class RobotDetector(Detector):
DETECTION_RECT_SCALE_FACTOR = Vector2(1, 1.2)
RECOGNITION_PATTERN_COLOR_RANGE = ColorRange(Color.from_hsv(280, 120, 180), Color.from_hsv(335, 255, 255))
def __init__(self, robot_factory):
self._robot_factory = robot_factory
self._pattern_circle_filter = ContourFilter(
min_size_scale=0.5, max_size_scale=1.5, min_aspect_ratio=0.7, max_aspect_ratio=1.3
)
self._pattern_filter = ContourFilter(min_aspect_ratio=0.75, max_aspect_ratio=1.25)
def detect(self, image, playfield):
self._pattern_circle_filter.target_size = Coordinate.translate_physical_to_game(
Robot.RECOGNITION_CIRCLE_PHYSICAL_SIZE_CM, playfield
)
self._recognition_circle_distance = Coordinate.translate_physical_to_game(
Robot.RECOGNITION_CIRCLE_DISTANCE_CM, playfield
)
return self._perform_detection(image.clone(), playfield)
def _perform_detection(self, image, playfield):
detection_rect = self._create_detection_area(image, playfield)
mask = self._create_mask(
image, self.RECOGNITION_PATTERN_COLOR_RANGE, opening_kernel_size=5, closure_kernel_size=5
)
contours = self._find_contours(mask, image)
return self._detect_robot_from_contours(contours, detection_rect, playfield)
def _create_detection_area(self, image, playfield):
detection_rect = playfield.rect.clone().scale_centered(self.DETECTION_RECT_SCALE_FACTOR)
image.crop(detection_rect)
self._log_detection_step("Robot Detection Area", image)
return detection_rect
def _detect_robot_from_contours(self, contours, detection_rect, playfield):
recognition_circles = self._get_robot_recognition_circles(contours, detection_rect)
return self._get_robot_from_recognition_circles(recognition_circles)
def _get_robot_recognition_circles(self, contours, detection_rect):
recognition_circles = []
filtered_contours = self._pattern_circle_filter.filter_contours(contours)
for contour in filtered_contours:
recognition_circles.append(OpenCV.get_contour_center(contour).offset(detection_rect.location))
return recognition_circles
def _get_robot_from_recognition_circles(self, recognition_circles):
self._validate_recognition_circles(recognition_circles)
robot = self._robot_factory.create_from_recognition_circles(
recognition_circles, CoordinateSystem.CAMERA, RobotCreationSource.DETECTION
)
self._validate_robot(robot)
return robot
def _validate_recognition_circles(self, recognition_circles):
if len(recognition_circles) != 3:
raise DetectionError(
"The required amount of recognition circles were not detected. Detected: {0}.".format(
len(recognition_circles)
)
)
for pair in ListUtils.pairs(recognition_circles):
pair_distance = Segment(pair[0], pair[1]).length
if not MathUtils.in_range(
pair_distance, self._recognition_circle_distance.x, self._recognition_circle_distance.y
):
raise DetectionError(
"Distance between detected recognition circles was not of the correct length. Detected: {0}.".format(
pair_distance
)
)
def _validate_robot(self, robot):
rotated_rect = robot.get_rotated_rect()
if not self._pattern_filter.filter_rotated_rect(rotated_rect):
raise DetectionError(
"Detected recognition circles do not meet the required criterias. Aspect ratio: {0}".format(
rotated_rect.aspect_ratio
)
)
