add research

2 files changed, 141 insertions, 0 deletions

diff --git a/matlab/invpers.m b/matlab/invpers.m
new file mode 100644
index 0000000..e881ed8
--- /dev/null
+++ b/matlab/invpers.m
@@ -0,0 +1,72 @@
+clf
+clc
+
+WIDTH = 480;
+HEIGHT = 320;
+MAX_AREA = WIDTH * HEIGHT / 10;
+
+HORIZON = 140;
+STRETCH = 105;
+SQUEEZE = 145;
+
+movingPoints = [STRETCH HORIZON; (WIDTH-STRETCH) HORIZON; WIDTH HEIGHT; 0 HEIGHT];
+fixedPoints = [0 0;WIDTH 0; (WIDTH-SQUEEZE) HEIGHT; SQUEEZE HEIGHT];
+t = fitgeotrans(movingPoints,fixedPoints,'projective');
+
+x = imread('00021.jpg');
+x = imrotate(x, 180);
+o = x;
+
+r = imref2d(size(x),[1 size(x,2)],[1 size(x,1)]);
+x = imwarp(x,r,t,'OutputView',r);
+
+x = imgaussfilt(x, 3);
+x = rgb2hsv(x);
+
+x = x(:,:,3);
+x = imadjust(x);
+x = x > 0.8;
+
+[lmap, lcount] = bwlabel(x);
+
+subplot(2,1,1);
+hold on;
+imshow(o);
+plot([(WIDTH/2) (WIDTH/2)], [0 HEIGHT], 'Color', '#888', 'LineWidth', 2);
+
+subplot(2,1,2);
+hold on;
+imshow(label2rgb(lmap, 'jet', 'black'));
+
+sum = 0;
+count = 0;
+for i = 1:lcount
+    props = regionprops(lmap == i, 'BoundingBox', 'Area');
+    s = props.BoundingBox;
+    sx = s(1);
+    sy = s(2);
+    lx = s(1) + s(3);
+    ly = s(2) + s(4);
+    width = lx - sx;
+    height = ly - sy;
+    area_weight = 40 + min(MAX_AREA, width * height);
+    horizontal_pos = (sx + width/2) / WIDTH;
+    sum = sum + horizontal_pos * area_weight;
+    count = count + area_weight;
+    rectangle('Position', [s(1) s(2) s(3) s(4)], 'EdgeColor', 'green');
+end
+
+avg = sum / count;
+avg = avg * 2 - 1;
+avg = max(-1, min(1, avg));
+avg
+
+subplot(2,1,1);
+quiver(WIDTH/2,HEIGHT/2,avg*WIDTH/2,0,0,'linewidth',3,'color','r')
+
+if abs(avg) < 0.1
+    "straight ahead"
+else
+    temp = ["left", "right"];
+    temp((sign(avg) + 1) / 2 + 1)
+end
\ No newline at end of file
diff --git a/matlab/traffic_lights.m b/matlab/traffic_lights.m
new file mode 100644
index 0000000..8804778
--- /dev/null
+++ b/matlab/traffic_lights.m
@@ -0,0 +1,69 @@
+clf
+clc
+hold on;
+
+x = imread('010.jpg');
+x = imrotate(x, 180);
+o = x;
+x = rgb2hsv(x);
+
+t = x(:,:,3);
+t = imadjust(t);
+t = t < 0.15;
+
+[lmap, lcount] = bwlabel(t);
+
+imshow(label2rgb(lmap, 'jet', 'black'));
+imshow(o);
+for i = 1:lcount
+    s = regionprops(lmap == i, 'BoundingBox').BoundingBox;
+    sx = s(1);
+    sy = s(2);
+    lx = s(1) + s(3);
+    ly = s(2) + s(4);
+    width = lx - sx;
+    height = ly - sy;
+    area = width * height;
+    if area < 450
+        continue
+    end
+    aspect = height / width;
+    % stoplichten zullen wel een verhouding van ongeveer 2.2 hebben
+    if abs(aspect - 2.2) > 0.5
+        continue
+    end
+
+    red_light = [round(sx + width / 2), round(sy + 0.2 * height)];
+    yellow_light = [round(sx + width / 2), round(sy + 0.5 * height)];
+    green_light = [round(sx + width / 2), round(sy + 0.8 * height)];
+
+    light_status = 0; % 0 = geen lamp, 1 = rood, 2 = geel, 3 = groen
+    
+    % x(red_light(2), red_light(1), :)
+    if (light_status == 0) && ...
+       (abs(x(red_light(2), red_light(1), 1) - 0.5) > 0.4) && ...
+       (x(red_light(2), red_light(1), 2) > 0.4)
+        light_status = 1;
+        plot(red_light(1), red_light(2), '.');
+    end
+    if (light_status == 0) && ...
+       (abs(x(yellow_light(2), yellow_light(1), 1) - 0.1) < 0.1) && ...
+       (x(yellow_light(2), yellow_light(1), 2) > 0.4)
+        light_status = 2;
+        plot(yellow_light(1), yellow_light(2), '.');
+    end
+    if (light_status == 0) && ...
+       (abs(x(green_light(2), green_light(1), 1) - 0.4) < 0.1) && ...
+       (x(green_light(2), green_light(1), 2) > 0.4)
+        light_status = 3;
+        plot(green_light(1), green_light(2), '.');
+    end
+
+    if light_status == 0
+        continue
+    end
+    
+    rectangle('Position', [s(1) s(2) s(3) s(4)], 'EdgeColor', 'green');
+    status = ["rood" "geel" "groen"]; status(light_status)
+end
+