revert documentation code to working code

pykick/colorpicker.py

@@ -5,7 +5,6 @@ import json
 import argparse
 
 import cv2
-import numpy as np
 
 from .imagereaders import VideoReader, NaoImageReader, PictureReader
 from .finders import GoalFinder, BallFinder, FieldFinder
@@ -13,7 +12,8 @@ from .utils import read_config, imresize, hsv_mask, InterruptDelayed
 
 class Colorpicker(object):
 
-    WINDOW_DETECTION_NAME = 'Colorpicker'
+    WINDOW_CAPTURE_NAME = 'Object Detection (or not)'
+    WINDOW_DETECTION_NAME = 'Primary Mask'
 
     def __init__(self, target=None):
         parameters = ['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v']
@@ -53,6 +53,7 @@ class Colorpicker(object):
         else:
             self.marker = None
 
+        cv2.namedWindow(self.WINDOW_CAPTURE_NAME)
         cv2.namedWindow(self.WINDOW_DETECTION_NAME)
         self.trackers = [
             cv2.createTrackbar(
@@ -98,13 +99,9 @@ class Colorpicker(object):
                 tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
             )
 
-        thr = cv2.cvtColor(thr, cv2.COLOR_GRAY2BGR)
+        cv2.imshow(self.WINDOW_CAPTURE_NAME, frame)
-        # thr = self.marker.draw_last_contours(thr)
+        cv2.imshow(self.WINDOW_DETECTION_NAME, thr)
-        resulting = np.concatenate((frame, thr), axis=1)
+        return cv2.waitKey(0 if manual else 1)
-
-        cv2.imshow(self.WINDOW_DETECTION_NAME, resulting)
-        # cv2.imshow(self.WINDOW_DETECTION_NAME, thr)
-        return cv2.waitKey(0 if manual else 50)
 
     def save(self, filename, color):
         try:

pykick/detection_demo.py

@@ -4,7 +4,6 @@ from __future__ import division
 import argparse
 
 import cv2
-import numpy as np
 
 from .utils import read_config, imresize
 from .imagereaders import NaoImageReader, VideoReader, PictureReader
@@ -119,10 +118,9 @@ if __name__ == '__main__':
 
             ball_frame = ball_finder.draw(ball_frame, ball)
             goal_frame = goal_finder.draw(goal_frame, goal)
-            combined = np.concatenate((ball_frame, goal_frame), axis=1)
 
-            cv2.imshow(ball_window, combined)
+            cv2.imshow(ball_window, ball_frame)
-            # cv2.imshow(goal_window, goal_frame)
+            cv2.imshow(goal_window, goal_frame)
 
             key = cv2.waitKey(0 if args.manual else 1)
             if key == ord('q') or key == 27:

pykick/finders.py

@@ -6,7 +6,7 @@ from collections import deque
 import cv2
 import numpy as np
 
-from .utils import hsv_mask, contour_center
+from .utils import hsv_mask
 
 
 class FieldFinder(object):
@@ -51,12 +51,9 @@ class FieldFinder(object):
 
 class GoalFinder(object):
 
-    def __init__(self, hsv_lower, hsv_upper, goal_thr=0.45):
+    def __init__(self, hsv_lower, hsv_upper):
         self.hsv_lower = tuple(hsv_lower)
         self.hsv_upper = tuple(hsv_upper)
-        self.goal_thr = goal_thr
-        self.last_detection = []
-        self.last_contours = []
 
     def primary_mask(self, frame):
         hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
@@ -89,11 +86,9 @@ class GoalFinder(object):
         return final_score
 
     def find(self, frame):
-        self.last_detection = []
         thr = self.primary_mask(frame)
         cnts, _ = cv2.findContours(thr, cv2.RETR_EXTERNAL,
                                    cv2.CHAIN_APPROX_SIMPLE)
-        self.last_contours = cnts
         cnts.sort(key=cv2.contourArea, reverse=True)
         top_x = 6
         cnts = cnts[:top_x]
@@ -113,22 +108,15 @@ class GoalFinder(object):
             return None
 
         similarities = [self.goal_similarity(cnt) for cnt in good_cnts]
-        self.last_detection = list(zip(good_cnts, similarities))
         best = min(similarities)
         print('Final goal score:', best)
         print()
-        if best > self.goal_thr:
+        if best > 0.45:
             return None
         # Find the contour with the shape closest to that of the goal
         goal = good_cnts[similarities.index(best)]
         return goal
 
-    def draw_last_contours(self, frame):
-        frame = frame.copy()
-        for cnt in self.last_contours:
-            cv2.drawContours(frame, (cnt,), -1, (255, 0, 0), 2)
-        return frame
-
     def left_right_post(self, contour):
         return contour[...,0].min(), contour[...,0].max()
 
@@ -139,27 +127,9 @@ class GoalFinder(object):
         return (l + r) / 2
 
     def draw(self, frame, goal):
-        frame = frame.copy()
-        cv2.putText(frame,
-                    'Upper threshold: ' + '%.2f' % self.goal_thr, (10, 50),
-                    cv2.FONT_HERSHEY_DUPLEX, 1, (0, 255, 0))
-        if self.last_detection:
-            cnts = sorted(self.last_detection,
-                          key=lambda x: x[1])
-            if cnts[0][1] < self.goal_thr:
-                goal, score = cnts[0]
-                cnts = cnts[1:]
-            for cnt, sim in cnts[1:]:
-                print(sim)
-                cv2.drawContours(frame, (cnt,), -1, (0, 0, 255), 1)
-                cv2.putText(frame, '%.2f' % sim, contour_center(cnt),
-                            cv2.FONT_HERSHEY_DUPLEX, 1, (0, 0, 255))
-
         if goal is not None:
-            print(goal)
+            frame = frame.copy()
             cv2.drawContours(frame, (goal,), -1, (0, 255, 0), 2)
-            cv2.putText(frame, '%.2f' % score, contour_center(goal),
-                        cv2.FONT_HERSHEY_DUPLEX, 1, (0, 255, 0))
         return frame
 
 
@@ -209,15 +179,8 @@ class BallFinder(object):
         return center, int(radius)
 
     def draw(self, frame, ball):
-        frame = frame.copy()
         if ball is not None:
+            frame = frame.copy()
             center, radius = ball
-            cv2.circle(frame, center, radius, (255, 255, 0), 2)
+            cv2.circle(frame, center, radius, (255, 255, 0), 1)
-        # for i in range(1, len(self.history)):
-            # if self.history[i - 1] is None or self.history[i] is None:
-                # continue
-            # center_now = self.history[i - 1][0]
-            # center_prev = self.history[i][0]
-            # thickness = int((64 / (i + 1))**0.5 * 1.25)
-            # cv2.line(frame, center_now, center_prev, (0, 0, 255), thickness)
         return frame

pykick/nao_defaults.json

@@ -15,11 +15,11 @@
         [
             0, 
             0, 
-            159
+            89
         ], 
         [
             180, 
-            62, 
+            73, 
             255
         ]
     ], 
@@ -28,8 +28,8 @@
     "ball_min_radius": 0.01, 
     "field": [
         [
-            17, 
+            31, 
-            57, 
+            60, 
             60
         ], 
         [

pykick/utils.py

@@ -41,11 +41,6 @@ def hsv_mask(hsv, hsv_lower, hsv_upper):
     else:
         return cv2.inRange(hsv, tuple(hsv_lower), tuple(hsv_upper))
 
-
-def contour_center(contour):
-    M = cv2.moments(contour)
-    return int(M['m10'] / M['m00']) - 30, int(M['m01'] / M['m00']) + 30
-
 class InterruptDelayed(object):
 
     def __enter__(self):