1 files changed, 69 insertions, 0 deletions
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
+