WIP final integration

1 files changed, 64 insertions, 0 deletions

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