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 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 97 insertions(+) create mode 100644 nicla/signs_detect.py (limited to 'nicla') 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") -- cgit v1.2.3 From e239429c8885a7c152194a9f25401204258a0fbd Mon Sep 17 00:00:00 2001 From: UnavailableDev <69792062+UnavailableDev@users.noreply.github.com> Date: Tue, 6 Jun 2023 12:08:31 +0200 Subject: cleanup --- nicla/signs_detect.py | 21 --------------------- 1 file changed, 21 deletions(-) (limited to 'nicla') diff --git a/nicla/signs_detect.py b/nicla/signs_detect.py index c996a88..baf62e8 100644 --- a/nicla/signs_detect.py +++ b/nicla/signs_detect.py @@ -1,12 +1,7 @@ -# 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. @@ -15,28 +10,20 @@ 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) @@ -80,7 +67,6 @@ while(True): 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): @@ -88,10 +74,3 @@ while(True): 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 From a6ea4db7c5b4fe942eb7bed4deee19efa6789b44 Mon Sep 17 00:00:00 2001 From: lonkaars Date: Thu, 8 Jun 2023 12:31:45 +0200 Subject: implement garbage filter --- nicla/garbage_filter.py | 40 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 nicla/garbage_filter.py (limited to 'nicla') diff --git a/nicla/garbage_filter.py b/nicla/garbage_filter.py new file mode 100644 index 0000000..3afd2c3 --- /dev/null +++ b/nicla/garbage_filter.py @@ -0,0 +1,40 @@ +traffic_light_garbage = list() + +""" +filter garbage + +arguments: +arr -- garbage filter memory list +val -- input value +sensitivity -- minimum amount of `val` in `arr` to return `val` +limit -- max length of `arr` + +return value: +if `arr` contains `sensitivity` or more of any item, that item will be +returned, else None is returned +""" +def garbage_filter(arr, val, sensitivity, limit): + if val == None: return None + arr[:] = [None]*(limit - len(arr)) + arr + arr.pop(0) + arr.append(val) + if len([x for x in arr if x == val]) >= sensitivity: + return val + return None + +if __name__ == "__main__": + inputs = [ + "red", + None, + "green", + "green", + None, + "red", + "green", + "red", + "red", + None, + None + ] + for x in inputs: + print(garbage_filter(traffic_light_garbage, x, 3, 4)) -- cgit v1.2.3