diff --git a/.gitignore b/.gitignore index a528a28..f4b73f3 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,4 @@ *~ ~* exp_* +.DS_Store diff --git a/presentation/ball_tracking.xml b/presentation/ball_tracking.xml new file mode 100644 index 0000000..2bf4531 --- /dev/null +++ b/presentation/ball_tracking.xml @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/presentation/striker_flowchart.xml b/presentation/striker_flowchart.xml new file mode 100644 index 0000000..76b17a0 --- /dev/null +++ b/presentation/striker_flowchart.xml @@ -0,0 +1 @@ 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 \ No newline at end of file diff --git a/pykick/colorpicker.py b/pykick/colorpicker.py index 7b40da6..92a6633 100644 --- a/pykick/colorpicker.py +++ b/pykick/colorpicker.py @@ -5,6 +5,7 @@ import json import argparse import cv2 +import numpy as np from .imagereaders import VideoReader, NaoImageReader, PictureReader from .finders import GoalFinder, BallFinder, FieldFinder @@ -99,9 +100,12 @@ class Colorpicker(object): tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v'))) ) - cv2.imshow(self.WINDOW_CAPTURE_NAME, frame) - cv2.imshow(self.WINDOW_DETECTION_NAME, thr) - return cv2.waitKey(0 if manual else 1) + thr = cv2.cvtColor(thr, cv2.COLOR_GRAY2BGR) + resulting = np.concatenate((frame, thr), axis=1) + + cv2.imshow(self.WINDOW_CAPTURE_NAME, resulting) + # cv2.imshow(self.WINDOW_DETECTION_NAME, thr) + return cv2.waitKey(0 if manual else 50) def save(self, filename, color): try: diff --git a/pykick/detection_demo.py b/pykick/detection_demo.py index e68ba38..28844ae 100644 --- a/pykick/detection_demo.py +++ b/pykick/detection_demo.py @@ -4,6 +4,7 @@ from __future__ import division import argparse import cv2 +import numpy as np from .utils import read_config, imresize from .imagereaders import NaoImageReader, VideoReader, PictureReader @@ -118,9 +119,10 @@ 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, ball_frame) - cv2.imshow(goal_window, goal_frame) + cv2.imshow(ball_window, combined) + # cv2.imshow(goal_window, goal_frame) key = cv2.waitKey(0 if args.manual else 1) if key == ord('q') or key == 27: diff --git a/pykick/finders.py b/pykick/finders.py index 36fe4e4..c7ddf32 100644 --- a/pykick/finders.py +++ b/pykick/finders.py @@ -6,7 +6,7 @@ from collections import deque import cv2 import numpy as np -from .utils import hsv_mask +from .utils import hsv_mask, contour_center class FieldFinder(object): @@ -51,9 +51,11 @@ class FieldFinder(object): class GoalFinder(object): - def __init__(self, hsv_lower, hsv_upper): + def __init__(self, hsv_lower, hsv_upper, goal_thr=0.45): self.hsv_lower = tuple(hsv_lower) self.hsv_upper = tuple(hsv_upper) + self.goal_thr = goal_thr + self.last_detection = [] def primary_mask(self, frame): hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) @@ -86,6 +88,7 @@ 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) @@ -108,10 +111,11 @@ 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 > 0.45: + if best > self.goal_thr: return None # Find the contour with the shape closest to that of the goal goal = good_cnts[similarities.index(best)] @@ -127,9 +131,27 @@ 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: - frame = frame.copy() + print(goal) 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 @@ -179,8 +201,15 @@ 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), 1) + cv2.circle(frame, center, radius, (255, 255, 0), 2) + 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 diff --git a/pykick/nao_defaults.json b/pykick/nao_defaults.json index d0a12f6..6e4598e 100644 --- a/pykick/nao_defaults.json +++ b/pykick/nao_defaults.json @@ -11,25 +11,25 @@ 255 ] ], + "cam": 1, "goal": [ [ 0, 0, - 89 + 159 ], [ 180, - 73, + 62, 255 ] ], - "fps": 10, "res": 2, "ball_min_radius": 0.01, "field": [ [ - 31, - 60, + 17, + 57, 60 ], [ @@ -38,7 +38,7 @@ 255 ] ], - "cam": 1, + "fps": 10, "ip": "192.168.0.11", "port": 9559 } \ No newline at end of file diff --git a/pykick/utils.py b/pykick/utils.py index 5dee47e..73ceb54 100644 --- a/pykick/utils.py +++ b/pykick/utils.py @@ -41,6 +41,11 @@ 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):