diff options
Diffstat (limited to 'nicla/road.py')
| -rw-r--r-- | nicla/road.py | 29 |
1 files changed, 18 insertions, 11 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) |