diff options
| -rw-r--r-- | nicla/road.py | 29 | ||||
| -rw-r--r-- | nicla/signs_detect.py | 67 |
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 |