diff options
Diffstat (limited to 'nicla')
| -rw-r--r-- | nicla/road.py | 26 | ||||
| -rw-r--r-- | nicla/signs_detect.py | 9 | ||||
| -rw-r--r-- | nicla/traffic_light.py | 2 |
3 files changed, 16 insertions, 21 deletions
diff --git a/nicla/road.py b/nicla/road.py index 27101ea..5e5e1de 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -26,7 +26,6 @@ points = [(STRETCH, HORIZON), (-SQUEEZE, HEIGHT-1)] def drive(driveImg): - img = driveImg.copy() img.to_grayscale() img.replace(vflip=True, hmirror=True) img.rotation_corr(corners=points) @@ -50,23 +49,24 @@ def drive(driveImg): print(avg) steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START) uart.uart_buffer(steerByte) - sensor.dealloc_extra_fb() -count = 0 + + +speed = signs_detect.init_kpts("speed") +stop = signs_detect.init_kpts("stop") +car = signs_detect.init_kpts("image") while(True): - if count == 0: - count = count + 1 - speed = signs_detect.init_kpts("speed") - #stop = signs_detect.init_kpts("stop") - #car = signs_detect.init_kpts("image") - else: + img = sensor.snapshot() data = traffic_light.traf_lights(img) if data is not None: uart.uart_buffer(data) - #data_sign = signs_detect.sign_detection(img) - #if data_sign is not None: - #uart.uart_buffer(data_sign) - drive(img) + 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 index 775ac15..786972d 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -7,7 +7,6 @@ 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) - temp_img.dealloc_extra_fb() return kpts def match_kpts(kpts0, kpts1): @@ -37,8 +36,7 @@ def read_red_sign(val, img, kpts): #def read_red_sign(val, img, kpts): -def sign_detection(img_sign): - img = img_sign.copy() +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)]) @@ -58,7 +56,6 @@ def sign_detection(img_sign): 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) - sensor.dealloc_extra_fb() + #for index, b in enumerate(blobs_b): + #sign_buffer = read_blu_sign(b, img, kpts_img) return sign_buffer diff --git a/nicla/traffic_light.py b/nicla/traffic_light.py index 7399523..9499aea 100644 --- a/nicla/traffic_light.py +++ b/nicla/traffic_light.py @@ -32,7 +32,6 @@ def rgb2hsv(rgb): def traf_lights(imgTraffic): - original = imgTraffic.copy() img = imgTraffic.to_grayscale() for blob in img.find_blobs([(0, 60)], pixels_threshold=100): aspect = blob.h() / blob.w() @@ -61,7 +60,6 @@ def traf_lights(imgTraffic): 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]) - sensor.dealloc_extra_fb() if light_status == 1: return 0x06 |