diff options
Diffstat (limited to 'nicla')
| -rw-r--r-- | nicla/signs_detect.py | 49 |
1 files changed, 32 insertions, 17 deletions
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py index 57b6c3e..baf62e8 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -1,10 +1,14 @@ -import sensor, image +import sensor, image, time + +sensor.reset() # Reset and initialize the sensor. +sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE) +sensor.set_framesize(sensor.HVGA) # Set frame size to QVGA (320x240) +sensor.skip_frames(time = 2000) # Wait for settings take effect. +clock = time.clock() # Create a clock object to track the FPS. -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 = 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 @@ -15,7 +19,7 @@ def match_kpts(kpts0, kpts1): #print("matched:%d dt:%d"%(match.count(), match.theta())) if match.count() > 0: print(match.count()) - return match.count() > 0 + return match.count() > 1 else: return 0 @@ -23,21 +27,33 @@ 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 + print("stop") + if match_kpts(kpts, speed): img.draw_rectangle(val.rect()) - #print("speed") - return 0x02 + print("speed") + if match_kpts(kpts, car): img.draw_rectangle(val.rect()) - #print("car") - return 0x03 + print("car") #def read_red_sign(val, img, kpts): -def sign_detection(img): + +kpts_threshold = 20 +kpts_corner = image.CORNER_FAST + +speed = init_kpts("speed") +stop = init_kpts("stop") +car = init_kpts("image") + + +while(True): + clock.tick() # Update the FPS clock. + img = sensor.snapshot() # Take a picture and return the image. + ######## 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) }") @@ -49,13 +65,12 @@ def sign_detection(img): ######## 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) + 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 + for index, b in enumerate(blobs_b): + read_blu_sign(b, img, kpts_img) |