diff options
Diffstat (limited to 'nicla')
| -rw-r--r-- | nicla/road.py | 67 | ||||
| -rw-r--r-- | nicla/signs_detect.py | 2 |
2 files changed, 34 insertions, 35 deletions
diff --git a/nicla/road.py b/nicla/road.py index 1b06e78..143a9c5 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -27,41 +27,40 @@ points = [(STRETCH, HORIZON), (WIDTH-1+SQUEEZE, HEIGHT-1), (-SQUEEZE, HEIGHT-1)] -def drive(driveImg): - img.to_grayscale() - img.replace(vflip=True, hmirror=True) - img.rotation_corr(corners=points) - img.gaussian(3) - - 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 - avg = avg * 2 - 1 - avg *= STEERING_ENTHOUSIASM - avg = max(-1, min(1, avg)) - - print(avg) - 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") + +def drive(img): + img.to_grayscale() + img.replace(vflip=True, hmirror=True) + img.rotation_corr(corners=points) + img.gaussian(3) + + 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 + avg = avg * 2 - 1 + avg *= STEERING_ENTHOUSIASM + avg = max(-1, min(1, avg)) + + steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START) + + uart.uart_buffer(steerByte) + + + while(True): - img = sensor.snapshot() - data = traffic_light.traf_lights(img) - if data is not None: - uart.uart_buffer(data) + #img = sensor.snapshot() + #data = traffic_light.traf_lights(img) + #if data is not None: + #uart.uart_buffer(data) sign_img = sensor.snapshot() @@ -71,4 +70,4 @@ while(True): drive_img = sensor.snapshot() drive(drive_img) - #uart.uart_buffer(DUI_CMD_SPEED_END) + uart.uart_buffer(0x1f) diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py index 786972d..57b6c3e 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -15,7 +15,7 @@ def match_kpts(kpts0, kpts1): #print("matched:%d dt:%d"%(match.count(), match.theta())) if match.count() > 0: print(match.count()) - return match.count() > 1 + return match.count() > 0 else: return 0 |