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Author: reederda

README.md

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+# Teensy3.1_Eyes
+
+'Uncanny eyes' project for PJRC Teensy 3.1 with Adafruit 1.5" OLED (product #1431) or 1.44" TFT LCD (#2088). This uses Teensy-3.1-specific features and WILL NOT work on normal Arduino or other boards!  Use 72 MHz (Optimized) board speed -- OLED does not work at 96 MHz.
+
+How-to guide with parts list and 3D models is here:
+https://learn.adafruit.com/animated-electronic-eyes-using-teensy-3-1/overview
+
+Directory 'uncannyEyes' contains Arduino sketch for PJRC Teensy 3.1. 'uncannyEyes.ino' is the code, 'eyeData.h' is a set of arrays containing eye bitmaps, etc.
+
+Folder 'convert' contains Python sketch for generating eyeData.h. Requires Python Imaging Library. Example images are also in this directory.

convert/defaultEye.h

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+#!/usr/bin/python
+
+# Image converter for 'Uncanny Eyes' project.  Generates tables for
+# eyeData.h file.  Requires Python Imaging Library.  Expects four image
+# files: sclera, iris, upper lid map and lower lid map (defaults will be
+# used if not specified).  Also generates polar coordinate map for iris
+# rendering (pass diameter -- must be an even value -- as 5th argument).
+# Output is to stdout; should be redirected to file for use.
+
+# This is kinda some horrible copy-and-paste code right now for each of
+# the four images...could be improved, but basically does the thing.
+
+import sys
+import math
+from PIL import Image
+
+columns = 8 # Number of columns in formatted output
+
+# Write hex digit (with some formatting for C array) to stdout
+def outputHex(n, digits):
+	global columns, column, counter, limit
+	column += 1                        # Increment column number
+	if column >= columns:              # If max column exceeded...
+		sys.stdout.write("\n  ")   # end current line, start new one
+		column = 0                 # Reset column number
+	sys.stdout.write("{0:#0{1}X}".format(n, digits + 2))
+	counter += 1                       # Increment element index
+	if counter < limit:                # If NOT last element in list...
+		sys.stdout.write(",")      # add column between elements
+		if column < (columns - 1): # and space if not last column
+			sys.stdout.write(" ")
+	else:
+		print(" };");              # Cap off table
+
+
+# OPEN AND VALIDATE SCLERA IMAGE FILE --------------------------------------
+
+try:    filename = sys.argv[1]
+except: filename = "sclera.png"
+im     = Image.open(filename)
+im     = im.convert("RGB")
+pixels = im.load()
+
+# GENERATE SCLERA ARRAY ----------------------------------------------------
+
+# Initialize outputHex() global counters:
+counter = 0                       # Index of next element to generate
+column  = columns                 # Current column number in output
+limit   = im.size[0] * im.size[1] # Total # of elements in generated list
+
+print "#define SCLERA_WIDTH" + str(im.size[0])
+print "#define SCLERA_HEIGHT" + str(im.size[1])
+print
+
+sys.stdout.write("const uint16_t sclera[SCLERA_HEIGHT][SCLERA_WIDTH] = {")
+
+# Convert 24-bit image to 16 bits:
+for y in range(im.size[1]):
+	for x in range(im.size[0]):
+		p = pixels[x, y] # Pixel data (tuple)
+		outputHex(((p[0] & 0b11111000) << 8) | # Convert 24-bit RGB
+		          ((p[1] & 0b11111100) << 3) | # to 16-bit value w/
+		          ( p[2] >> 3), 4)             # 5/6/5-bit packing
+
+
+# OPEN AND VALIDATE IRIS IMAGE FILE ----------------------------------------
+
+try:    filename = sys.argv[2]
+except: filename = "iris.png"
+im = Image.open(filename)
+if (im.size[0] > 512) or (im.size[1] > 128):
+	sys.stderr.write("Image can't exceed 512 pixels wide or 128 pixels tall")
+	exit(1)
+im     = im.convert("RGB")
+pixels = im.load()
+
+# GENERATE IRIS ARRAY ------------------------------------------------------
+
+counter = 0 # Reset outputHex() counters again for new table
+column  = columns
+limit   = im.size[0] * im.size[1]
+
+print
+print "#define IRIS_MAP_WIDTH  " + str(im.size[0])
+print "#define IRIS_MAP_HEIGHT " + str(im.size[1])
+print
+
+sys.stdout.write("const uint16_t iris[IRIS_MAP_HEIGHT][IRIS_MAP_WIDTH] = {")
+
+for y in range(im.size[1]):
+	for x in range(im.size[0]):
+		p = pixels[x, y] # Pixel data (tuple)
+		outputHex(((p[0] & 0b11111000) << 8) | # Convert 24-bit RGB
+		          ((p[1] & 0b11111100) << 3) | # to 16-bit value w/
+		          ( p[2] >> 3), 4)             # 5/6/5-bit packing
+
+
+# OPEN AND VALIDATE UPPER EYELID THRESHOLD MAP -----------------------------
+
+try:    filename = sys.argv[3]
+except: filename = "upper.png"
+im = Image.open(filename)
+if (im.size[0] != 128) or (im.size[1] != 128):
+	sys.stderr.write("Image size must match screen size")
+	exit(1)
+im     = im.convert("L")
+pixels = im.load()
+
+# GENERATE UPPER LID ARRAY -------------------------------------------------
+
+counter = 0
+column  = columns
+limit   = im.size[0] * im.size[1]
+
+print
+print "#define SCREEN_WIDTH  " + str(im.size[0])
+print "#define SCREEN_HEIGHT " + str(im.size[1])
+print
+
+sys.stdout.write("const uint8_t upper[SCREEN_HEIGHT][SCREEN_WIDTH] = {")
+
+for y in range(im.size[1]):
+	for x in range(im.size[0]):
+		outputHex(pixels[x, y], 2) # 8-bit value per pixel
+
+
+# OPEN AND VALIDATE LOWER EYELID THRESHOLD MAP -----------------------------
+
+try:    filename = sys.argv[4]
+except: filename = "lower.png"
+im     = Image.open(filename)
+if (im.size[0] != 128) or (im.size[1] != 128):
+	sys.stderr.write("Image size must match screen size")
+	exit(1)
+im     = im.convert("L")
+pixels = im.load()
+
+# GENERATE LOWER LID ARRAY -------------------------------------------------
+
+counter = 0
+column  = columns
+limit   = im.size[0] * im.size[1]
+
+print
+sys.stdout.write("const uint8_t lower[SCREEN_HEIGHT][SCREEN_WIDTH] = {")
+
+for y in range(im.size[1]):
+	for x in range(im.size[0]):
+		outputHex(pixels[x, y], 2) # 8-bit value per pixel
+
+
+# GENERATE POLAR COORDINATE TABLE ------------------------------------------
+
+try:    irisSize = int(sys.argv[5])
+except: irisSize = 80
+slitPupil = False
+if irisSize % 2 != 0:
+	sys.stderr.write("Iris diameter must be even value")
+	exit(1)
+if irisSize < 0:
+	irisSize  = -irisSize
+	slitPupil = True
+	filename = "pupilMap.png"     # HACKITY HACK, see notes later
+	im     = Image.open(filename) # OMG so wretched and hacky
+	if (im.size[0] != irisSize) or (im.size[1] != irisSize):
+		sys.stderr.write("Image size must match iris size")
+		exit(1)
+	im     = im.convert("L")
+	pixels = im.load()
+radius = irisSize / 2
+
+print
+print "#define IRIS_WIDTH  " + str(irisSize)
+print "#define IRIS_HEIGHT " + str(irisSize)
+
+# One element per screen pixel, 16 bits per element -- high 9 bits are
+# angle relative to center point (fixed point, 0-511) low 7 bits are
+# distance from circle perimeter (fixed point, 0-127, pixels outsize circle
+# are set to 127).
+
+counter = 0
+column  = columns
+limit   = irisSize * irisSize
+
+sys.stdout.write("\nconst uint16_t polar[%s][%s] = {" % (irisSize, irisSize))
+
+for y in range(irisSize):
+	dy = y - radius + 0.5
+	for x in range(irisSize):
+		dx       = x - radius + 0.5
+		distance = math.sqrt(dx * dx + dy * dy)
+		if(distance >= radius): # Outside circle
+			outputHex(127, 4) # angle = 0, dist = 127
+		else:
+			if slitPupil:
+				# TODO: add magic here
+				# I totally cheated on the dragon eye
+				# included with the demo code -- made a
+				# canned distance bitmap using Illustrator +
+				# Photoshop and use that...but it's rigged
+				# to the bitmap size and isn't a generalized
+				# solution, which is what's needed here.
+				angle     = math.atan2(dy, dx)  # -pi to +pi
+				angle    += math.pi             # 0.0 to 2pi
+				angle    /= (math.pi * 2.0)     # 0.0 to <1.0
+				distance  = pixels[x, y] / 255.0
+			else:
+				angle     = math.atan2(dy, dx)  # -pi to +pi
+				angle    += math.pi             # 0.0 to 2pi
+				angle    /= (math.pi * 2.0)     # 0.0 to <1.0
+				distance /= radius              # 0.0 to <1.0
+			distance *= 128.0               # 0.0 to <128.0
+			a         = int(angle * 512.0)  # 0 to 511
+			d         = 127 - int(distance) # 127 to 0
+			outputHex((a << 7) | d, 4)
+