-
Notifications
You must be signed in to change notification settings - Fork 0
/
object_detector.py
235 lines (196 loc) · 9.02 KB
/
object_detector.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
import cv2
import numpy as np
from cameracontroller import CameraController
import time
from helpers import *
class ObjectDetector():
def __init__(self, color_threshold, amount_threshold, thymioController):
self.color_threshold = color_threshold
self.TIMER = 35
max_motor_speed= 200
self.red_color_threshold = None
self.amount_threshold = amount_threshold
self.camera = CameraController()
self.thymioController = thymioController
self.checkWheels()
self.has_goal_threshold = None
self.has_puck_threshold = self.calibrate_has_puck2()
self.has_goal_threshold2 = self.calibrate_has_goal3()*1.0
#self.has_puck_threshold = 0.253477649767 ## WHAT ARE ACTUAL VALUES??
#self.has_goal_threshold2 = 0.476304381127 ## WHAT ARE ACTUAL VALUES??
self.checkCalibration()
print "puck threshold is " + str(self.has_puck_threshold)
print "goal threshold is " + str(self.has_goal_threshold2)
def checkWheels(self):
left = 1.0
right = 1.0
motorspeed = { 'left': left, 'right': right }
writeMotorSpeed(self.thymioController, motorspeed, max_motor_speed)
left = -1.0
right = -1.0
time.sleep(5)
motorspeed = { 'left': left, 'right': right }
writeMotorSpeed(self.thymioController, motorspeed, max_motor_speed)
time.sleep(5)
stopThymio(self.thymioController)
time.sleep(self.TIMER)
def checkCalibration(self):
puck_center, puck_size = self.detect_puck()
goal_center, goal_size = self.detect_goal()
counter = 0
hasPuck=False
seeGoal = False
while not (seeGoal and hasPuck and counter > 3):
puck_center, puck_size = self.detect_puck()
goal_center, goal_size = self.detect_goal()
if (seeGoal and hasPuck and (sum(self.thymioController.GetVariable("thymio-II", "prox.ground.reflected")) < 1000) and (min(self.thymioController.GetVariable("thymio-II", "prox.ground.reflected")) < 380)):
counter += 1
else:
counter = 0
if (hasPuck and goal_size > 0.01):
seeGoal = True
else:
seeGoal = False
if (puck_center[0] < self.has_puck_threshold and puck_size > 0.05):
hasPuck = True
#else:
#hasPuck = False
if(puck_size > 0.01 or hasPuck):
seePuck = True
else:
seePuck = False
if seePuck:
if hasPuck:
if seeGoal:
motorspeed = { 'left': 1.0, 'right': 1.0 }
else:
motorspeed = { 'left': 0.4, 'right': -0.4 }
else:
motorspeed = { 'left': 1.0, 'right': 1.0 }
else:
motorspeed = { 'left': 0.4, 'right': -0.4 }
writeMotorSpeed(self.thymioController, motorspeed, max_motor_speed)
if seePuck and not hasPuck and not seeGoal:
self.thymioController.SendEventName('SetColor', [0, 32, 0, 0], reply_handler=dbusReply, error_handler=dbusError)
if hasPuck and not seeGoal:
self.thymioController.SendEventName('SetColor', [0, 0, 32, 0], reply_handler=dbusReply, error_handler=dbusError)
if seeGoal:
self.thymioController.SendEventName('SetColor', [32, 0, 0, 0], reply_handler=dbusReply, error_handler=dbusError)
self.thymioController.SendEventName('PlayFreq', [700, 0])
time.sleep(1)
self.thymioController.SendEventName('PlayFreq', [0, -1])
stopThymio(self.thymioController)
time.sleep(20)
def calibrate_has_puck(self):
raw_input("Put the puck in front of the camera and press enter.")
puck_center1, _ = self.detect_puck()
raw_input("Put the puck just out of reach and press enter.")
puck_center2, _ = self.detect_puck()
raw_input("Remove the puck and press enter.")
if puck_center1[0] < puck_center2[0]:
return (puck_center1[0] + puck_center2[0]) / 2.0
else:
return puck_center2[0]
def calibrate_has_puck2(self):
self.thymioController.SendEventName('PlayFreq', [700, 0])
puck_center1, _ = self.detect_puck()
time.sleep(1)
self.thymioController.SendEventName('PlayFreq', [0, -1])
time.sleep(self.TIMER)
self.thymioController.SendEventName('PlayFreq', [700, 0])
puck_center2, _ = self.detect_puck()
time.sleep(1)
self.thymioController.SendEventName('PlayFreq', [0, -1])
time.sleep(self.TIMER)
if puck_center1[0] < puck_center2[0]:
return (puck_center1[0] + puck_center2[0]) / 2.0
else:
return puck_center2[0]
def calibrate_has_goal(self):
raw_input("Put the puck in front of the camera and the goal and press enter.")
goal_center1, _ = self.detect_goal()
raw_input("Put the puck in front of the camera and just out of reach of the goal and press enter.")
goal_center2, _ = self.detect_goal()
raw_input("Remove the puck and press enter.")
if goal_center1[0] < goal_center2[0]:
return (goal_center1[0] + goal_center2[0]) / 2.0
else:
return goal_center2[0]
def calibrate_has_goal3(self):
self.thymioController.SendEventName('PlayFreq', [700, 0])
time.sleep(1)
self.thymioController.SendEventName('PlayFreq', [0, -1])
img = self.camera.getCurrentImage()
img = img.astype('float32')
img1 = img[:, :, 2] / np.sum(img, 2)
median_red = np.mean(img1[-20:, :])
self.red_color_threshold = median_red*0.9
goal_size_list = []
wait_time = time.time()
while time.time() - wait_time < 20:
goal_center1, goal_size1 = self.detect_goal()
if goal_size1 > -1.0:
goal_size_list.append(goal_size1)
self.thymioController.SendEventName('PlayFreq', [700, 0])
time.sleep(self.TIMER)
self.thymioController.SendEventName('PlayFreq', [0, -1])
wait_time = time.time()
while time.time() - wait_time < 20:
goal_center2, goal_size2 = self.detect_goal()
if goal_size2 > -1.0:
goal_size_list.append(goal_size2)
self.thymioController.SendEventName('PlayFreq', [700, 0])
time.sleep(1)
self.thymioController.SendEventName('PlayFreq', [0, -1])
time.sleep(self.TIMER)
return sum(goal_size_list) / float(len(goal_size_list))
def detect_puck(self):
img = self.camera.getCurrentImage()
img = img.astype('float32')
img1 = img[:, :, 1] / np.sum(img, 2)
vals = np.where(img1 > self.color_threshold)
middle = (np.mean(vals[0]) / img1.shape[0], np.mean(vals[1]) / img1.shape[1])
percentage = float(len(vals[0])) / float(img1.shape[0] * img1.shape[1])
if percentage < self.amount_threshold:
middle = (-1,-1)
percentage = -1
return middle, percentage
def detect_goal(self):
img = self.camera.getCurrentImage()
img = img.astype('float32')
img1 = img[:, :, 2] / np.sum(img, 2)
vals = np.where(img1 > self.red_color_threshold)
middle = (np.mean(vals[0]) / img1.shape[0], np.mean(vals[1]) / img1.shape[1])
percentage = float(len(vals[0])) / float(img1.shape[0] * img1.shape[1])
if percentage < self.amount_threshold:
middle = (-1,-1)
percentage = -1
return middle, percentage
def draw_rectangle(self, image, middle, percentage):
if len(middle) == 2:
y_pixels = int(np.sqrt(percentage)* image.shape[0])
x_pixels = int(np.sqrt(percentage)* image.shape[1])
point1 = (int(middle[1]-0.5*x_pixels), int(middle[0]-0.5*y_pixels))
point2 = (int(middle[1]+0.5*x_pixels), int(middle[0]+0.5*y_pixels))
cv2.rectangle(image, point1, point2, (1,1,255))
return image
def BGRtobgr(self, image):
# Get full intensity picture.
image = image.astype('float32')
full_intensity = np.sum(image, 2)
image /= np.dstack((full_intensity, full_intensity, full_intensity))
image *= 255.0
image = image.astype('uint8')
return image
if __name__ == '__main__':
import os
x = 0
folder = "/home/bart/Documents/fotos_zonder_licht/"
for file in os.listdir(folder):
x += 1
image = cv2.imread(os.path.join(folder,file))
_, middle, percentage = detect_puck(image, 0.40, 0.0001)
_, middle2, percentage2 = detect_goal(image, 0.4, 0.05)
image = draw_rectangle(image, middle, percentage)
image = draw_rectangle(image, middle2, percentage2)
cv2.imwrite('/home/bart/Documents/objects/object_detection' + str(x) + '.jpg', image)