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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_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):
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)
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