1 files changed, 76 insertions, 0 deletions
diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py
new file mode 100644
index 0000000..baf62e8
--- /dev/null
+++ b/nicla/signs_detect.py
@@ -0,0 +1,76 @@
+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.
+
+
+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")
+
+    if match_kpts(kpts, speed):
+        img.draw_rectangle(val.rect())
+        print("speed")
+
+    if match_kpts(kpts, car):
+        img.draw_rectangle(val.rect())
+        print("car")
+
+#def read_red_sign(val, img, kpts):
+
+
+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) }")
+
+    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()
+
+    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):
+            read_red_sign(b, img, kpts_img)
+
+        for index, b in enumerate(blobs_b):
+            read_blu_sign(b, img, kpts_img)