modified scripts for presentation

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:

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:

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

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
 }

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):