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@kidswong999

# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# Template Matching Example - Normalized Cross Correlation (NCC)
#
# This example shows off how to use the NCC feature of your OpenMV Cam to match
# image patches to parts of an image... expect for extremely controlled environments
# NCC is not all to useful.
#
# WARNING: NCC supports needs to be reworked! As of right now this feature needs
# a lot of work to be made into somethin useful. This script will remain to show
# that the functionality exists, but, in its current state is inadequate.

import time
import sensor
import image
from image import SEARCH_EX
from pyb import UART

# from image import SEARCH_DS
uart=UART(3,9600)
# Reset sensor
sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
# You can set windowing to reduce the search image.
# sensor.set_windowing(((640-80)//2, (480-60)//2, 80, 60))
sensor.set_pixformat(sensor.GRAYSCALE)

# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
template1 = image.Image("/1.pgm")
template2 = image.Image("/2.pgm")
template3 = image.Image("/3.pgm")
template4 = image.Image("/4.pgm")
template5 = image.Image("/5.pgm")
template6 = image.Image("/6.pgm")
template7 = image.Image("/7.pgm")
template8 = image.Image("/8.pgm")


clock = time.clock()

# Run template matching
while True:
    clock.tick()
    img = sensor.snapshot()
    num=0
    # find_template(template, threshold, [roi, step, search])
    # ROI: The region of interest tuple (x, y, w, h).
    # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
    # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
    #
    # Note1: ROI has to be smaller than the image and bigger than the template.
    # Note2: In diamond search, step and ROI are both ignored.
    r1 = img.find_template(
        template1, 0.70, step=4, search=SEARCH_EX
    )  # , roi=(10, 0, 60, 60))
    if r1:
        img.draw_rectangle(r1)
        num=1
    r2 = img.find_template(
        template2, 0.70, step=4, search=SEARCH_EX
    )  # , roi=(10, 0, 60, 60))
    if r2:
        img.draw_rectangle(r2)
        num=2
    r3 = img.find_template(
        template3, 0.70, step=4, search=SEARCH_EX
        )  # , roi=(10, 0, 60, 60))
    if r3:
        img.draw_rectangle(r3)
        num=3
    r4 = img.find_template(
        template4, 0.70, step=4, search=SEARCH_EX
            )  # , roi=(10, 0, 60, 60))
    if r4:
        img.draw_rectangle(r)
        num=4
    r5 = img.find_template(
        template5, 0.70, step=4, search=SEARCH_EX
            )  # , roi=(10, 0, 60, 60))
    if r5:
        img.draw_rectangle(r5)
        num=5
    r6 = img.find_template(
        template6, 0.70, step=4, search=SEARCH_EX
        )  # , roi=(10, 0, 60, 60))
    if r6:
        img.draw_rectangle(r6)
        num=6
    r7 = img.find_template(
        template7, 0.70, step=4, search=SEARCH_EX
        )  # , roi=(10, 0, 60, 60))
    if r7:
        img.draw_rectangle(r7)
        num=7
    r8 = img.find_template(
         template8, 0.70, step=4, search=SEARCH_EX
        )  # , roi=(10, 0, 60, 60))
    if r8:
        img.draw_rectangle(r8)
        num=8
    print(clock.fps())
if num!=0 :
    while True:
        clock.tick()
        img=sensor.snapshot()

        if num==1:
            print("1")
            uart.write("@L\r\n")
        if num==2:
            print("2")
            uart.write("@R\r\n")
        if num==3:
            r3 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r3:
                if r3[0]<80:
                    uart.write("@L\r\n")
                else:
                    uart.write("@R\r\n")
        if num==4:
            r4 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r4:
                if r4[0]<80:
                    uart.write("@L\r\n")
                else :
                    uart.write("@R\r\n")
        if num==5:
            r5 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r5:
                if r3[0]<80:
                    uart.write("@L\r\n")
                else:
                    uart.write("@R\r\n")
        if num==6:
            r6 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r6:
                if r6[0]<80:
                    uart.write("@L\r\n")
                else :
                    uart.write("@R\r\n")
        if num==7:
            r7 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r7:
                if r7[0]<80:
                    uart.write("@L\r\n")
                else :
                    uart.write("@R\r\n")
        if num==8:
            r8 = img.find_template(
                template3, 0.70, step=4, search=SEARCH_EX )
            if r8:
                if r8[0]<80:
                    uart.write("@L\r\n")
                else :
                    uart.write("@R\r\n")
     print(clock.fps())