finished presentation materials

pykick/colorpicker.py

@@ -101,6 +101,7 @@ class Colorpicker(object):
             )
 
         thr = cv2.cvtColor(thr, cv2.COLOR_GRAY2BGR)
+        thr = self.marker.draw_last_contours(thr)
         resulting = np.concatenate((frame, thr), axis=1)
 
         cv2.imshow(self.WINDOW_CAPTURE_NAME, resulting)

pykick/finders.py

@@ -56,6 +56,7 @@ class GoalFinder(object):
         self.hsv_upper = tuple(hsv_upper)
         self.goal_thr = goal_thr
         self.last_detection = []
+        self.last_contours = []
 
     def primary_mask(self, frame):
         hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
@@ -92,6 +93,7 @@ class GoalFinder(object):
         thr = self.primary_mask(frame)
         cnts, _ = cv2.findContours(thr, cv2.RETR_EXTERNAL,
                                    cv2.CHAIN_APPROX_SIMPLE)
+        self.last_contours = cnts
         cnts.sort(key=cv2.contourArea, reverse=True)
         top_x = 6
         cnts = cnts[:top_x]
@@ -121,6 +123,12 @@ class GoalFinder(object):
         goal = good_cnts[similarities.index(best)]
         return goal
 
+    def draw_last_contours(self, frame):
+        frame = frame.copy()
+        for cnt in self.last_contours:
+            cv2.drawContours(frame, (cnt,), -1, (255, 0, 0), 2)
+        return frame
+
     def left_right_post(self, contour):
         return contour[...,0].min(), contour[...,0].max()
 
@@ -205,11 +213,11 @@ class BallFinder(object):
         if ball is not None:
             center, radius = ball
             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)
+        # 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

@@ -11,7 +11,6 @@
             255
         ]
     ], 
-    "cam": 1, 
     "goal": [
         [
             0, 
@@ -24,6 +23,7 @@
             255
         ]
     ], 
+    "fps": 10, 
     "res": 2, 
     "ball_min_radius": 0.01, 
     "field": [
@@ -38,7 +38,7 @@
             255
         ]
     ], 
-    "fps": 10, 
+    "cam": 1, 
     "ip": "192.168.0.11", 
     "port": 9559
 }