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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
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