finished presentation materials

2018-07-11 16:48:49 +02:00
parent 4b926bed19
commit d4a7e4c4a2
7 changed files with 25 additions and 11 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,10 @@
 *.jpg
 *.avi
 *.mpg
+*.pptx
+*.mov
+*.mp4
+*.mkv
 *~
 ~*
 exp_*
--- a/presentation/ball_tracking.xml
+++ b/presentation/ball_tracking.xml
@@ -1 +1 @@
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--- a/presentation/milestones.xml
+++ b/presentation/milestones.xml
@@ -0,0 +1 @@
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--- a/presentation/striker_flowchart.xml
+++ b/presentation/striker_flowchart.xml
@@ -1 +1 @@
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+<mxfile userAgent="Mozilla/5.0 (Macintosh; Intel Mac OS X 10_11_6) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/8.8.0 Chrome/61.0.3163.100 Electron/2.0.2 Safari/537.36" version="8.9.2" editor="www.draw.io" type="device"><diagram id="20b248c3-da19-9561-3d67-480d61d4ec6f" name="Page-1">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</diagram></mxfile>
--- a/pykick/colorpicker.py
+++ b/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)
--- a/pykick/finders.py
+++ b/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
--- a/pykick/nao_defaults.json
+++ b/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
 }
				`@@ -0,0 +1 @@`
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