FPGA + D8M

The 8 megapixel sensor above has a resolution of 3,264 x 2,448 pixels, with 327,184 pixels in an area just 1mm x 1mm in size.

HSV

[code (using MATLAB)](https://uk.mathworks.com/matlabcentral/fileexchange/18440-color-detection-using-hsv-color-space-training-and-testing?)

another code (using python)

Formulae: (Source)

S = 1- (min/max)

max-min = S*max

White:

S: very low <0.01 ( 0.004-0.005 ) * 255 ⇒ <2

V: high [0.43, 0.48] ( 0.44 ~ 0.45 ) * 255 ⇒ 112 ~ 115

Black:

S: low/medium

V: very low <0.05

wall: check if a wall is a continuous line

(has gap / can enter or not)

Algorithm:

FPGA should receive a trigger from ESP telling it to start the procedure.

Initialise:

x1=x_max

y2=y_max

x3=0

Look at area below YY_TH (y≥YY_TH):

1. find white pixel with left-most x coordinate (under YY_TH), p1
2. find white pixel with upper-most y coordinate (under YY_TH), p2
3. find white pixel with right-most x coordinate (under YY_TH), p3

First: check intersection

IF no intersection: y2 > YY_TH (x_il=0, x_ir = x_max)

RHS:

if (x1>XX_TH) ⇒ can enter

else ⇒ cannot enter

LHS:

if (x3<XX_TH) ⇒ can enter

else ⇒ cannot enter

IF have intersection(s): y2 = YY_TH

RHS:

if (x1<x2 && x3=x2) ⇒ can enter

else ⇒ cannot enter

LHS:

if (x3>x2 && x1=x2) ⇒ can enter

else ⇒ cannot enter