diff options
Diffstat (limited to 'nicla/traffic_light.py')
| -rw-r--r-- | nicla/traffic_light.py | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/nicla/traffic_light.py b/nicla/traffic_light.py index 3d81139..9499aea 100644 --- a/nicla/traffic_light.py +++ b/nicla/traffic_light.py @@ -30,12 +30,9 @@ def rgb2hsv(rgb): h = (h/6.0) % 1.0 return (h, s, v) -while(True): - clock.tick() - img = sensor.snapshot() - ## todo: downsample img - original = img.copy(copy_to_fb=True) - img = img.to_grayscale() + +def traf_lights(imgTraffic): + img = imgTraffic.to_grayscale() for blob in img.find_blobs([(0, 60)], pixels_threshold=100): aspect = blob.h() / blob.w() if abs(aspect - 2.2) > 0.5: continue @@ -55,11 +52,20 @@ while(True): if i == 1 and abs(h - 0.05) > 0.1: continue if i == 2 and abs(h - 0.40) > 0.1: continue light_status = i + 1 - print((h,s,v,)) + #print((h,s,v,)) break if light_status == 0: continue img.draw_rectangle(blob.rect()) img.draw_circle(lights[light_status-1][0], lights[light_status-1][1], 2) - print(("", "rood", "geel", "groen")[light_status]) + #print(("", "rood", "geel", "groen")[light_status]) + + if light_status == 1: + return 0x06 + elif light_status == 2: + return 0x07 + elif light_status == 3: + return 0x08 + else: + return 0x01 |