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Ball search basics

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This commit is contained in:
Pavel Lutskov
2018-05-27 18:47:16 +02:00
parent 3cd67a783a
commit 6d6799d656
3 changed files with 261 additions and 11 deletions
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116
scripts/colorpicker.py Normal file
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@@ -0,0 +1,116 @@
from __future__ import print_function
from live_recognition import get_frame_nao
import cv2 as cv
import imutils
from naoqi import ALProxy
max_value = 255
max_value_H = 360 // 2
low_H = 0
low_S = 0
low_V = 0
high_H = max_value_H
high_S = max_value
high_V = max_value
window_capture_name = 'Video Capture'
window_detection_name = 'Object Detection'
low_H_name = 'Low H'
low_S_name = 'Low S'
low_V_name = 'Low V'
high_H_name = 'High H'
high_S_name = 'High S'
high_V_name = 'High V'
def do_print():
print('(%s %s %s): (%s %s %s)' %
(low_H, low_S, low_V, high_H, high_S, high_V))
def on_low_H_thresh_trackbar(val):
global low_H
low_H = min(high_H-1, val)
cv.setTrackbarPos(low_H_name, window_detection_name, low_H)
do_print()
def on_high_H_thresh_trackbar(val):
global high_H
high_H = max(val, low_H+1)
cv.setTrackbarPos(high_H_name, window_detection_name, high_H)
do_print()
def on_low_S_thresh_trackbar(val):
global low_S
low_S = min(high_S-1, val)
cv.setTrackbarPos(low_S_name, window_detection_name, low_S)
do_print()
def on_high_S_thresh_trackbar(val):
global high_S
high_S = max(val, low_S+1)
cv.setTrackbarPos(high_S_name, window_detection_name, high_S)
do_print()
def on_low_V_thresh_trackbar(val):
global low_V
low_V = min(high_V-1, val)
cv.setTrackbarPos(low_V_name, window_detection_name, low_V)
do_print()
def on_high_V_thresh_trackbar(val):
global high_V
high_V = max(val, low_V+1)
cv.setTrackbarPos(high_V_name, window_detection_name, high_V)
do_print()
cap = cv.VideoCapture(0)
cv.namedWindow(window_capture_name)
cv.namedWindow(window_detection_name)
cv.createTrackbar(
low_H_name, window_detection_name, low_H,
max_value_H, on_low_H_thresh_trackbar
)
cv.createTrackbar(
high_H_name, window_detection_name , high_H, max_value_H,
on_high_H_thresh_trackbar
)
cv.createTrackbar(
low_S_name, window_detection_name , low_S, max_value,
on_low_S_thresh_trackbar
)
cv.createTrackbar(
high_S_name, window_detection_name , high_S, max_value,
on_high_S_thresh_trackbar
)
cv.createTrackbar(
low_V_name, window_detection_name , low_V, max_value,
on_low_V_thresh_trackbar
)
cv.createTrackbar(
high_V_name, window_detection_name , high_V, max_value,
on_high_V_thresh_trackbar
)
vd_proxy = ALProxy('ALVideoDevice', '192.168.0.11', 9559)
cam_subscriber = vd_proxy.subscribeCamera(
"ball_finder", 0, 1, 13, 20
)
try:
while True:
frame = get_frame_nao(vd_proxy, cam_subscriber, 320, 240)
frame_HSV = cv.cvtColor(frame, cv.COLOR_BGR2HSV)
frame_threshold = cv.inRange(
frame_HSV, (low_H, low_S, low_V), (high_H, high_S, high_V)
)
cv.imshow(window_capture_name, frame)
cv.imshow(window_detection_name, frame_threshold)
key = cv.waitKey(1)
if key == ord('q') or key == 27:
break
finally:
vd_proxy.unsubscribe(cam_subscriber)

27
scripts/live_recognition.py
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@@ -11,18 +11,17 @@ from collections import deque
# Nao configuration
nao_ip = '192.168.0.11'
nao_port = 9559
res = (2, (480, 640)) # NAOQi code and acutal resolution
fps = 1
cam_id = 0 # 0 := top, 1 := bottom
res = (1, (240, 320)) # NAOQi code and acutal resolution
fps = 30
cam_id = 1 # 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 # Maybe we need it maybe don't (None if don't)
red_lower = (0, 185, 170) # HSV coded red interval
red_upper = (2, 255, 255)
min_radius = 5
resized_width = None # Maybe we need it maybe don't (None if don't)
def get_frame_nao(cam_proxy, subscriber):
def get_frame_nao(cam_proxy, subscriber, width, height):
result = cam_proxy.getImageRemote(subscriber)
cam_proxy.releaseImage(subscriber)
if result == None:
@@ -31,7 +30,7 @@ def get_frame_nao(cam_proxy, subscriber):
raise ValueError('no image data string')
else:
return np.frombuffer(result[6], dtype=np.uint8).reshape(
res[1][0], res[1][1], 3
height, width, 3
)
# i = 0
# for y in range(res[1][0]):
@@ -51,6 +50,8 @@ def find_colored_ball(frame, hsv_lower, hsv_upper, min_radius):
mask = cv2.inRange(hsv, hsv_lower, hsv_upper)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
cv2.imshow('ball_mask', mask)
cv2.waitKey(1)
# find contours in the mask and initialize the current
# (x, y) center of the ball
@@ -94,6 +95,9 @@ def draw_ball_markers(frame, center, radius, history):
def nao_demo():
cv2.namedWindow('ball_mask')
cv2.namedWindow('Frame')
vd_proxy = ALProxy('ALVideoDevice', nao_ip, nao_port)
cam_subscriber = vd_proxy.subscribeCamera(
"ball_finder", cam_id, res[0], 13, fps
@@ -102,7 +106,8 @@ def nao_demo():
try:
while True:
frame = get_frame_nao(vd_proxy, cam_subscriber)
frame = get_frame_nao(vd_proxy, cam_subscriber, res[1][1],
res[1][0])
# maybe resize the frame, maybe blur it
if resized_width is not None:

129
scripts/reacting_to_events.py Normal file
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@@ -0,0 +1,129 @@
from naoqi import ALProxy
from naoqi import ALBroker
from naoqi import ALModule
import time
NAO_IP = "192.168.0.11"
# Global variable to store the BallSearcher module instance
BallSearcher = None
memory = None
ball_proxy = None
ball_found = False
class BallSearcherModule(ALModule):
""" A simple module able to react to facedetection events"""
def __init__(self, name):
ALModule.__init__(self, name)
# No need for IP and port here because
# we have our Python broker connected to NAOqi broker
# Create a proxy to ALTextToSpeech for later use
self.tts = ALProxy("ALTextToSpeech")
self.tts.setParameter('speed', 100)
self.mp = ALProxy('ALMotion')
self.mp.setStiffnesses("Head", 1.0)
# Subscribe to the BallDetected event:
global memory
global ball_proxy
global ball_found
ball_proxy = ALProxy('ALRedBallDetection')
ball_proxy.subscribe('detector')
memory = ALProxy("ALMemory")
memory.subscribeToEvent("redBallDetected",
"BallSearcher",
"onBallDetected")
def searchForBall(self):
names = ["HeadYaw", "HeadPitch"]
sleep_period = 0.8
fractionMaxSpeed = 0.5
i=0
while i<2:
time.sleep(sleep_period)
if ball_found:
return
print i
angles = [i,0]
self.mp.setAngles(names, angles, fractionMaxSpeed)
i=float(i)+3.14/4
# go back to middle position
time.sleep(sleep_period)
if ball_found:
return
print 'go back'
angles = [0,0]
self.mp.setAngles(names, angles, fractionMaxSpeed)
# go into the right direction
i=0
while i > -2:
time.sleep(sleep_period)
if ball_found:
return
print i
angles = [i,0]
self.mp.setAngles(names, angles, fractionMaxSpeed)
i=i-3.14/4
# go back to middle position
time.sleep(sleep_period)
if ball_found:
return
print "get back"
angles = [0,0]
self.mp.setAngles(names, angles, fractionMaxSpeed)
def onBallDetected(self, *_args):
""" This will be called each time a ball is detected."""
# Unsubscribe to the event when talking, to avoid repetitions
memory.unsubscribeToEvent("redBallDetected", "BallSearcher")
# time.sleep(0.1)
global ball_found
ball_found = True
print 'gotcha'
self.tts.say("Hello, ball")
# Subscribe again to the event
# memory.subscribeToEvent("redBallDetected",
# "BallSearcher",
# "onBallDetected")
def main():
""" Main entry point."""
# We need this broker to be able to construct
# NAOqi modules and subscribe to other modules
# The broker must stay alive until the program exists
myBroker = ALBroker(
"myBroker",
"0.0.0.0",
0,
'192.168.0.11',
9559
)
# Warning: BallSearcher must be a global variable
# The name given to the constructor must be the name of the
# variable
global BallSearcher
BallSearcher = BallSearcherModule("BallSearcher")
BallSearcher.searchForBall()
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
myBroker.shutdown()
if __name__ == "__main__":
main()