final integration

2 files changed, 55 insertions, 41 deletions

diff --git a/nicla/road.py b/nicla/road.py
index 2c4e84a..43602fd 100644
--- a/nicla/road.py
+++ b/nicla/road.py
@@ -2,8 +2,12 @@ import sensor, image, time, math
 import uart
 import signs_detect
 import traffic_light
+from garbage_filter import garbage_filter
 from consts import *
 
+buffer_lights = list()
+buffer_signs = list()
+
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.HVGA)
@@ -76,21 +80,24 @@ def drive(img):
     uart.uart_buffer(steerByte)
 
 
-traffic_buffer = CircularBuffer(2)
-sign_buffer = CircularBuffer(3)
+
+
 
 while(True):
 
-      img = sensor.snapshot()
-      data = traffic_buffer.add(traffic_light.traf_lights(img))
-      if data is not None:
-        uart.uart_buffer(data)
+      #img = sensor.snapshot()
+      #data = traffic_light.traf_lights(img)
+      #new_data = garbage_filter(buffer_lights,data,3,21)
+      #if new_data is not None:
+        #uart.uart_buffer(data)
 
       sign_img = sensor.snapshot()
-      data = sign_buffer.add(signs_detect.sign_detection(sign_img))
-      if data is not None:
+      data = signs_detect.sign_detection(sign_img)
+      new_data = garbage_filter(buffer_signs,data,3,21)
+
+      if new_data is not None:
         uart.uart_buffer(data)
 
-      drive_img = sensor.snapshot()
-      drive(drive_img)
-      uart.uart_buffer(0x1f)
+      #drive_img = sensor.snapshot()
+      #drive(drive_img)
+      #uart.uart_buffer(0x1f)
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py
index 70bc633..86d85d7 100644
--- a/nicla/signs_detect.py
+++ b/nicla/signs_detect.py
@@ -1,14 +1,10 @@
-import sensor, image, time
-
-sensor.reset()                      # Reset and initialize the sensor.
-sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
-sensor.set_framesize(sensor.HVGA)   # Set frame size to QVGA (320x240)
-sensor.skip_frames(time = 2000)     # Wait for settings take effect.
-clock = time.clock()                # Create a clock object to track the FPS.
+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 = 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)
     return kpts
@@ -22,34 +18,36 @@ def match_kpts(kpts0, kpts1):
         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() > 0
+            #print(match.count())
+            return match.count() > 0
     else:
         return 0
 
 def read_red_sign(val, img, kpts):
-    data = 0x00
-    if match_kpts(kpts, stop):
+    data = 0x02
+    # if match_kpts(kpts, stop):
+    #     #img.draw_rectangle(val.rect())
+    #     #img.draw_cross(match.cx(), match.cy(), size=10)
+    #     #print("stop")
+    #     data = 0x01
+    # elif match_kpts(kpts, speed):
+    #     #img.draw_rectangle(val.rect())
+    #     #print("speed")
+    #     data = 0x02
+    # elif match_kpts(kpts, car):
         #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
+        #data = 0x03
+
+    return data
 
-#def read_red_sign(val, img, kpts):
+def read_blu_sign(val, img, kpts):
+    return 0x03
 
 def sign_detection(img):
     ######## Detect signs
-
     blobs_r = img.find_blobs([(0, 100, 25, 63, -128, 127)])
-    blobs_b = img.find_blobs([(0, 29, 11, -128, -31, -5)])
+    blobs_b = img.find_blobs([(25, 69, 49, 9, -12, -71)])
     #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)]
@@ -58,14 +56,23 @@ def sign_detection(img):
 
 
     ######## Read signs
-    img = img.to_grayscale()
-
+    # img = img.to_grayscale()
+    sign_buffer = 0x01
     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)
+            # img.draw_rectangle(b.rect())
+            sign_buffer = 0x02
+            # sign_buffer = read_red_sign(b, img, kpts_img)
+            # if sign_buffer != 0x01:
+            #     break
+
+        for index, b in enumerate(blobs_b):
+            # img.draw_rectangle(b.rect(),0)
+            sign_buffer = 0x03
+            # sign_buffer = read_blu_sign(b, img, kpts_img)
+            # if sign_buffer != 0x01:
+            #     break
 
-        #for index, b in enumerate(blobs_b):
-            #sign_buffer = read_blu_sign(b, img, kpts_img)
     return sign_buffer