25 files changed, 117 insertions, 16 deletions

diff --git a/nicla/.Trashes/._501 b/nicla/.Trashes/._501
new file mode 100644
index 0000000..338bd7b
--- /dev/null
+++ b/nicla/.Trashes/._501
diff --git a/nicla/.Trashes/501/._image.png b/nicla/.Trashes/501/._image.png
new file mode 100644
index 0000000..02cf786
--- /dev/null
+++ b/nicla/.Trashes/501/._image.png
diff --git a/nicla/.Trashes/501/._temp.mjpeg b/nicla/.Trashes/501/._temp.mjpeg
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/nicla/.Trashes/501/._temp.mjpeg
diff --git a/nicla/.Trashes/501/image.png b/nicla/.Trashes/501/image.png
new file mode 100644
index 0000000..d8bc7f5
--- /dev/null
+++ b/nicla/.Trashes/501/image.png
diff --git a/nicla/.Trashes/501/temp.mjpeg b/nicla/.Trashes/501/temp.mjpeg
new file mode 100644
index 0000000..577a50a
--- /dev/null
+++ b/nicla/.Trashes/501/temp.mjpeg
diff --git a/nicla/._end.jpg b/nicla/._end.jpg
new file mode 100644
index 0000000..c26df8c
--- /dev/null
+++ b/nicla/._end.jpg
diff --git a/nicla/._image.jpg b/nicla/._image.jpg
new file mode 100644
index 0000000..4520888
--- /dev/null
+++ b/nicla/._image.jpg
diff --git a/nicla/._no_entry.jpg b/nicla/._no_entry.jpg
new file mode 100644
index 0000000..a22af57
--- /dev/null
+++ b/nicla/._no_entry.jpg
diff --git a/nicla/._speed.jpg b/nicla/._speed.jpg
new file mode 100644
index 0000000..f3a3faf
--- /dev/null
+++ b/nicla/._speed.jpg
diff --git a/nicla/._stop.jpg b/nicla/._stop.jpg
new file mode 100644
index 0000000..4a47a5b
--- /dev/null
+++ b/nicla/._stop.jpg
diff --git a/nicla/._temp.orb b/nicla/._temp.orb
new file mode 100644
index 0000000..acfd770
--- /dev/null
+++ b/nicla/._temp.orb
diff --git a/nicla/.fseventsd/fseventsd-uuid b/nicla/.fseventsd/fseventsd-uuid
new file mode 100644
index 0000000..d3c0376
--- /dev/null
+++ b/nicla/.fseventsd/fseventsd-uuid
@@ -0,0 +1 @@
+6FDC5716-0B86-4159-ACC7-80164FCE6FE6
\ No newline at end of file
diff --git a/nicla/ERROR.LOG b/nicla/ERROR.LOG
new file mode 100644
index 0000000..ba1a6e3
--- /dev/null
+++ b/nicla/ERROR.LOG
@@ -0,0 +1 @@
+FATAL ERROR:
diff --git a/nicla/README.txt b/nicla/README.txt
new file mode 100644
index 0000000..9fdd185
--- /dev/null
+++ b/nicla/README.txt
@@ -0,0 +1,17 @@
+Thank you for supporting Arduino and the OpenMV project!
+
+To download the OpenMV IDE, please visit:
+https://openmv.io/pages/download
+
+For tutorials and documentation, please visit:
+https://docs.arduino.cc/
+http://docs.openmv.io/
+
+For technical OpenMV support and projects, please visit the forums:
+http://forums.openmv.io/
+
+For Arduino related issues, please visit the Arduino help center:
+https://support.arduino.cc/
+
+Please use Github to report bugs and issues:
+https://github.com/openmv/openmv
diff --git a/nicla/end.jpg b/nicla/end.jpg
new file mode 100644
index 0000000..7756273
--- /dev/null
+++ b/nicla/end.jpg
diff --git a/nicla/image.jpg b/nicla/image.jpg
new file mode 100644
index 0000000..51a3c75
--- /dev/null
+++ b/nicla/image.jpg
diff --git a/nicla/kpts.orb b/nicla/kpts.orb
new file mode 100644
index 0000000..0c3e1e7
--- /dev/null
+++ b/nicla/kpts.orb
diff --git a/nicla/no_entry.jpg b/nicla/no_entry.jpg
new file mode 100644
index 0000000..6b1c54b
--- /dev/null
+++ b/nicla/no_entry.jpg
diff --git a/nicla/road.py b/nicla/road.py
index 20863cc..1b06e78 100644
--- a/nicla/road.py
+++ b/nicla/road.py
@@ -1,11 +1,13 @@
 import sensor, image, time, math
 import uart
+import signs_detect
+import traffic_light
 from consts import *
 
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.HVGA)
-sensor.skip_frames(time = 2000)
+sensor.skip_frames(time = 4000)
 clock = time.clock()
 
 WIDTH = 480
@@ -25,8 +27,7 @@ points = [(STRETCH, HORIZON),
           (WIDTH-1+SQUEEZE, HEIGHT-1),
           (-SQUEEZE, HEIGHT-1)]
 
-def main():
-  img = sensor.snapshot()
+def drive(driveImg):
   img.to_grayscale()
   img.replace(vflip=True, hmirror=True)
   img.rotation_corr(corners=points)
@@ -34,14 +35,12 @@ def main():
 
   offset_sum = 0.0
   offset_count = 0.0
-
   for blob in img.find_blobs([(ROAD_MIN_BRIGHTNESS, 0xff)], pixels_threshold=100):
     img.draw_rectangle(blob.rect())
     area_weight = MIN_AREA + min(MAX_AREA, blob.w() * blob.h()) # limit max area_weight so small blobs still have impact
     horizontal_pos = (blob.x() + blob.w()/2) / WIDTH
     offset_sum += horizontal_pos * area_weight
     offset_count += area_weight
-
   # dit tegen niemand zeggen
   if offset_count < 0.01: return
   avg = offset_sum / offset_count
@@ -53,7 +52,23 @@ def main():
   steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START)
   uart.uart_buffer(steerByte)
 
+
+speed = signs_detect.init_kpts("speed")
+stop = signs_detect.init_kpts("stop")
+car = signs_detect.init_kpts("image")
 while(True):
-  main()
-  uart.uart_buffer(DUI_CMD_SPEED_END)
-  clock.tick()
+
+      img = sensor.snapshot()
+      data = traffic_light.traf_lights(img)
+      if data is not None:
+          uart.uart_buffer(data)
+
+
+      sign_img = sensor.snapshot()
+      data_sign = signs_detect.sign_detection(sign_img)
+      if data_sign is not None:
+        uart.uart_buffer(data_sign)
+
+      drive_img = sensor.snapshot()
+      drive(drive_img)
+      #uart.uart_buffer(DUI_CMD_SPEED_END)
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py
new file mode 100644
index 0000000..786972d
--- /dev/null
+++ b/nicla/signs_detect.py
@@ -0,0 +1,61 @@
+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.to_grayscale()
+    kpts = temp_img.find_keypoints(max_keypoints=128, threshold=kpts_threshold, corner_detector=kpts_corner, scale_factor=1.2)
+    return kpts
+
+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() > 1
+    else:
+        return 0
+
+def read_red_sign(val, img, kpts):
+    if match_kpts(kpts, stop):
+        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
+
+#def read_red_sign(val, img, kpts):
+
+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)])
+    #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)]
+    blobs_b[:] = [b for b in blobs_b if (b.convexity() < 0.7 and b.area() > 64)]
+    #print(f"new: { len(blobs_r) + len(blobs_b) }")
+
+
+    ######## Read signs
+    img = img.to_grayscale()
+    sign_buffer = 0x00
+    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)
+
+        #for index, b in enumerate(blobs_b):
+            #sign_buffer = read_blu_sign(b, img, kpts_img)
+    return sign_buffer
diff --git a/nicla/speed.jpg b/nicla/speed.jpg
new file mode 100644
index 0000000..c6cf7a9
--- /dev/null
+++ b/nicla/speed.jpg
diff --git a/nicla/speed.orb b/nicla/speed.orb
new file mode 100644
index 0000000..5c48d10
--- /dev/null
+++ b/nicla/speed.orb
diff --git a/nicla/stop.jpg b/nicla/stop.jpg
new file mode 100644
index 0000000..cd35e95
--- /dev/null
+++ b/nicla/stop.jpg
diff --git a/nicla/temp.orb b/nicla/temp.orb
new file mode 100644
index 0000000..ec41eff
--- /dev/null
+++ b/nicla/temp.orb
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