import sensor, image kpts_threshold = 20 kpts_corner = image.CORNER_FAST 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 speed = init_kpts("speed") stop = init_kpts("stop") car = init_kpts("image") 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() > 0 else: return 0 def read_red_sign(val, img, kpts): data = 0x00 if match_kpts(kpts, stop): #img.draw_rectangle(val.rect()) #img.draw_cross(match.cx(), match.cy(), size=10) #print("stop") data = 0x01 elif match_kpts(kpts, speed): #img.draw_rectangle(val.rect()) #print("speed") data = 0x02 elif match_kpts(kpts, car): #img.draw_rectangle(val.rect()) #print("car") data = 0x03 return data def read_blu_sign(val, img, kpts): return 0x02 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)]) #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() sign_buffer = 0x00 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): sign_buffer = read_red_sign(b, img, kpts_img) if sign_buffer != 0x00: break #for index, b in enumerate(blobs_b): #sign_buffer = read_blu_sign(b, img, kpts_img) #if sign_buffer != 0x00: #break return sign_buffer