From b62bcc004fc0dd3d53fbbaf02d3af516b7cb47e0 Mon Sep 17 00:00:00 2001
From: heavydemon21 <nielsstunnebrink1@gmail.com>
Date: Wed, 7 Jun 2023 11:21:19 +0200
Subject: integration

---
 nicla/road.py          | 26 +++++++++++++-------------
 nicla/signs_detect.py  |  9 +++------
 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
-- 
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