diff --git a/README.md b/README.md index d572324..42868dd 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,14 @@ # Kicker project +## Prerequisites + +1. (L)ubuntu 14.04 32-bit +2. Git installed: + +```sh +sudo apt-get install git +``` + ## How to start working ```sh diff --git a/scripts/live_recognition.py b/scripts/live_recognition.py new file mode 100644 index 0000000..7241d9a --- /dev/null +++ b/scripts/live_recognition.py @@ -0,0 +1,118 @@ +from __future__ import print_function +from __future__ import division + +import cv2 +from naoqi import ALProxy +from collections import deque +import numpy as np +import imutils + + +# Nao configuration +nao_ip = '192.168.0.11' +nao_port = 9559 +res = (3, (960, 1280)) # NAOQi code and acutal resolution +fps = 1 +cam_id = 0 # 0 := top, 1 := bottom + +# Recognition stuff +red_lower = (0, 17, 225) # HSV coded red interval +red_upper = (42, 255, 255) +min_radius = 10 +resized_width = 600 + + +def get_frame(cam_proxy, subscriber): + result = cam_proxy.getImageRemote(subscriber) + cam_proxy.releaseImage(subscriber) + if result == None: + raise RuntimeError('cannot capture') + elif result[6] == None: + raise ValueError('no image data string') + else: + # create image + image = np.zeros((res[1][0], res[1][1], 3), np.uint8) + values = map(ord, list(result[6])) + i = 0 + for y in range(res[1][0]): + for x in range(res[1][1]): + image.itemset((y, x, 0), values[i + 0]) + image.itemset((y, x, 1), values[i + 1]) + image.itemset((y, x, 2), values[i + 2]) + i += 3 + return image + + +def find_red_ball(frame): + hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) + + # construct a mask for the color "green", then perform + # a series of dilations and erosions to remove any small + # blobs left in the mask + mask = cv2.inRange(hsv, red_lower, red_upper) + mask = cv2.erode(mask, None, iterations=2) + mask = cv2.dilate(mask, None, iterations=2) + + # find contours in the mask and initialize the current + # (x, y) center of the ball + cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, + cv2.CHAIN_APPROX_SIMPLE)[-2] + + # only proceed if at least one contour was found + if len(cnts) == 0: + return None + + # find the largest contour in the mask, then use + # it to compute the minimum enclosing circle and + # centroid + c = max(cnts, key=cv2.contourArea) + ((x, y), radius) = cv2.minEnclosingCircle(c) + + if radius < min_radius: + return None + + M = cv2.moments(c) + center = (M["m10"] // M["m00"], M["m01"] // M["m00"]) + return center, radius + + +if __name__ == '__main__': + vd_proxy = ALProxy('ALVideoDevice', nao_ip, nao_port) + cam_subscriber = vd_proxy.subscribeCamera( + "ball_finder", cam_id, res[0], 13, fps + ) + pts = deque(maxlen=64) + try: + while True: + frame = get_frame(vd_proxy, cam_subscriber) + # resize the frame, blur it + frame = imutils.resize(frame, width=resized_width) + # blurred = cv2.GaussianBlur(frame, (11, 11), 0) + try: + center, radius = find_red_ball(frame) + except TypeError: # No red ball found and function returned None + pts.appendleft(None) + continue + + # draw the circle and centroid on the frame, + cv2.circle(frame, center, radius, (0, 255, 255), 1) + cv2.circle(frame, center, 5, (0, 255, 0), -1) + pts.appendleft(center) + + # loop over the set of tracked points + for i in range(1, len(pts)): + # if either of the tracked points are None, ignore them + if pts[i - 1] is None or pts[i] is None: + continue + # otherwise, compute the thickness of the line and + # draw the connecting lines + thickness = int(np.sqrt(64 / float(i + 1)) * 2.5) + cv2.line(frame, pts[i - 1], pts[i], (0, 0, 255), thickness) + + # show the frame to our screen + cv2.imshow("Frame", frame) + key = cv2.waitKey(1) & 0xFF + finally: + vd_proxy.unsubscribe(cam_subscriber) + + print(vd_proxy.unsubscribe(cam_subscriber)) diff --git a/setup/install_nao_ros.sh b/setup/install_nao_ros.sh new file mode 100644 index 0000000..6d944b3 --- /dev/null +++ b/setup/install_nao_ros.sh @@ -0,0 +1,64 @@ +#!/bin/sh + +echo "make naqui dir" +mkdir ~/naoqi + +sleep 1 + +echo "copy the files into the naoqi folder" +#cp naoqi-sdk-2.1.4.13-linux32.tar.gz pynaoqi-python2.7-2.1.4.13-linux32.tar.gz ~/naoqi +cp pynaoqi-python2.7-2.1.4.13-linux32.tar.gz ~/naoqi +cd ~/naoqi + +sleep 1 + +echo "Extract them" +#tar xzf naoqi-sdk-2.1.4.13-linux32.tar.gz +tar xzf pynaoqi-python2.7-2.1.4.13-linux32.tar.gz + +echo "Add the NAOqi library path to PYTHONPATH" +export PYTHONPATH=~/naoqi/pynaoqi-python2.7-2.1.4.13-linux32:$PYTHONPATH + +echo "make this permanently available for every future terminal" +echo 'export PYTHONPATH=~/naoqi/pynaoqi-python2.7-2.1.4.13-linux32:$PYTHONPATH' >> ~/.bashrc + +echo "install ros packages for nao" +sudo apt-get install ros-indigo-nao-robot + + + +''' +echo "Setting up sources.list" +sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' +sleep 1 +echo "Set up your keys" +sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 +sleep 1 + +echo "Doing apt update" +sudo apt update +sleep 1 + +echo "installing ros" +#sudo apt-get install ros-indigo-desktop-full +sudo apt-get install ros-indigo-desktop +sleep 1 + +echo "Initialize rosdep" +sudo rosdep init +sleep 1 +rosdep update +sleep 1 + +echo "Environment setup" +echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc +sleep 1 +source ~/.bashrc + +sleep 1 +echo "getting rosinstall" +sudo apt install python-rosinstall +''' + + +exit 0 diff --git a/setup/install_ros.sh b/setup/install_ros.sh new file mode 100644 index 0000000..d0f25a0 --- /dev/null +++ b/setup/install_ros.sh @@ -0,0 +1,35 @@ +#!/bin/sh +echo "Setting up sources.list" +sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' +sleep 1 +echo "Set up your keys" +sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 +sleep 1 + +echo "Doing apt update" +sudo apt update +sleep 1 + +echo "installing ros" +#sudo apt-get install ros-indigo-desktop-full +sudo apt-get install ros-indigo-desktop +sleep 1 + +echo "Initialize rosdep" +sudo rosdep init +sleep 1 +rosdep update +sleep 1 + +echo "Environment setup" +echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc +sleep 1 +source ~/.bashrc + +sleep 1 +echo "getting rosinstall" +sudo apt install python-rosinstall + + + +exit 0