From 46acbbb6fd27cc00dadcc9118d774ae674f8eef5 Mon Sep 17 00:00:00 2001 From: UnavailableDev <69792062+UnavailableDev@users.noreply.github.com> Date: Tue, 6 Jun 2023 12:04:29 +0200 Subject: mv file --- nicla/signs_detect.py | 97 +++++++++++++++++++++++++++++++++++++++++++++++++ openMV/POC_signs_red.py | 97 ------------------------------------------------- 2 files changed, 97 insertions(+), 97 deletions(-) create mode 100644 nicla/signs_detect.py delete mode 100644 openMV/POC_signs_red.py diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py new file mode 100644 index 0000000..c996a88 --- /dev/null +++ b/nicla/signs_detect.py @@ -0,0 +1,97 @@ +# Hello World Example +# +# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script! + +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_pixformat(sensor.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): + + #img.draw_keypoints(kpts,255) + + 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) + + + # Note: OpenMV Cam runs about half as fast when connected + # to the IDE. The FPS should increase once disconnected. + #img = gr + + #print("EOC") diff --git a/openMV/POC_signs_red.py b/openMV/POC_signs_red.py deleted file mode 100644 index c996a88..0000000 --- a/openMV/POC_signs_red.py +++ /dev/null @@ -1,97 +0,0 @@ -# Hello World Example -# -# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script! - -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_pixformat(sensor.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): - - #img.draw_keypoints(kpts,255) - - 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) - - - # Note: OpenMV Cam runs about half as fast when connected - # to the IDE. The FPS should increase once disconnected. - #img = gr - - #print("EOC") -- cgit v1.2.3