Translate源码总览
2022-09-09
tof_mainpy
from fpioa_manager import fm
from machine import UART
import lcd, image
# lcd.init(invert=True)
lcd.init()
img = image.Image()
fm.register(24, fm.fpioa.UART1_TX, force=True)
fm.register(25, fm.fpioa.UART1_RX, force=True)
uart_A = UART(UART.UART1, 115200, 8, 0, 0, timeout=1000, read_buf_len=4096)
def uart_readBytes():
return uart_A.read()
def uart_hasData():
return uart_A.any()
def uart_sendCmd(cmd):
uart_A.write(cmd)
uart_sendCmd(b"AT+BAUD=5\r")
uart_A.deinit()
uart_A = UART(UART.UART1, 921600, 8, 0, 0, timeout=1000, read_buf_len=4096)
jetcolors = [
(128, 0, 0), (132, 0, 0), (136, 0, 0), (140, 0, 0), (144, 0, 0), (148, 0, 0), (152, 0, 0), (156, 0, 0), (160, 0, 0), (164, 0, 0), (168, 0, 0), (172, 0, 0), (176, 0, 0), (180, 0, 0), (184, 0, 0), (188, 0, 0), (192, 0, 0), (196, 0, 0), (200, 0, 0), (204, 0, 0), (208, 0, 0), (212, 0, 0), (216, 0, 0), (220, 0, 0), (224, 0, 0), (228, 0, 0), (232, 0, 0), (236, 0, 0), (240, 0, 0), (244, 0, 0), (248, 0, 0), (252, 0, 0), (255, 0, 0), (255, 4, 0), (255, 8, 0), (255, 12, 0), (255, 16, 0), (255, 20, 0), (255, 24, 0), (255, 28, 0), (255, 32, 0), (255, 36, 0), (255, 40, 0), (255, 44, 0), (255, 48, 0), (255, 52, 0), (255, 56, 0), (255, 60, 0), (255, 64, 0), (255, 68, 0), (255, 72, 0), (255, 76, 0), (255, 80, 0), (255, 84, 0), (255, 88, 0), (255, 92, 0), (255, 96, 0), (255, 100, 0), (255, 104, 0), (255, 108, 0), (255, 112, 0), (255, 116, 0), (255, 120, 0), (255, 124, 0), (255, 128, 0), (255, 132, 0), (255, 136, 0), (255, 140, 0), (255, 144, 0), (255, 148, 0), (255, 152, 0), (255, 156, 0), (255, 160, 0), (255, 164, 0), (255, 168, 0), (255, 172, 0), (255, 176, 0), (255, 180, 0), (255, 184, 0), (255, 188, 0), (255, 192, 0), (255, 196, 0), (255, 200, 0), (255, 204, 0), (255, 208, 0), (255, 212, 0), (255, 216, 0), (255, 220, 0), (255, 224, 0), (255, 228, 0), (255, 232, 0), (255, 236, 0), (255, 240, 0), (255, 244, 0), (255, 248, 0), (255, 252, 0), (254, 255, 1), (250, 255, 6), (246, 255, 10), (242, 255, 14), (238, 255, 18), (234, 255, 22), (230, 255, 26), (226, 255, 30), (222, 255, 34), (218, 255, 38), (214, 255, 42), (210, 255, 46), (206, 255, 50), (202, 255, 54), (198, 255, 58), (194, 255, 62), (190, 255, 66), (186, 255, 70), (182, 255, 74), (178, 255, 78), (174, 255, 82), (170, 255, 86), (166, 255, 90), (162, 255, 94), (158, 255, 98), (154, 255, 102), (150, 255, 106), (146, 255, 110), (142, 255, 114), (138, 255, 118), (134, 255, 122), (130, 255, 126),
(126, 255, 130), (122, 255, 134), (118, 255, 138), (114, 255, 142), (110, 255, 146), (106, 255, 150), (102, 255, 154), (98, 255, 158), (94, 255, 162), (90, 255, 166), (86, 255, 170), (82, 255, 174), (78, 255, 178), (74, 255, 182), (70, 255, 186), (66, 255, 190), (62, 255, 194), (58, 255, 198), (54, 255, 202), (50, 255, 206), (46, 255, 210), (42, 255, 214), (38, 255, 218), (34, 255, 222), (30, 255, 226), (26, 255, 230), (22, 255, 234), (18, 255, 238), (14, 255, 242), (10, 255, 246), (6, 255, 250), (2, 255, 254), (0, 252, 255), (0, 248, 255), (0, 244, 255), (0, 240, 255), (0, 236, 255), (0, 232, 255), (0, 228, 255), (0, 224, 255), (0, 220, 255), (0, 216, 255), (0, 212, 255), (0, 208, 255), (0, 204, 255), (0, 200, 255), (0, 196, 255), (0, 192, 255), (0, 188, 255), (0, 184, 255), (0, 180, 255), (0, 176, 255), (0, 172, 255), (0, 168, 255), (0, 164, 255), (0, 160, 255), (0, 156, 255), (0, 152, 255), (0, 148, 255), (0, 144, 255), (0, 140, 255), (0, 136, 255), (0, 132, 255), (0, 128, 255), (0, 124, 255), (0, 120, 255), (0, 116, 255), (0, 112, 255), (0, 108, 255), (0, 104, 255), (0, 100, 255), (0, 96, 255), (0, 92, 255), (0, 88, 255), (0, 84, 255), (0, 80, 255), (0, 76, 255), (0, 72, 255), (0, 68, 255), (0, 64, 255), (0, 60, 255), (0, 56, 255), (0, 52, 255), (0, 48, 255), (0, 44, 255), (0, 40, 255), (0, 36, 255), (0, 32, 255), (0, 28, 255), (0, 24, 255), (0, 20, 255), (0, 16, 255), (0, 12, 255), (0, 8, 255), (0, 4, 255), (0, 0, 255), (0, 0, 252), (0, 0, 248), (0, 0, 244), (0, 0, 240), (0, 0, 236), (0, 0, 232), (0, 0, 228), (0, 0, 224), (0, 0, 220), (0, 0, 216), (0, 0, 212), (0, 0, 208), (0, 0, 204), (0, 0, 200), (0, 0, 196), (0, 0, 192), (0, 0, 188), (0, 0, 184), (0, 0, 180), (0, 0, 176), (0, 0, 172), (0, 0, 168), (0, 0, 164), (0, 0, 160), (0, 0, 156), (0, 0, 152), (0, 0, 148), (0, 0, 144), (0, 0, 140), (0, 0, 136), (0, 0, 132), (0, 0, 128)
]
def show(frameData, res):
resR = res[0]
resC = res[1]
for y in range(resR):
for x in range(resC):
pixel_cmap_rgb = jetcolors[frameData[y*resR + x]]
img.set_pixel(110 + x, 70 + y, pixel_cmap_rgb)
lcd.display(img)
img.clear()
FRAME_HEAD = b"\x00\xFF"
FRAME_TAIL = b"\xCC"
from struct import unpack
# send_cmd("AT+BINN=2\r")
uart_sendCmd(b"AT+DISP=5\r")
uart_sendCmd(b"AT+FPS=10\r")
# while True:
# if uart_hasData():
# print(uart_readBytes())
rawData = b''
while True:
if not uart_hasData():
continue
rawData += uart_readBytes()
idx = rawData.find(FRAME_HEAD)
if idx < 0:
continue
rawData = rawData[idx:]
# print(rawData)
# check data length 2Byte
dataLen = unpack("H", rawData[2: 4])[0]
# print("len: "+str(dataLen))
frameLen = len(FRAME_HEAD) + 2 + dataLen + 2
frameDataLen = dataLen - 16
if len(rawData) < frameLen:
continue
# get data
frame = rawData[:frameLen]
# print(frame.hex())
rawData = rawData[frameLen:]
frameTail = frame[-1]
# print("tail: "+str(hex(frameTail)))
_sum = frame[-2]
# print("checksum: "+str(hex(_sum)))
# check sum
# spi has no checksum but i add one
if frameTail != 0xdd and _sum != sum(frame[:frameLen - 2]) % 256:
continue
frameID = unpack("H", frame[16:18])[0]
# print("frame ID: "+str(frameID))
resR = unpack("B", frame[14:15])[0]
resC = unpack("B", frame[15:16])[0]
res = (resR, resC)
# print(res)
# frameData=[ unpack("H", frame[20+i:22+i])[0] for i in range(0, frameDataLen, 2) ]
frameData = [unpack("B", frame[20+i:21+i])[0]
for i in range(0, frameDataLen, 1)]
show(frameData, res)
del frameData
streampy
from PIL import Image
import requests
import matplotlib.pyplot as plt
import struct
import numpy as np
import cv2
def frame_config_decode(frame_config):
'''
@frame_config bytes
@return fields, tuple (trigger_mode, deep_mode, deep_shift, ir_mode, status_mode, status_mask, rgb_mode, rgb_res, expose_time)
'''
return struct.unpack("<BBBBBBBBi", frame_config)
def frame_config_encode(trigger_mode=1, deep_mode=1, deep_shift=255, ir_mode=1, status_mode=2, status_mask=7, rgb_mode=1, rgb_res=0, expose_time=0):
return struct.pack("<BBBBBBBBi",
trigger_mode, deep_mode, deep_shift, ir_mode, status_mode, status_mask, rgb_mode, rgb_res, expose_time)
def frame_payload_decode(frame_data: bytes, with_config: tuple):
deep_data_size, rgb_data_size = struct.unpack("<ii", frame_data[:8])
frame_payload = frame_data[8:]
# 0:16bit 1:8bit, resolution: 320*240
deepth_size = (320*240*2) >> with_config[1]
deepth_img = struct.unpack("<%us" % deepth_size, frame_payload[:deepth_size])[
0] if 0 != deepth_size else None
frame_payload = frame_payload[deepth_size:]
# 0:16bit 1:8bit, resolution: 320*240
ir_size = (320*240*2) >> with_config[3]
ir_img = struct.unpack("<%us" % ir_size, frame_payload[:ir_size])[
0] if 0 != ir_size else None
frame_payload = frame_payload[ir_size:]
status_size = (320*240//8) * (16 if 0 == with_config[4] else
2 if 1 == with_config[4] else 8 if 2 == with_config[4] else 1)
status_img = struct.unpack("<%us" % status_size, frame_payload[:status_size])[
0] if 0 != status_size else None
frame_payload = frame_payload[status_size:]
assert(deep_data_size == deepth_size+ir_size+status_size)
rgb_size = len(frame_payload)
assert(rgb_data_size == rgb_size)
rgb_img = struct.unpack("<%us" % rgb_size, frame_payload[:rgb_size])[
0] if 0 != rgb_size else None
if (not rgb_img is None) and (1 == with_config[6]):
jpeg = cv2.imdecode(np.frombuffer(
rgb_img, 'uint8', rgb_size), cv2.IMREAD_COLOR)
if not jpeg is None:
rgb = cv2.cvtColor(jpeg, cv2.COLOR_BGR2RGB)
rgb_img = rgb.tobytes()
else:
rgb_img = None
return (deepth_img, ir_img, status_img, rgb_img)
HOST = '192.168.233.1'
PORT = 80
def post_encode_config(config=frame_config_encode(), host=HOST, port=PORT):
r = requests.post('http://{}:{}/set_cfg'.format(host, port), config)
if(r.status_code == requests.codes.ok):
return True
return False
def get_frame_from_http(host=HOST, port=PORT):
r = requests.get('http://{}:{}/getdeep'.format(host, port))
if(r.status_code == requests.codes.ok):
# print('Get deep image')
deepimg = r.content
# print('Length={}'.format(len(deepimg)))
(frameid, stamp_msec) = struct.unpack('<QQ', deepimg[0:8+8])
# print((frameid, stamp_msec/1000))
return deepimg
def show_frame(fig, frame_data: bytes):
config = frame_config_decode(frame_data[16:16+12])
frame_bytes = frame_payload_decode(frame_data[16+12:], config)
depth = np.frombuffer(frame_bytes[0], 'uint16' if 0 == config[1] else 'uint8').reshape(
240, 320) if frame_bytes[0] else None
ir = np.frombuffer(frame_bytes[1], 'uint16' if 0 == config[3] else 'uint8').reshape(
240, 320) if frame_bytes[1] else None
status = np.frombuffer(frame_bytes[2], 'uint16' if 0 == config[4] else 'uint8').reshape(
240, 320) if frame_bytes[2] else None
rgb = np.frombuffer(frame_bytes[3], 'uint8').reshape(
(480, 640, 3)) if frame_bytes[3] else None
ax1 = fig.add_subplot(221)
if not depth is None:
# center_dis = depth[240//2, 320//2]
# if 0 == config[1]:
# print("%f mm" % (center_dis/4))
# else:
# print("%f mm" % ((center_dis/5.1) ** 2))
# depth = depth.copy()
# l,r= 200,5000
# depth_f = ((depth.astype('float64') - l) * (65535 / (r - l)))
# depth_f[np.where(depth_f < 0)] = 0
# depth_f[np.where(depth_f > 65535)] = 65535
# depth = depth_f.astype(depth.dtype)
# depth[240//2, 320//2 - 5:320//2+5] = 0x00
# depth[240//2-5:240//2+5, 320//2] = 0x00
ax1.imshow(depth, cmap='jet_r')
ax2 = fig.add_subplot(222)
if not ir is None:
ax2.imshow(ir, cmap='gray')
ax3 = fig.add_subplot(223)
if not status is None:
ax3.imshow(status)
ax4 = fig.add_subplot(224)
if not rgb is None:
ax4.imshow(rgb)
if post_encode_config(frame_config_encode(1, 1, 255, 0, 2, 7, 1, 0, 0)):
# 打开交互模式
plt.ion()
figsize = (12, 12)
fig = plt.figure('2D frame', figsize=figsize)
while True:
p = get_frame_from_http()
show_frame(fig, p)
# 停顿时间
plt.pause(0.001)
# 清除当前画布
fig.clf()
plt.ioff()
calvolumespy
from PIL import Image, ImageDraw
import requests
import matplotlib.pyplot as plt
import struct
import numpy as np
import cv2
HOST = '192.168.233.1'
PORT = 80
def depth2xyz(xp, yp, z, fx, fy, cx, cy, depth_scale=1000):
# h,w=np.mgrid[0:depth_map.shape[0],0:depth_map.shape[1]]
z = z/depth_scale
x = (xp-cx)*z/fx
y = (yp-cy)*z/fy
# xyz=np.dstack((x,y,z))
# xyz=cv2.rgbd.depthTo3d(depth_map,depth_cam_matrix)
return [x, y, z]
def polygon_area(polygon):
area = 0
q = polygon[-1]
for p in polygon:
area += p[0] * q[1] - p[1] * q[0]
q = p
return abs(area) / 2.0
def get_lenscoeff(host=HOST, port=PORT):
r = requests.get('http://{}:{}/getinfo'.format(host, port))
if(r.status_code == requests.codes.ok):
lenscoeff_bin = r.content
(_fx,_fy,_cx,_cy) = struct.unpack('<ffff', lenscoeff_bin[41:41+4*4])
# print((frameid, stamp_msec/1000))
return (_fx,_fy,_cx,_cy)
diff_low = 30
diff_high = 500
fx = 2.265142e+02
fy = 2.278584e+02
cx = 1.637246e+02 # cx
cy = 1.233738e+02 # cy
(fx,fy,cx,cy) = get_lenscoeff()
def cal_volume(d_bk, d_bg):
img_h, img_w = d_bk.shape[0], d_bk.shape[1]
d_bk = d_bk.astype(np.float32) # cvt to mm
d_bg = d_bg.astype(np.float32)
diff = (d_bg-d_bk).astype(np.int16)
diff1 = diff.copy()
diff1 = np.where(diff1 < diff_low, 0, diff1)
diff1 = np.where(diff1 > diff_high, 0, diff1)
diff1 = (np.where(diff1 > 0, 1, 0)*255).astype(np.uint8)
# plt.imshow(diff1)
# print(d_bk.shape) (240, 320)
output = np.zeros((img_h, img_w, 3), np.uint8)
num_labels, labels, stats, centroids = cv2.connectedComponentsWithStats(
diff1, connectivity=8)
# print('num_labels = ',num_labels)
# 连通域的信息：对应各个轮廓的x、y、width、height和面积
# print('stats = ',stats)
res = list()
max_stats = list()
for i in range(5):
max_label = 1+np.argmax(stats[1:, 4])
# print('stats[max_label] = ', stats[max_label])
if i > 0 and stats[max_label][4] < 700:
break
max_stat = stats[max_label]
max_stats.append(max_stat)
stats[max_label][4] = 0
mask = (labels == max_label)
# (np.random.rand(3)*255).astype(np.uint8)
output[:, :, :][mask] = [200, 0, 0]
# plt.imshow(output)
# kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
# eroded = cv2.erode(output, kernel)
# dilated = cv2.dilate(output, kernel)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
# output = dilated
output=cv2.morphologyEx(output, cv2.MORPH_OPEN, kernel)
output=cv2.morphologyEx(output, cv2.MORPH_CLOSE, kernel)
volumes = []
# points = []
# areas = []
for yp in range(img_h):
for xp in range(img_w):
if mask[yp, xp]:
x1, y1, z1 = depth2xyz(
xp, yp, d_bk[yp, xp], fx, fy, cx, cy, depth_scale=1)
x0, y0, z0 = depth2xyz(
xp, yp, d_bg[yp, xp], fx, fy, cx, cy, depth_scale=1)
x = xp-1
if x < 0:
x = 0
y = yp
xl, yl, zl = depth2xyz(
x, y, d_bk[y, x], fx, fy, cx, cy, depth_scale=1)
x = xp+1
if x >= img_w:
x = img_w-1
y = yp
xr, yr, zr = depth2xyz(
x, y, d_bk[y, x], fx, fy, cx, cy, depth_scale=1)
x = xp
y = yp-1
if y < 0:
y = 0
xt, yt, zt = depth2xyz(
x, y, d_bk[y, x], fx, fy, cx, cy, depth_scale=1)
x = xp
y = yp+1
if y >= img_h:
y = img_h-1
xb, yb, zb = depth2xyz(
x, y, d_bk[y, x], fx, fy, cx, cy, depth_scale=1)
area_a = polygon_area(
[[xt, yt], [xl, yl], [xb, yb], [xr, yr]])/2
dz = z0-z1
dx = z1/fx
dy = z1/fy
area_b = dx*dy*2/2
area = (area_a+area_b)/2 # avg get better acc
volume = area*dz
# areas.append(area)
volumes.append(volume)
# points.append((x1, y1, dz))
# areas = np.array(areas)
volumes = np.array(volumes)
# points = np.array(points)
res.append("{}:{} cm3".format(i, int(np.sum(volumes)/1000)))
# print(res)
img_pil = Image.fromarray(output)
draw = ImageDraw.Draw(img_pil)
for i in range(len(max_stats)):
max_stat = max_stats[i]
draw.rectangle([(max_stat[0], max_stat[1]),
(max_stat[0] + max_stat[2], max_stat[1] + max_stat[3])], outline="red")
draw.text((max_stat[0], max_stat[1]), res[i], fill=(255, 255, 255))
output = np.array(img_pil)
return output
def frame_config_decode(frame_config):
'''
@frame_config bytes
@return fields, tuple (trigger_mode, deep_mode, deep_shift, ir_mode, status_mode, status_mask, rgb_mode, rgb_res, expose_time)
'''
return struct.unpack("<BBBBBBBBi", frame_config)
def frame_config_encode(trigger_mode=1, deep_mode=1, deep_shift=255, ir_mode=1, status_mode=2, status_mask=7, rgb_mode=1, rgb_res=0, expose_time=0):
return struct.pack("<BBBBBBBBi",
trigger_mode, deep_mode, deep_shift, ir_mode, status_mode, status_mask, rgb_mode, rgb_res, expose_time)
def frame_payload_decode(frame_data: bytes, with_config: tuple):
deep_data_size, rgb_data_size = struct.unpack("<ii", frame_data[:8])
frame_payload = frame_data[8:]
# 0:16bit 1:8bit, resolution: 320*240
deepth_size = (320*240*2) >> with_config[1]
deepth_img = struct.unpack("<%us" % deepth_size, frame_payload[:deepth_size])[
0] if 0 != deepth_size else None
frame_payload = frame_payload[deepth_size:]
# 0:16bit 1:8bit, resolution: 320*240
ir_size = (320*240*2) >> with_config[3]
ir_img = struct.unpack("<%us" % ir_size, frame_payload[:ir_size])[
0] if 0 != ir_size else None
frame_payload = frame_payload[ir_size:]
status_size = (320*240//8) * (16 if 0 == with_config[4] else
2 if 1 == with_config[4] else 8 if 2 == with_config[4] else 1)
status_img = struct.unpack("<%us" % status_size, frame_payload[:status_size])[
0] if 0 != status_size else None
frame_payload = frame_payload[status_size:]
assert(deep_data_size == deepth_size+ir_size+status_size)
rgb_size = len(frame_payload)
assert(rgb_data_size == rgb_size)
rgb_img = struct.unpack("<%us" % rgb_size, frame_payload[:rgb_size])[
0] if 0 != rgb_size else None
if (not rgb_img is None) and (1 == with_config[6]):
jpeg = cv2.imdecode(np.frombuffer(
rgb_img, 'uint8', rgb_size), cv2.IMREAD_COLOR)
if not jpeg is None:
rgb = cv2.cvtColor(jpeg, cv2.COLOR_BGR2RGB)
rgb_img = rgb.tobytes()
else:
rgb_img = None
return (deepth_img, ir_img, status_img, rgb_img)
def post_encode_config(config=frame_config_encode(), host=HOST, port=PORT):
r = requests.post('http://{}:{}/set_cfg'.format(host, port), config)
if(r.status_code == requests.codes.ok):
return True
return False
def get_frame_from_http(host=HOST, port=PORT):
r = requests.get('http://{}:{}/getdeep'.format(host, port))
if(r.status_code == requests.codes.ok):
# print('Get deep image')
deepimg = r.content
# print('Length={}'.format(len(deepimg)))
(frameid, stamp_msec) = struct.unpack('<QQ', deepimg[0:8+8])
# print((frameid, stamp_msec/1000))
return deepimg
def show_frame(fig, frame_data: bytes):
config = frame_config_decode(frame_data[16:16+12])
frame_bytes = frame_payload_decode(frame_data[16+12:], config)
depth = np.frombuffer(frame_bytes[0], 'uint16' if 0 == config[1] else 'uint8').reshape(
240, 320) if frame_bytes[0] else None
# ir = np.frombuffer(frame_bytes[1], 'uint16' if 0 == config[3] else 'uint8').reshape(
# 240, 320) if frame_bytes[1] else None
# status = np.frombuffer(frame_bytes[2], 'uint16' if 0 == config[4] else 'uint8').reshape(
# 240, 320) if frame_bytes[2] else None
rgb = np.frombuffer(frame_bytes[3], 'uint8').reshape(
(480, 640, 3)) if frame_bytes[3] else None
ax1 = fig.add_subplot(122)
if not depth is None:
# center_dis = depth[240//2, 320//2]
# if 0 == config[1]:
# print("%f mm" % (center_dis/4))
# else:
# print("%f mm" % ((center_dis/5.1) ** 2))
# depth = depth.copy()
# l,r= 200,5000
# depth_f = ((depth.astype('float64') - l) * (65535 / (r - l)))
# depth_f[np.where(depth_f < 0)] = 0
# depth_f[np.where(depth_f > 65535)] = 65535
# depth = depth_f.astype(depth.dtype)
# depth[240//2, 320//2 - 5:320//2+5] = 0x00
# depth[240//2-5:240//2+5, 320//2] = 0x00
if not UPDATE_BG[1] is None:
ax1.imshow(cal_volume(depth, UPDATE_BG[1]))
else:
ax1.imshow(depth)
if UPDATE_BG[0]:
UPDATE_BG[1] = depth
# ax2 = fig.add_subplot(222)
# if not ir is None:
# ax2.imshow(ir, cmap='gray')
# ax3 = fig.add_subplot(223)
# if not status is None:
# ax3.imshow(status)
ax4 = fig.add_subplot(121)
if not rgb is None:
ax4.imshow(rgb)
UPDATE_BG = [False, None]
if post_encode_config(frame_config_encode(1, 0, 255, 0, 2, 7, 1, 0, 0)):
# 打开交互模式
def on_key_press(event):
if event.key == ' ':
UPDATE_BG[0] = True
elif event.key == 'c':
UPDATE_BG[1] = None
plt.ion()
figsize = (12, 12)
fig = plt.figure('2D frame', figsize=figsize)
fig.canvas.mpl_connect('key_press_event', on_key_press)
print("按下空格键更新背景图，按下c键清空背景图")
while True:
p = get_frame_from_http()
show_frame(fig, p)
if UPDATE_BG[0]:
UPDATE_BG[0] = False
print("update bg success!")
# 停顿时间
plt.pause(0.001)
# 清除当前画布
fig.clf()
plt.ioff()