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guess what? - refactoring! also masking out field

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This commit is contained in:
Pavel Lutskov
2018-06-20 20:38:11 +02:00
parent a5e6059d3c
commit 0b53d11861
6 changed files with 217 additions and 89 deletions
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16
pykick/striker.py
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@@ -12,17 +12,17 @@ from .movements import NaoMover
class Striker(object):
def __init__(self, nao_ip, nao_port, res, red_hsv, white_hsv,
min_radius, run_after):
def __init__(self, nao_ip, nao_port, res, ball_hsv, goal_hsv,
ball_min_radius, run_after):
self.mover = NaoMover(nao_ip=nao_ip, nao_port=nao_port)
self.mover.stand_up()
self.video_top = NaoImageReader(nao_ip, port=nao_port, res=res,
fps=30, cam_id=0)
self.video_bot = NaoImageReader(nao_ip, port=nao_port, res=res,
fps=30, cam_id=1)
self.ball_finder = BallFinder(tuple(red_hsv[0]), tuple(red_hsv[1]),
min_radius)
self.goal_finder = GoalFinder(tuple(white_hsv[0]), tuple(white_hsv[1]))
self.ball_finder = BallFinder(tuple(ball_hsv[0]), tuple(ball_hsv[1]),
ball_min_radius)
self.goal_finder = GoalFinder(tuple(goal_hsv[0]), tuple(goal_hsv[1]))
self.lock_counter = 0
self.loss_counter = 0
self.run_after = run_after
@@ -214,9 +214,9 @@ if __name__ == '__main__':
nao_ip=cfg['ip'],
nao_port=cfg['port'],
res=cfg['res'],
red_hsv=cfg['red'],
white_hsv=cfg['white'],
min_radius=cfg['min_radius'],
ball_hsv=cfg['ball'],
goal_hsv=cfg['goal'],
ball_min_radius=cfg['ball_min_radius'],
run_after=False
)
try: