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refactored some stuff further

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This commit is contained in:
Pavel Lutskov
2018-06-15 11:10:17 +02:00
parent 5076f87145
commit c1a8a377b5
7 changed files with 74 additions and 286 deletions
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16
pykick/ball_approach.py
View File

@@ -6,13 +6,13 @@ from time import sleep
from .utils import read_config
from .imagereaders import NaoImageReader
from .finders import BallFinder
from .finders import BallFinder, GoalFinder
from .movements import NaoMover
class BallFollower(object):
class Striker(object):
def __init__(self, nao_ip, nao_port, res, hsv_lower, hsv_upper,
def __init__(self, nao_ip, nao_port, res, red_hsv, white_hsv,
min_radius, run_after):
self.mover = NaoMover(nao_ip=nao_ip, nao_port=nao_port)
self.mover.stand_up()
@@ -20,7 +20,7 @@ class BallFollower(object):
fps=30, cam_id=0)
self.video_bot = NaoImageReader(nao_ip, port=nao_port, res=res,
fps=30, cam_id=1)
self.finder = BallFinder(hsv_lower, hsv_upper, min_radius, None)
self.finder = BallFinder(red_hsv[0], red_hsv[1], min_radius, None)
self.lock_counter = 0
self.loss_counter = 0
self.run_after = run_after
@@ -103,8 +103,6 @@ class BallFollower(object):
print('moving')
increment = 0.1
# if y < -pi / 8:
# self.mover.move_to(-0.1, 0, 0)
if y > 0.35:
self.mover.move_to(-0.05, 0, 0)
elif y < 0.25:
@@ -123,12 +121,12 @@ class BallFollower(object):
if __name__ == '__main__':
cfg = read_config()
follower = BallFollower(
follower = Striker(
nao_ip=cfg['ip'],
nao_port=cfg['port'],
res=cfg['res'],
hsv_lower=tuple(map(cfg.get, ('low_h', 'low_s', 'low_v'))),
hsv_upper=tuple(map(cfg.get, ('high_h', 'high_s', 'high_v'))),
red_hsv=cfg['red'],
white_hsv=cfg['white'],
min_radius=cfg['min_radius'],
run_after=False
)

34
pykick/colorpicker.py
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@@ -54,7 +54,8 @@ class Colorpicker(object):
]
def do_print(self):
print(self.settings)
print(tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v'))))
def _on_trackbar(self, val, name, checker):
self.settings[name] = checker(val)
@@ -63,10 +64,7 @@ class Colorpicker(object):
def _hsv_updated(self, param):
cv2.setTrackbarPos(param, self.WINDOW_DETECTION_NAME,
self.settings[param])
print(param)
for marker in self.markers:
print(self.markers[marker])
print(self.settings)
self.markers[marker].hsv_lower = tuple(
map(self.settings.get, ('low_h', 'low_s', 'low_v'))
)
@@ -94,19 +92,28 @@ class Colorpicker(object):
cv2.imshow(self.WINDOW_DETECTION_NAME, frame_threshold)
return cv2.waitKey(1)
def save(self, filename):
def save(self, filename, color):
try:
with open(filename) as f:
conf = json.load(f)
except IOError:
conf = {}
conf.update(self.settings)
conf.update(
{color:
[list(map(self.settings.get, ['low_h', 'low_s', 'low_v'])),
list(map(self.settings.get, ['high_h', 'high_s', 'high_v']))]
}
)
with open(filename, 'w') as f:
json.dump(conf, f, indent=4)
def load(self, filename):
def load(self, filename, color):
with open(filename) as f:
self.settings = json.load(f)
jdict = json.load(f)
self.settings = dict(
zip(['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v'],
jdict[color][0] + jdict[color][1])
)
for name in self.settings:
self._hsv_updated(name)
@@ -167,11 +174,16 @@ if __name__ == '__main__':
type=int,
default=640
)
parser.add_argument(
'--color',
help='specify which color is being calibrated',
default='white'
)
args = parser.parse_args()
cp = Colorpicker(['goal'])
cp = Colorpicker()
if args.input_config:
cp.load(args.input_config)
cp.load(args.input_config, args.color)
if args.video_file:
rdr = VideoReader(args.video_file, loop=True)
@@ -199,6 +211,6 @@ if __name__ == '__main__':
finally:
cp.do_print()
if args.output_config:
cp.save(args.output_config)
cp.save(args.output_config, args.color)
if not args.still:
rdr.close()

8
pykick/detection_demo.py
View File

@@ -8,10 +8,10 @@ from .finders import BallFinder
if __name__ == '__main__':
video = VideoReader(0, loop=True)
hsv = read_config()
hsv_lower = tuple(map(hsv.get, ('low_h', 'low_s', 'low_v')))
hsv_upper = tuple(map(hsv.get, ('high_h', 'high_s', 'high_v')))
finder = BallFinder(hsv_lower, hsv_upper, hsv['min_radius'], None)
cfg = read_config()
hsv_lower = cfg['red'][0]
hsv_upper = cfg['red'][1]
finder = BallFinder(hsv_lower, hsv_upper, cfg['min_radius'], None)
try:
while True:
frame = video.get_frame()

25
pykick/finders.py
View File

@@ -1,7 +1,6 @@
from __future__ import division
from __future__ import print_function
import json
from collections import deque
import cv2
@@ -34,12 +33,11 @@ class GoalFinder(object):
# Final similarity score is just the sum of both
final_score = shape_sim + area_sim
print(shape_sim, area_sim, final_score)
print('Goal:', shape_sim, area_sim, final_score)
return final_score
def find_goal_contour(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
print(self.hsv_lower, self.hsv_upper)
thr = cv2.inRange(hsv, self.hsv_lower, self.hsv_upper)
# The ususal
@@ -70,8 +68,8 @@ class GoalFinder(object):
similarities = [self.goal_similarity(cnt) for cnt in good_cnts]
best = min(similarities)
# if best > 0.4:
# return None
if best > 0.35:
return None
# Find the contour with the shape closest to that of the goal
goal = good_cnts[similarities.index(best)]
return goal
@@ -87,17 +85,12 @@ class GoalFinder(object):
class BallFinder(object):
def __init__(self, hsv_lower, hsv_upper, min_radius, viz=False):
def __init__(self, hsv_lower, hsv_upper, min_radius):
self.hsv_lower = hsv_lower
self.hsv_upper = hsv_upper
self.min_radius = min_radius
self.history = deque(maxlen=64)
self.viz = viz
if self.viz:
cv2.namedWindow('ball_mask')
cv2.namedWindow('Frame')
def find_colored_ball(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
@@ -152,8 +145,8 @@ class BallFinder(object):
thickness = int((64 / (i + 1))**0.5 * 2.5)
cv2.line(frame, center_now, center_prev, (0, 255, 0), thickness)
def load_hsv_config(self, filename):
with open(filename) as f:
hsv = json.load(f)
self.hsv_lower = tuple(map(hsv.get, ('low_h', 'low_s', 'low_v')))
self.hsv_upper = tuple(map(hsv.get, ('high_h', 'high_s', 'high_v')))
# def load_hsv_config(self, filename):
# with open(filename) as f:
# hsv = json.load(f)
# self.hsv_lower = tuple(map(hsv.get, ('low_h', 'low_s', 'low_v')))
# self.hsv_upper = tuple(map(hsv.get, ('high_h', 'high_s', 'high_v')))

173
pykick/goal_video_detection.py
View File

@@ -1,173 +0,0 @@
# This script recognizes the ball in a given video file
# python ball_tracking.py --video test3.avi
# import the necessary packages
from collections import deque
import numpy as np
import argparse
import imutils
import cv2
from time import sleep
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v", "--video",
help="path to the (optional) video file")
ap.add_argument("-b", "--buffer", type=int, default=64,
help="max buffer size")
args = vars(ap.parse_args())
# define the lower and upper boundaries of the "green"
# ball in the HSV color space, then initialize the
# list of tracked points
#greenLower = (0, 17, 225)
#greenUpper = (42, 255, 255)
greenLower=(0,184,170)
greenUpper=(2,255,255)
#greenLower = (29, 86, 6)
#greenUpper = (64, 255, 255)
pts = deque(maxlen=args["buffer"])
# if a video path was not supplied, grab the reference
# to the webcam
if not args.get("video", False):
camera = cv2.VideoCapture(0)
# otherwise, grab a reference to the video file
else:
camera = cv2.VideoCapture(args["video"])
# keep looping
while True:
# grab the current frame
(grabbed, frame) = camera.read()
# if we are viewing a video and we did not grab a frame,
# then we have reached the end of the video
if args.get("video") and not grabbed:
break
# resize the frame, blur it, and convert it to the HSV
# color space
# frame = imutils.resize(frame, width=600)
# blurred = cv2.GaussianBlur(frame, (11, 11), 0)
# hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# construct a mask for the color "green", then perform
# a series of dilations and erosions to remove any small
# blobs left in the mask
'''
mask = cv2.inRange(hsv, greenLower, greenUpper)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
'''
# create hsv and do some mask stuff
frame_HSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# frame_test=cv2.cvtColor(frame_HSV,cv2.COLOR_HSV2BGR)
# frame_gray=cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
# frame_threshold=cv2.inRange(frame_HSV,(0,9,139),(180,81,255))
frame_threshold=cv2.inRange(frame_HSV,(0,0,182),(180,60,255))
frame_threshold = cv2.GaussianBlur(frame_threshold,(9,9),3,3)
erode_element = cv2.getStructuringElement(cv2.MORPH_RECT, (10, 10))
#dilate_element = cv2.getStructuringElement(cv2.MORPH_RECT, (20, 20))
eroded_mask = cv2.erode(frame_threshold,erode_element)
#dilated_mask = cv2.dilate(eroded_mask,dilate_element)
#frame_threshold=eroded_mask
# preparation for edge detection
res = cv2.bitwise_and(frame,frame, mask=eroded_mask)
res=cv2.cvtColor(res,cv2.COLOR_BGR2GRAY)
# use canny edge
frame_edge=cv2.Canny(res,90,494,apertureSize=3)
#frame_edge=cv2.Canny(res,0,123,apertureSize=3)
# use hough lines
lines = cv2.HoughLines(frame_edge,1,1*np.pi/180,80,0,0)
for rho,theta in lines[0]:
# print(rho, theta)
a = np.cos(theta)
b = np.sin(theta)
x0 = a*rho
y0 = b*rho
x1 = int(x0 + 200*(-b))
y1 = int(y0 + 200*(a))
x2 = int(x0 - 200*(-b))
y2 = int(y0 - 200*(a))
if (theta>np.pi/180*170 or theta<np.pi/180*10):
#if (theta>np.pi/180*80 and theta<np.pi/180*100):
cv2.line(frame,(x1,y1),(x2,y2),(0,0,255),2)
'''
# find contours in the mask and initialize the current
# (x, y) center of the ball
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
# only proceed if the radius meets a minimum size
if radius > 10:
# draw the circle and centroid on the frame,
# then update the list of tracked points
cv2.circle(frame, (int(x), int(y)), int(radius),
#(0, 255, 255), 2)
(0,255,255),2)
cv2.circle(frame, center, 5, (0, 0, 255), -1)
# update the points queue
pts.appendleft(center)
# loop over the set of tracked points
for i in xrange(1, len(pts)):
# if either of the tracked points are None, ignore
# them
if pts[i - 1] is None or pts[i] is None:
continue
# otherwise, compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 1.25)
cv2.line(frame, pts[i - 1], pts[i], (0, 255, 0), thickness)
'''
# show the frame to our screen
#cv2.imshow("Frame", frame)
cv2.imshow("Frame_threshold",frame_threshold)
cv2.imshow("eroded_mask",eroded_mask)
cv2.imshow("frame edge",frame_edge)
cv2.imshow("result eroded_mask applied",res)
cv2.imshow("frame with lines",frame)
key = cv2.waitKey(1) & 0xFF
sleep(0.05)
# if the 'q' key is pressed, stop the loop
if key == ord("q"):
break
# cleanup the camera and close any open windows
camera.release()
cv2.destroyAllWindows()

38
pykick/nao_defaults.json
View File

@@ -1,14 +1,32 @@
{
"cam": 1,
"ip": "192.168.0.11",
"res": 1,
"port": 9559,
"cam": 0,
"min_radius": 5,
"fps": 30,
"low_s": 175,
"low_v": 100,
"high_h": 6,
"high_v": 255,
"low_h": 0,
"high_s": 255,
"min_radius": 5
"res": 1,
"white": [
[
0,
0,
140
],
[
180,
62,
255
]
],
"port": 9559,
"red": [
[
0,
175,
100
],
[
6,
255,
255
]
]
}

60
pykick/scan_for_ball.py
View File

@@ -1,60 +0,0 @@
# -*- encoding: UTF-8 -*-
# syntax
# python setangles.py x y
import sys
from naoqi import ALProxy
import time
def main(robotIP):
PORT = 9559
try:
motionProxy = ALProxy("ALMotion", robotIP, PORT)
except Exception,e:
print "Could not create proxy to ALMotion"
print "Error was: ",e
sys.exit(1)
# activiert gelenke
motionProxy.setStiffnesses("Head", 1.0)
# Example showing how to set angles, using a fraction of max speed
names = ["HeadYaw", "HeadPitch"]
# go into left direction
i=0
while i<2:
angles = [i,0]
fractionMaxSpeed =0.5
motionProxy.setAngles(names, angles, fractionMaxSpeed)
i=float(i)+3.14/4
time.sleep(0.3)
# go back to middle position
angles = [0,0]
fractionMaxSpeed =0.5
motionProxy.setAngles(names, angles, fractionMaxSpeed)
print "head set back"
time.sleep(0.3)
# go into the right direction
i=0
while i > -2:
angles = [i,0]
fractionMaxSpeed =0.5
motionProxy.setAngles(names, angles, fractionMaxSpeed)
i=i-3.14/4
time.sleep(0.3)
# go back to middle position
angles = [0,0]
fractionMaxSpeed =0.5
motionProxy.setAngles(names, angles, fractionMaxSpeed)
print "head set back"
time.sleep(1)
if __name__ == "__main__":
robotIp = "192.168.0.11"
main(robotIp)