Merge branch 'dev' of https://github.com/heavydemon21/avans-dui into dev

2 files changed, 60 insertions, 22 deletions

diff --git a/nicla/garbage_filter.py b/nicla/garbage_filter.py
new file mode 100644
index 0000000..3afd2c3
--- /dev/null
+++ b/nicla/garbage_filter.py
@@ -0,0 +1,40 @@
+traffic_light_garbage = list()
+
+"""
+filter garbage
+
+arguments:
+arr -- garbage filter memory list
+val -- input value
+sensitivity -- minimum amount of `val` in `arr` to return `val`
+limit -- max length of `arr`
+
+return value:
+if `arr` contains `sensitivity` or more of any item, that item will be
+returned, else None is returned
+"""
+def garbage_filter(arr, val, sensitivity, limit):
+	if val == None: return None
+	arr[:] = [None]*(limit - len(arr)) + arr
+	arr.pop(0)
+	arr.append(val)
+	if len([x for x in arr if x == val]) >= sensitivity:
+		return val
+	return None
+
+if __name__ == "__main__":
+	inputs = [
+		"red",
+		None,
+		"green",
+		"green",
+		None,
+		"red",
+		"green",
+		"red",
+		"red",
+		None,
+		None
+	]
+	for x in inputs:
+		print(garbage_filter(traffic_light_garbage, x, 3, 4))
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py
index 17d47c3..70bc633 100644
--- a/nicla/signs_detect.py
+++ b/nicla/signs_detect.py
@@ -1,10 +1,14 @@
-import sensor, image
+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.
 
-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
@@ -18,8 +22,8 @@ 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
 
@@ -29,23 +33,21 @@ def read_red_sign(val, img, kpts):
         #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())
+        return 0x01
+    if match_kpts(kpts, speed):
+        img.draw_rectangle(val.rect())
         #print("speed")
-        data = 0x02
-    elif match_kpts(kpts, car):
-        #img.draw_rectangle(val.rect())
+        return 0x02
+    if match_kpts(kpts, car):
+        img.draw_rectangle(val.rect())
         #print("car")
-        data = 0x03
+        return 0x03
 
-    return data
-
-def read_blu_sign(val, img, kpts):
-    return 0x02
+#def read_red_sign(val, img, kpts):
 
 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)])
     #print(f"old: { len(blobs_r) + len(blobs_b) }")
@@ -57,17 +59,13 @@ def sign_detection(img):
 
     ######## 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)
-            if sign_buffer != 0x00:
-                break
 
         #for index, b in enumerate(blobs_b):
             #sign_buffer = read_blu_sign(b, img, kpts_img)
-            #if sign_buffer != 0x00:
-                #break
     return sign_buffer