条状LED灯墙 | Filment LED wall

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效果演示 | Demo

Me(center) with my friends demoing the Filawall

硬件 | Hardware

The back of the filawall
  • Jetson Xavier NX
  • Arduino Nano Development Board
  • JXI5020 LED Driver
  • 38mm 3V 2700K Filament LED

Architecture:
Jetson Xavier NX –Serial port–> Arduino Nano –GPIO–> Light Modules

上位机代码 | Code

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import cv2
import os

import serial
from serial.tools import list_ports
import time
import pyrealsense2 as rs
import numpy as np

class FilaWall:
    # Display Configuration
    screenWidth = 5
    screenHeight = 4
    pixelWidth = screenWidth * 4
    pixelHeight = screenHeight * 4
    pipeline = None
    ser = None
    fps = 30

    def init_slave(self):
        # Open Serial port
        availables = ['---:Select one below:---']
        for device in list_ports.comports():
            availables.append(device.device)
        id = 0; target_port = 0
        for port in availables:
            print(id, port)
            id += 1
        if len(availables) > 2:
            target_port = int(input('\nChoose device for FilaWall > '))
            if target_port < 1 or target_port >= len(availables):
                print('Fatal: invalid port.\n\nTask failed successfully.')
                exit(-1)
        elif len(availables) == 2:
            print('\nChoosing default device [1].')
            target_port = 1
        else:
            print('Fatal: no available port.\n\nTask failed successfully.')
            exit(-1)
        os.system("sudo chmod 777 {}".format(availables[target_port]))
        self.ser = serial.Serial(availables[target_port], 115200, timeout=0.5)
        time.sleep(2)
        print("Serial port {} opened".format(target_port))

    # Send command
    def _sendCmd(self, cmd: int):
        # self.ser.write((str(cmd) + '\n').encode())
        byte_data = bytearray()
        byte_data.append(cmd)
        self.ser.write(byte_data)

    # Send data sequence
    def _send_seq(self, seq: list):
        self._sendCmd((seq[0] << 0) + (seq[1] << 1) + (seq[2] << 2) + (seq[3] << 3))

    def init_realsense(self):
        # Realsense D415i setting
        self.pipeline = rs.pipeline()
        config = rs.config()
        # 640x480, 10fps
        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, self.fps)
        self.pipeline.start(config)

    # 向下位机输出16个像素
    def _displayUnit(self, unitRow, unitCol, image):
        for row in range(unitRow * 4 + 4 - 1, unitRow * 4 - 1, -1):
            seq = []
            for col in range(unitCol * 4 + 4 - 1, unitCol * 4 - 1, -1):
                seq.append(int(image[row][col] > 0))
                # self._sendCmd(int(not image[row][col] > 0))
            self._send_seq(seq)

    def start_running(self):
        while True:
            frames = self.pipeline.wait_for_frames()
            depth_rs = frames.get_depth_frame()
            depth = np.asanyarray(depth_rs.get_data())              # 格式转换
            dimg_gray = cv2.convertScaleAbs(depth, alpha=255/4000)  # 获取灰度深度图最大4米
            dimg_gray = cv2.flip(dimg_gray, 1)                      # 镜像
            gray_part = dimg_gray[0:480, 10:610]                    # 裁剪成长方形
            gray_blur = cv2.blur(gray_part, (30, 30))               # 缩放，降低分辨率
            gray_rescaled = cv2.resize(gray_blur, (self.pixelWidth, self.pixelHeight))
            ret, gray_thresh = cv2.threshold(gray_rescaled, 100, 255, cv2.THRESH_BINARY_INV)

            # 电脑端显示
            gray_rescaled_show = cv2.resize(gray_thresh, (600, 480), interpolation=cv2.INTER_AREA)
            color_depth = cv2.applyColorMap(gray_part, cv2.COLORMAP_JET)
            cv2.imshow('Color Depth', color_depth)
            cv2.imshow('Gray Blur', gray_blur)
            cv2.imshow('Gray Rescaled', gray_rescaled_show)
            # 向下位机发送数据
            for unitRow in range(self.screenHeight):
                unitColIter = (range(self.screenWidth) if ((unitRow + self.screenHeight) % 2 == 0) else range(self.screenWidth - 1, -1, -1))
                # （偶数行 且 屏幕高度偶数）或（奇数行 且 屏幕高度奇数） 正向遍历
                # （奇数行 且 屏幕高度偶数）或（偶数行 且 屏幕高度奇数） 逆向遍历
                for unitCol in unitColIter:
                    self._displayUnit(unitRow, unitCol, gray_thresh)
            self._sendCmd(0x10) # 向下位机发送同步信号
            if cv2.waitKey(1) == ord('q'): break
        cv2.destroyAllWindows()

下位机代码 | Arduino

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#include <Arduino.h>

#define LED_OE  9
#define LED_LE  6
#define LED_CLK 3
#define LED_SDI 5

#define DEBUG

void debug(String debugInfo){
#ifdef DEBUG
  Serial.println(debugInfo);
#endif
}

void setup() {
  Serial.begin(115200);
  
  pinMode(LED_OE, OUTPUT);
  pinMode(LED_LE, OUTPUT);
  pinMode(LED_CLK, OUTPUT);
  pinMode(LED_SDI, OUTPUT);

  digitalWrite(LED_OE, 1);
  digitalWrite(LED_LE, 0);
  digitalWrite(LED_SDI, 1);
  digitalWrite(LED_CLK, 0);
  debug("Init done!");

  digitalWrite(LED_OE, 0);
}

inline void toggleClock() {
  digitalWrite(LED_CLK, 1);
  digitalWrite(LED_CLK, 0);
}

inline void toggleLatch() {
  digitalWrite(LED_LE, 1);
  digitalWrite(LED_LE, 0);
}

void loop() {
  // Read command from serial port
  while (Serial.available() > 0) {
    readMsg(Serial.read());
  }
}

void readMsg(char msg) {
    char cmd = msg >> 4;
    char data = msg & 0x0F;
    if(cmd == 0x0) {
      for(int i=0; i<4; ++i) {
        digitalWrite(LED_SDI, data & (0x1 << i));
        toggleClock();
      }
    } else if(cmd == 0x1) {
      toggleLatch();
    }
}

参考资料 | Reference

乒乓显示器: https://www.youtube.com/watch?v=EZEMK-C-nSo&t=99s