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Made goal recognition NumPy 1.6.0 compatible

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Pavel Lutskov
2018-06-23 22:02:39 +02:00
parent 67a8cccd51
commit 823eb0ba13
1 changed files with 6 additions and 5 deletions
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11
pykick/finders.py
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@@ -61,14 +61,15 @@ class GoalFinder(object):
return thr return thr
def goal_similarity(self, contour): def goal_similarity(self, contour):
contour = contour.squeeze(axis=1) hull = cv2.convexHull(contour).squeeze()
hull = cv2.convexHull(contour).squeeze(axis=1)
len_h = cv2.arcLength(hull, True) len_h = cv2.arcLength(hull, True)
# Wild assumption that the goal should lie close to its # Supporting points of goal contour should lie close to its
# enclosing convex hull # enclosing convex hull
shape_sim = np.linalg.norm(contour[:,None] - hull, distances = np.array([[np.sqrt(np.sum(point**2)) for point in node]
axis=2).min(axis=1).sum() / len_h for node in contour - hull])
min_dist = np.array([d.min() for d in distances])
shape_sim = min_dist.sum() / len_h
# Wild assumption that the area of the goal is rather small # Wild assumption that the area of the goal is rather small
# compared to its enclosing convex hull # compared to its enclosing convex hull