WIP final integration

24 files changed, 103 insertions, 12 deletions

diff --git a/nicla/.Trashes/._501 b/nicla/.Trashes/._501
new file mode 100644
index 0000000..338bd7b
--- /dev/null
+++ b/nicla/.Trashes/._501
diff --git a/nicla/.Trashes/501/._image.png b/nicla/.Trashes/501/._image.png
new file mode 100644
index 0000000..02cf786
--- /dev/null
+++ b/nicla/.Trashes/501/._image.png
diff --git a/nicla/.Trashes/501/._temp.mjpeg b/nicla/.Trashes/501/._temp.mjpeg
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/nicla/.Trashes/501/._temp.mjpeg
diff --git a/nicla/.Trashes/501/image.png b/nicla/.Trashes/501/image.png
new file mode 100644
index 0000000..d8bc7f5
--- /dev/null
+++ b/nicla/.Trashes/501/image.png
diff --git a/nicla/.Trashes/501/temp.mjpeg b/nicla/.Trashes/501/temp.mjpeg
new file mode 100644
index 0000000..577a50a
--- /dev/null
+++ b/nicla/.Trashes/501/temp.mjpeg
diff --git a/nicla/._end.jpg b/nicla/._end.jpg
new file mode 100644
index 0000000..c26df8c
--- /dev/null
+++ b/nicla/._end.jpg
diff --git a/nicla/._image.jpg b/nicla/._image.jpg
new file mode 100644
index 0000000..4520888
--- /dev/null
+++ b/nicla/._image.jpg
diff --git a/nicla/._no_entry.jpg b/nicla/._no_entry.jpg
new file mode 100644
index 0000000..a22af57
--- /dev/null
+++ b/nicla/._no_entry.jpg
diff --git a/nicla/._speed.jpg b/nicla/._speed.jpg
new file mode 100644
index 0000000..f3a3faf
--- /dev/null
+++ b/nicla/._speed.jpg
diff --git a/nicla/._stop.jpg b/nicla/._stop.jpg
new file mode 100644
index 0000000..4a47a5b
--- /dev/null
+++ b/nicla/._stop.jpg
diff --git a/nicla/._temp.orb b/nicla/._temp.orb
new file mode 100644
index 0000000..acfd770
--- /dev/null
+++ b/nicla/._temp.orb
diff --git a/nicla/.fseventsd/fseventsd-uuid b/nicla/.fseventsd/fseventsd-uuid
new file mode 100644
index 0000000..d3c0376
--- /dev/null
+++ b/nicla/.fseventsd/fseventsd-uuid
@@ -0,0 +1 @@
+6FDC5716-0B86-4159-ACC7-80164FCE6FE6
\ No newline at end of file
diff --git a/nicla/ERROR.LOG b/nicla/ERROR.LOG
new file mode 100644
index 0000000..ba1a6e3
--- /dev/null
+++ b/nicla/ERROR.LOG
@@ -0,0 +1 @@
+FATAL ERROR:
diff --git a/nicla/README.txt b/nicla/README.txt
new file mode 100644
index 0000000..9fdd185
--- /dev/null
+++ b/nicla/README.txt
@@ -0,0 +1,17 @@
+Thank you for supporting Arduino and the OpenMV project!
+
+To download the OpenMV IDE, please visit:
+https://openmv.io/pages/download
+
+For tutorials and documentation, please visit:
+https://docs.arduino.cc/
+http://docs.openmv.io/
+
+For technical OpenMV support and projects, please visit the forums:
+http://forums.openmv.io/
+
+For Arduino related issues, please visit the Arduino help center:
+https://support.arduino.cc/
+
+Please use Github to report bugs and issues:
+https://github.com/openmv/openmv
diff --git a/nicla/end.jpg b/nicla/end.jpg
new file mode 100644
index 0000000..7756273
--- /dev/null
+++ b/nicla/end.jpg
diff --git a/nicla/image.jpg b/nicla/image.jpg
new file mode 100644
index 0000000..51a3c75
--- /dev/null
+++ b/nicla/image.jpg
diff --git a/nicla/kpts.orb b/nicla/kpts.orb
new file mode 100644
index 0000000..0c3e1e7
--- /dev/null
+++ b/nicla/kpts.orb
diff --git a/nicla/no_entry.jpg b/nicla/no_entry.jpg
new file mode 100644
index 0000000..6b1c54b
--- /dev/null
+++ b/nicla/no_entry.jpg
diff --git a/nicla/road.py b/nicla/road.py
index 02867b8..27101ea 100644
--- a/nicla/road.py
+++ b/nicla/road.py
@@ -1,12 +1,13 @@
 import sensor, image, time, math
 import uart
+import signs_detect
 import traffic_light
 from consts import *
 
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.HVGA)
-sensor.skip_frames(time = 2000)
+sensor.skip_frames(time = 4000)
 clock = time.clock()
 
 WIDTH = 480
@@ -33,14 +34,12 @@ def drive(driveImg):
 
   offset_sum = 0.0
   offset_count = 0.0
-
   for blob in img.find_blobs([(ROAD_MIN_BRIGHTNESS, 0xff)], pixels_threshold=100):
     img.draw_rectangle(blob.rect())
     area_weight = blob.area()
     horizontal_pos = (blob.x() + blob.w()/2) / WIDTH
     offset_sum += horizontal_pos * area_weight
     offset_count += area_weight
-
   # dit tegen niemand zeggen
   if offset_count < 0.01: return
   avg = offset_sum / offset_count
@@ -52,13 +51,22 @@ def drive(driveImg):
   steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START)
   uart.uart_buffer(steerByte)
   sensor.dealloc_extra_fb()
-
+count = 0
 while(True):
-  img = sensor.snapshot()
-  data = traffic_light.traf_lights(img)
-  if data is not None:
-      print(data)
-      uart.uart_buffer(data)
-  drive(img)
-  #uart.uart_buffer(DUI_CMD_SPEED_END)
-  clock.tick()
+  if count == 0:
+    count = count + 1
+    speed = signs_detect.init_kpts("speed")
+    #stop = signs_detect.init_kpts("stop")
+    #car = signs_detect.init_kpts("image")
+  else:
+      img = sensor.snapshot()
+      data = traffic_light.traf_lights(img)
+      if data is not None:
+          uart.uart_buffer(data)
+
+        #data_sign = signs_detect.sign_detection(img)
+        #if data_sign is not None:
+          #uart.uart_buffer(data_sign)
+
+      drive(img)
+      #uart.uart_buffer(DUI_CMD_SPEED_END)
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py
new file mode 100644
index 0000000..775ac15
--- /dev/null
+++ b/nicla/signs_detect.py
@@ -0,0 +1,64 @@
+import sensor, image
+
+kpts_threshold = 20
+kpts_corner = image.CORNER_FAST
+
+def init_kpts(str):
+    temp_img = image.Image(f"./{str}.jpg",copy_to_fb=True)
+    temp_img.to_grayscale()
+    kpts = temp_img.find_keypoints(max_keypoints=128, threshold=kpts_threshold, corner_detector=kpts_corner, scale_factor=1.2)
+    temp_img.dealloc_extra_fb()
+    return kpts
+
+def match_kpts(kpts0, kpts1):
+    if kpts0 is not None and kpts1 is not None:
+        match = image.match_descriptor(kpts0, kpts1, threshold=70)
+        #print("matched:%d dt:%d"%(match.count(), match.theta()))
+        if match.count() > 0:
+            print(match.count())
+        return match.count() > 1
+    else:
+        return 0
+
+def read_red_sign(val, img, kpts):
+    if match_kpts(kpts, stop):
+        img.draw_rectangle(val.rect())
+        #img.draw_cross(match.cx(), match.cy(), size=10)
+        #print("stop")
+        return 0x01
+    if match_kpts(kpts, speed):
+        img.draw_rectangle(val.rect())
+        #print("speed")
+        return 0x02
+    if match_kpts(kpts, car):
+        img.draw_rectangle(val.rect())
+        #print("car")
+        return 0x03
+
+#def read_red_sign(val, img, kpts):
+
+def sign_detection(img_sign):
+    img = img_sign.copy()
+    ######## Detect signs
+    blobs_r = img.find_blobs([(0, 100, 25, 63, -128, 127)])
+    blobs_b = img.find_blobs([(0, 29, 11, -128, -31, -5)])
+    #print(f"old: { len(blobs_r) + len(blobs_b) }")
+
+    blobs_r[:] = [b for b in blobs_r if (b.convexity() < 0.7 and b.area() > 64)]
+    blobs_b[:] = [b for b in blobs_b if (b.convexity() < 0.7 and b.area() > 64)]
+    #print(f"new: { len(blobs_r) + len(blobs_b) }")
+
+
+    ######## Read signs
+    img = img.to_grayscale()
+    sign_buffer = 0x00
+    if(len(blobs_r) > 0 or len(blobs_b) > 0):
+        kpts_img = img.find_keypoints(max_keypoints=255, threshold=kpts_threshold, corner_detector=kpts_corner)
+
+        for index, b in enumerate(blobs_r):
+            sign_buffer = read_red_sign(b, img, kpts_img)
+
+        for index, b in enumerate(blobs_b):
+            sign_buffer = read_blu_sign(b, img, kpts_img)
+    sensor.dealloc_extra_fb()
+    return sign_buffer
diff --git a/nicla/speed.jpg b/nicla/speed.jpg
new file mode 100644
index 0000000..c6cf7a9
--- /dev/null
+++ b/nicla/speed.jpg
diff --git a/nicla/speed.orb b/nicla/speed.orb
new file mode 100644
index 0000000..5c48d10
--- /dev/null
+++ b/nicla/speed.orb
diff --git a/nicla/stop.jpg b/nicla/stop.jpg
new file mode 100644
index 0000000..cd35e95
--- /dev/null
+++ b/nicla/stop.jpg
diff --git a/nicla/temp.orb b/nicla/temp.orb
new file mode 100644
index 0000000..ec41eff
--- /dev/null
+++ b/nicla/temp.orb