorder on Tindie:

    https://www.tindie.com/products/bot_thoughts/openmv-cam/

    We're only making a few of them (10-30) so the costs are higher, hopefully there will be a bigger run in the future.

  • OpenMV on Quadcopter

    8 days ago • 1 comment

    Just got my hands on a small quad, I was think this would be the perfect application for a tiny camera like OpenMV, now all I need is an open place to record some videos from the quad :)

  • FAST/FREAK Keypoint Detection

    10 days ago • 1 comment

    Feature/Keypoints detection is a very interesting and useful tool to have around when doing image processing,  it has endless applications from tracking objects, matching and searching images to more advanced stuff...So far I've been using SURF for this, but other than being complicated and very resource consuming, the algorithm itself is patented in the US and cannot be used for commercial stuff without a license, in addition to that, the only implementation I could find (libopensurf) is GPL'd..

    So I removed all SURF code from the repo and I'm using this relatively new super fast/lightweight algorithm, called FREAK....Note that FREAK is a keypoint descriptor, so it needs something to find keypoints first, for this I'm using a corner detection algorithm called FAST.

    To give you an idea of what you can do with this FAST/FREAK detector, I made this short video:

View all 18 project logs

Discussions

justinStitches wrote 5 days ago null point

Very cool work. FYI groupgets.com exists to group buy parts and BOMs in case that you can't get on a different platform. We just kicked off a FLIR Thermal Imager campaign here in case you want to a thermal version of openMV: https://www.groupgets.com/campaigns/27#details

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Viper-Gtr wrote 17 days ago null point

Great project! I saw that you used the "MLX90620". How many fps you get with it on the screen?

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i.abdalkader wrote 17 days ago 1 point

About 13-14FPS, this includes reading an RGB image, scaling it to 128x160 (lcd resolution), reading and normalizing temperature data, scaling the IR image and blending with RGB, the final step is writing to LCD.

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Pixel Pirate wrote 20 days ago null point

Really cool project! Perhaps you could squeeze an ARM9 on there and get buildroot running, once you've done that you could run python scripts from the SD card!

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i.abdalkader wrote 19 days ago null point

Thank you.. actually I managed to run uClinux on the big camera, but it's still missing some core drivers, might work on that when I have more time.

http://hackaday.io/project/1313/log/6346-running-uclinux-on-openmv2

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Pixel Pirate wrote 19 days ago null point

Yeah, uClinux is a really stripped down version of Linux, and therefore is limited in what it can do (Plus it's missing a MMU!), so I don't really think it would be suitable for what you're doing.
But if you're willing to mess around with BGA components, you could squeeze a 64MB RAM chip, 400MHz CPU, and 512MB flash chip all in roughly the same area as the 144-LQFP, for around the same price as the uC, too!

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i.abdalkader wrote 19 days ago null point

It has its limitations, but all I need is just a single process running MicroPython with OpenCV bindings and the MCU's built-in flash is enough for a romfs so no need for an external flash... I am willing to do something more powerful, I was actually considering a cortex with a serious SIMD/FPU, but I don't have all the resources I need right now :)

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Pixel Pirate wrote 19 days ago null point

True enough, I've just been 'that guy' recently because I've been experimenting with ARM9's.

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sophi--e wrote a month ago null point

Dude amazing ! i have to build one at some point. Are you open for questions if run into any problems?

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i.abdalkader wrote a month ago null point

sure :)

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visualkev wrote a month ago null point

I have to build one. It looks to be a very cool device. I have ordered some boards from Osh park. I may have missed some details, but the parts list from the schematic does not seem to describe tolerances for the values of the passives nor the value for Y1 nor the type of diodes for D1 and D2. I look forward to using openmv.

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i.abdalkader wrote a month ago 1 point

Some values/tolerances are usually not shown on schematics, because they can change later, but anyway, I will share the most recent BOM in the links section, it has DigiKey part numbers, except for the sensor, which you can get from ebay...

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mistertime wrote a month ago 2 points

Holy frack. I want one.

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Ricky wrote a month ago null point

I would love to build a low cost themal cam if the HW/SW were available

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matej.kupljen wrote a month ago null point

When can we expect the schematics for OpenMV2 to be released? Or are they already available?

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i.abdalkader wrote a month ago null point

Very soon, I just wanted to make sure everything is okay before sharing..

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jay-t wrote a month ago null point

I like the modular concept with the different shields at your project. Where did you get the stackable pin headers from? I have some ideas for building shields for my Parallax Propeller board. But could not find a shop with some stackable pin headers like on your shields.

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i.abdalkader wrote a month ago null point

Sparkfun has them, and you can find them on ebay too.

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PointyOintment wrote a month ago 1 point

DFRobot has them for a few cents, but I don't know if they're good quality. Amazon also has packs of them.

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Millcellon wrote a month ago null point

That's cool ! Actually I am not technical guys . I just wondering that this technology can use to Retail Trade?capturing consuming behavior by camera and helping company to enhance sales.

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i.abdalkader wrote a month ago null point

Possibly, but there might be better ways to do that, like tracking via Bluetooth.

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Jasmine wrote a month ago null point

Hello i.abdalkader, your project info is looking great.

I'd like to remind you that to be considered for the next stage of The Hackaday Prize you must have a video by August 20th. The video should be less than 2 minutes long describing your project. Put it on YouTube (or Youku), and add a link to it on your project page. This is done by editing your project (edit link is at the top of your project page) and adding it as an "External Link".

It would be useful if you could include or link to your system design doc in the project details, just so we don't miss it. Thanks.

Good luck!

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i.abdalkader wrote a month ago null point

Will do, thanks! could you give me more info on the system design doc ? any specific requirements ?

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Jasmine wrote a month ago null point

Sorry for the delayed response. Regarding the system design doc - it doesn't have to be very detailed. We just want to have a visual overview of the project. It will allow us to see how the bits go together, and how it works.

It might be helpful for you to watch Mike's tutorial video which has an example - https://www.youtube.com/watch?v=rTEshQxvTVw

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matt venn wrote a month ago null point

the time between the object appearing in the camera's viewpoint and the data representing the co-ordinates of the matched object appearing on the SPI bus.

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i.abdalkader wrote a month ago null point

The FPS gives a rough estimate for latency, for example, if it's reporting 30FPS+ then it must be processing each frame in less than 33.3ms (way better than 100ms latency which could only mean you were doing 10FPS max), now the exact time varies, depending on the frame size, algorithm etc.. you can time individual functions to find that out and, if needed, optimize the code more to get 10ms, I believe it's doable...anyway, I will do a lot of testing once I have more time, and report more accurate numbers...

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matt venn wrote a month ago null point

Let me know if you ever get round to measuring it - I've found it's quite a different thing to just working out how long each frame takes.

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matt venn wrote 2 months ago null point

in your image processing, will you be able to do blob tracking? And if so, any idea of the FPS output and latency we could expect? I'm interested for a virtual graffiti project where latency is really important with respect to how the system feels. I've never got better than 100ms which is way too slow. I need more like 10ms.

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i.abdalkader wrote a month ago null point

It can easily do 30 FPS, and 60 FPS with small frames, it all depends on the algorithm, frame sizes etc.. but 10ms is probably way too fast, even for the sensor...

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matt venn wrote a month ago null point

Thanks! Got any idea on the latency?

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i.abdalkader wrote a month ago null point

The latency of what exactly ?

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tlankford01 wrote 2 months ago null point

Hello, I am working on an open source uav for anti-poaching. I am using machine vision in my system. I would be interested in possibly using openmv in my build if you were willing to work with our project. Thank you for your consideration.

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i.abdalkader wrote 2 months ago null point

Hi, if you want to build one I can help you with that, but I'm not sure what else I can help you with.

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Martin Simlastik wrote 2 months ago null point

What's the next cool project about? Sounds mysterious :)

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i.abdalkader wrote 2 months ago null point

not a whole new project, just a few new ideas for this one :)

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Adam Fabio wrote 2 months ago null point

This project just keeps getting better with each update! Live streaming via wifi. The FPV pilot in me is wondering how you can get the lag on that one :)
Seriously though - everything is looking great!

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i.abdalkader wrote 2 months ago null point

Streaming is actually pretty fast, as fast as the sensor can go, thanks to JPEG, and I also believe JPEG quality can be changed in real-time to handle lags, that would make for a nice demo for the video :) .. don't miss the coming updates, I'm working on something really cool :) oh, and thank you for all your support :)

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OneShot Willie wrote 2 months ago null point

Wow, That's pretty cool. How hard would it be to detach the lens and detector from the PCB? It'd be neat to be able to fit the lens into different projects, like an arm for a bomb robot, or other such robot...

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i.abdalkader wrote 2 months ago null point

The lens and the lens mount can be detached easily.. by detector I assume you mean the sensor chip ? normally you wouldn't need to detach that, unless you want to replaced it, but you can desolder it with hotair

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Dahlon Lyles wrote 2 months ago null point

Great looking project! If you get this done and mass produced I would love to buy a couple.

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Martin Simlastik wrote 2 months ago null point

Very very nice project!!! All my skulls to you :)

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Clovis Fritzen wrote 2 months ago null point

I would buy it if you Kickstarter!

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OussemaH wrote 2 months ago null point

Keep it up 3abdalKader
I ll be buying 2 of these when you start mass production inshallah (keep me updated if you go with crowdfunding it)

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i.abdalkader wrote 2 months ago null point

Thanks :)

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Gergő Horicsányi wrote 2 months ago null point

This is wonderful! I hope this will be available soon. Keep it up!

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bremenpl wrote 2 months ago null point

Hey great project :). Can you tell me what ide have you used for stm32 developement?

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i.abdalkader wrote 2 months ago 1 point

Thanks, I use vim/arm-gcc/make .

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bremenpl wrote 2 months ago null point

Badass :d

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i.abdalkader wrote 2 months ago null point

I like to live dangerously :D

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pfeffer.marius wrote 2 months ago null point

Some notes from the REV5 Eagle: (hope I can help with that)
1) BOOT0 is permanently pulled to GND, if you place a extra pad (unpopulated 0402 (or similar) which can be shorted with tweezers and pulls BOOT0 to 3V) the embedded usb-dfu bootloader can be used hopefully.
2) I would rather place the battery connector beside the other 100mil connector.
3) D1, D2, D3 & U5 are a bit close the 100 mil connector.

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i.abdalkader wrote 2 months ago null point

1) I think you meant BOOT1 , BOOT0 is pulled low and it's broken out on the 2mm header, so you can access DFU if you short it high with a jumper. but still, good point, someone might need it, I will add a solder jumper, or res footprint for BOOT1.
2) there's no space, plus vbat will have to go all the way down to the main header.
3) will see if I can move them again another 5 or 10 mils, but they are currently outside the header's silk, I assumed it's good enough

BTW, I'm working on R5.1, with some minor fixes, so perfect timing, if you have anything else please let me know, thanks :)

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pfeffer.marius wrote 2 months ago null point

1) Oh, i have overseen that with BOOT0. I think the 2mm header is enough. I'm not sure is BOOT1 will ever be needed.

ok :)

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danial khan wrote 2 months ago null point

good yr ya ap na kaha sa sekha ha mujha bhe sekhao

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ZaidPirwani wrote 2 months ago null point

just one question and sorry if the info is somewhere right here in my face but as I haven't seen it yet... so when and how can I buy it...???

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i.abdalkader wrote 2 months ago null point

Soon, hopefully, will do some testing first, if everything goes well, it might be available through KS.

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Pixel Pirate wrote 2 months ago null point

Wow, you can really cram that stuff in there...

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DD wrote 3 months ago null point

do you think it would be possible to mount C-mount lenses ?
( might just need a mounting ring and removing the existing small one )

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i.abdalkader wrote 3 months ago 1 point

I don't think so, the lens can be removed easily, but there's no space on board for an external one, I'm not worried to much about that, because the point is to keep the small one as cheap as possible, the new one (OpenMV2) has external lens though.

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pierre.lecorre wrote 3 months ago null point

I just deleted my comment by mistake ><, By the way that's great that you consider crowdfunding, have you any idea of when will it be released?

Keep going, your project is great !

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i.abdalkader wrote 3 months ago null point

Thanks :) I'm not sure yet, we'll do a round of testing first, get more feedback, and then see what to do.

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Eric Tsai wrote 3 months ago null point

That's very impressive.

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[deleted]

[this comment has been deleted]

i.abdalkader wrote 3 months ago null point

I am considering it for both cameras, but I wanted to wait and see how this works out first, it's also a good opportunity to get more feedback and more people involved with the project in this early stage.

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tobi wrote 3 months ago null point

how can i get the chip

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i.abdalkader wrote 3 months ago null point

Mouser/Digikey you might also find on ebay/aliexpress.

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regiscruzbr wrote 3 months ago null point

Cool stuff.

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drsmith900 wrote 3 months ago null point

Top stuff. Having used the pixy, I am really looking forward to a board that lets you play around with the image processing software and do more than find colors. The estimated pricing on this thing is very attractive as well! I'm really keen for the next release.

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i.abdalkader wrote 3 months ago null point

Thank you :)

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vcazan wrote 3 months ago null point

This is amazing. Is there any way to buy / make this?

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i.abdalkader wrote 3 months ago null point

no not yet, sorry :) but you can build one if you want, the git repo it has everything you need, rev-4 is the last one I tested.

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gcarlocp wrote 3 months ago null point

I don't know how they do, this seen to be a production cost product http://www.amazon.com/Dash-D140-Unlocked-Dual-Phone/dp/B00FJBFTDS/, $50 phone with 2MP photo, 480p video, 256 MB RAM, 512 MB flash, Cortex-A5 with Mali-400MP and a BATTERY. if you remove touchscreen, GSM components and other stuff you will have a powerful smart-camera. have you thought use a Cortex-A5 with GPU in next version board?

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i.abdalkader wrote 3 months ago null point

yes I have something in mind, but let's see how this works out first.

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0miker0 wrote 3 months ago null point

On the hardware side I was surprised to see the BGA pads on an OSH Park pcb. What size drill hole and pad are you using to dog bone breakout the part? I think 4 layer boards have smaller via/pad sized then regular 2 layer boards.

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i.abdalkader wrote 3 months ago null point

10mil drill, pad size is 0.34x0.34mm I think. OSHPark have better specs now, 10mil drill/4mil restring, 5mil trace, 5mil clearance.

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Christoph wrote 3 months ago null point

This looks great indeed!

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i.abdalkader wrote 3 months ago null point

Thanks :)

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matej.kupljen wrote 3 months ago null point

Is it possible to add a battery for RTC power back-up?
Or at least leave VBAT pin from SoC connected over 0 ohm resistor?

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i.abdalkader wrote 3 months ago null point

there's some space for a small battery holder, I tied VBAT to VDD, but I will find a way to break it out on the next rev

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Adam Fabio wrote 3 months ago null point

Thanks for submitting OpenMV to The Hackaday Prize! You're doing a great job documenting your work for the project. Do you have a few more shots taken from the onboard camera? I'm going to be following this closely - I'd love a low cost simple machine vision solution!

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i.abdalkader wrote 3 months ago null point

Thanks :) I will post more pictures next update

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jarodthelinuxguy wrote 4 months ago null point

I would buy several of these at around $20-30 easily. I've been looking for some reasonable way to install some security cameras around my home, I'd love to be able to see if someone is in my driveway without having to walk all the way upstairs and over to a window...

Wow I sound lazy. But regardless, I'm very impressed, from what I can read it can easily do motion detection, and can save to a microsd, or if the wifi option was chosen (I'd have to have wifi) it could stream live to an android or other device capable, such as a pc, or possibly even to a page on my DD-wrt router.

Even the potential for putting one in my car as a dashcam, or facing the interior to see if anyone messes with it while I'm at work.

Awesome, Keep us posted!!!

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pfeffer.marius wrote 4 months ago null point

Nice project !
I would like to see it with an optional (the camera module on its own can be sold cheaper this way) wireless module on kickstarter or indiegogo :)

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i.abdalkader wrote 4 months ago 1 point

The WiFi/BLE is optional :)

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salmanisheikh wrote 4 months ago null point

Kickstarter?

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i.abdalkader wrote 4 months ago null point

soon! hopefully :)

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Abhi wrote 4 months ago null point

Is it possible to make this module in 20 mega pixel sensor for photogrammetry using multiple. Please advice.

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darkforce314 wrote 4 months ago null point

You can produce this module? If it costs 20-30$ i'll buy 3-4! :)

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i.abdalkader wrote 4 months ago null point

yes, we have the technology :)

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darkforce314 wrote 3 months ago null point

Thanks! I love that type of news!

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Norse wrote 4 months ago null point

This is really cool. I too give you a skull.

I am working on a project that would greatly benefit from something as low cost as this. Are you planning on crowd funding this project in any way? From what I understand you need to mass produce them to hit the $20 price point.

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Neil Jansen wrote 4 months ago null point

If you can pull this off, I'd love to integrate this into our $300 pick and place. It's a perfect match for what we're doing.

Skulled, good luck!

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i.abdalkader wrote 4 months ago null point

Awesome! thanks :) will keep you posted.

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nmz787 wrote 4 months ago null point

What do you think about the new CMU Cam (Pixy) http://www.cmucam.org/projects/cmucam5/wiki/Wiki

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i.abdalkader wrote 4 months ago null point

I think it's cool and all, I didn't get a chance to buy one, but my friend did, and from what I hear, I believe this project has different goals, first of all, it's meant to be a cost effective solution, the first OpenMV costs around $15-20 in bulk, why pay $70 if you just want to detect faces, blobs or just save some snapshots to uSD ?

Secondly, it's meant to be educational and hackable, in the sense that you will have a library of basic and advanced image processing algorithms, with a familiar API, that you can mix and experiment with to accomplish different things, things not necessarily built-in, just like any image processing library out there, and all that is programmable with Python, you don't have to reprogram it in C, you can write scripts, drivers and even image processing code in Python :)

Finally, there's the huge issue of RAM (which is addressed in the second version) more MHz might increase the performance linearly, but for some image algorithms, more RAM means an exponential increase (an extra lookup table could save thousands of CPU cycles), and there's only so much that you can do with a few 100KBs of RAM especially if you're doing image processing.

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