Fixed critical bug in goal center detection

pykick/__main__.py

@@ -161,7 +161,7 @@ if __name__ == '__main__':
                 striker.mover.kick(fancy=True, foot='L')
                 ##striker.speak("Nice kick. Let's do a dance")
                 #striker.mover.dance()
-                sleep(2)
+                sleep(4)
                 break
     finally:
         striker.close()

pykick/detection_demo.py

@@ -111,6 +111,11 @@ if __name__ == '__main__':
             ball = ball_finder.find(ball_frame)
             goal = goal_finder.find(goal_frame)
 
+            if goal is not None:
+                print(goal)
+                print('LR post', goal_finder.left_right_post(goal))
+                print('----')
+
             ball_frame = ball_finder.draw(ball_frame, ball)
             goal_frame = goal_finder.draw(goal_frame, goal)
 

pykick/finders.py

@@ -118,7 +118,7 @@ class GoalFinder(object):
         return goal
 
     def left_right_post(self, contour):
-        return contour[:,0].min(), contour[:,0].max()
+        return contour[...,0].min(), contour[...,0].max()
 
     def goal_center(self, contour):
         l, r = self.left_right_post(contour)

pykick/nao_defaults.json

@@ -11,19 +11,19 @@
             255
         ]
     ], 
+    "cam": 1, 
     "goal": [
         [
             0, 
             0, 
-            114
+            100
         ], 
         [
             180, 
-            49, 
+            65, 
             255
         ]
     ], 
-    "fps": 10, 
     "res": 2, 
     "ball_min_radius": 0.01, 
     "field": [
@@ -38,7 +38,7 @@
             255
         ]
     ], 
-    "cam": 1, 
+    "fps": 10, 
     "ip": "192.168.0.11", 
     "port": 9559
 }

pykick/striker.py

@@ -294,6 +294,7 @@ class Striker(object):
         self.speak("Turn to ball")
         self.turn_to_ball(x, y, tol=0.15)
         self.speak('Trying to find the goal')
+        sleep(0.2)
         goal_center_x = self.goal_search()
         self.speak('Goal found')