diff options
| -rw-r--r-- | openMV/POC_signs_red.py | 101 |
1 files changed, 75 insertions, 26 deletions
diff --git a/openMV/POC_signs_red.py b/openMV/POC_signs_red.py index cb521b9..c996a88 100644 --- a/openMV/POC_signs_red.py +++ b/openMV/POC_signs_red.py @@ -4,45 +4,94 @@ import sensor, image, time -# Color Tracking Thresholds (Grayscale Min, Grayscale Max) -min_rgb = 128 -max_rgb = 255 -threshold_list = [(min_rgb, max_rgb)]# only bright grey colours will get tracked. -threshold_rgb = [(0, 100, 75, 32, 2, 127)] #only find red -#threshold_rgb = [(18, 78, -8, 127, 24, 127)] - sensor.reset() # Reset and initialize the sensor. sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE) #sensor.set_pixformat(sensor.GRAYSCALE) -sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240) +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. + +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) + 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): + + #img.draw_keypoints(kpts,255) + + if match_kpts(kpts, stop): + img.draw_rectangle(val.rect()) + #img.draw_cross(match.cx(), match.cy(), size=10) + print("stop") + + if match_kpts(kpts, speed): + img.draw_rectangle(val.rect()) + print("speed") + + if match_kpts(kpts, car): + img.draw_rectangle(val.rect()) + print("car") + +#def read_red_sign(val, img, kpts): + + +kpts_threshold = 20 +kpts_corner = image.CORNER_FAST + +speed = init_kpts("speed") +stop = init_kpts("stop") +car = init_kpts("image") + + while(True): clock.tick() # Update the FPS clock. img = sensor.snapshot() # Take a picture and return the image. - #lines = img.find_lines() - #for i in lines: - #img.draw_line(i.line(), 255, 8) + ######## 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() + + if(len(blobs_r) > 0 or len(blobs_b) > 0): - #gray = img - #gray.to_grayscale() - #img.find_edges(0) + kpts_img = img.find_keypoints(max_keypoints=255, threshold=kpts_threshold, corner_detector=kpts_corner) + for index, b in enumerate(blobs_r): + read_red_sign(b, img, kpts_img) + for index, b in enumerate(blobs_b): + read_blu_sign(b, img, kpts_img) - blobs = img.find_blobs(threshold_rgb) - #blobs.count() - #print(blobs) - ##kpts = img.find_keypoints() - for index, b in enumerate(blobs, 1): - convex = b.convexity() - if convex < 0.8: - img.draw_rectangle(b.rect(),int((512+256)*convex),2) - print(b.convexity()) - #img.draw_line(12,12,200,200,255,8) + # Note: OpenMV Cam runs about half as fast when connected + # to the IDE. The FPS should increase once disconnected. + #img = gr - print(clock.fps()) # Note: OpenMV Cam runs about half as fast when connected - # to the IDE. The FPS should increase once disconnected. + #print("EOC") |