diff options
Diffstat (limited to 'nicla/signs_detect.py')
| -rw-r--r-- | nicla/signs_detect.py | 34 |
1 files changed, 23 insertions, 11 deletions
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py index 57b6c3e..17d47c3 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -9,32 +9,40 @@ def init_kpts(str): kpts = temp_img.find_keypoints(max_keypoints=128, threshold=kpts_threshold, corner_detector=kpts_corner, scale_factor=1.2) return kpts +speed = init_kpts("speed") +stop = init_kpts("stop") +car = init_kpts("image") + 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() > 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): - img.draw_rectangle(val.rect()) + #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()) + data = 0x01 + elif match_kpts(kpts, speed): + #img.draw_rectangle(val.rect()) #print("speed") - return 0x02 - if match_kpts(kpts, car): - img.draw_rectangle(val.rect()) + data = 0x02 + elif 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 0x02 def sign_detection(img): ######## Detect signs @@ -55,7 +63,11 @@ def sign_detection(img): 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 |