def get_ball_stat(mask_ball):
cnt_ball = zc.mask2cnt(mask_ball)
area = cv2.contourArea(cnt_ball)
center = cnt_ball.mean(axis=0)[0]
center_homo = np.hstack((center, 1)).reshape(3, 1)
center_rotated = np.dot(rotation_matrix, center_homo)
return (area, center_rotated)
def find_pingpong(img, img_prev, mask_table, mask_ball_prev, rotation_matrix):
def get_ball_stat(mask_ball):
cnt_ball = zc.mask2cnt(mask_ball)
area = cv2.contourArea(cnt_ball)
center = cnt_ball.mean(axis = 0)[0]
center_homo = np.hstack((center, 1)).reshape(3, 1)
center_rotated = np.dot(rotation_matrix, center_homo)
return (area, center_rotated)
rtn_msg = {'status' : 'success'}
mask_ball = zc.color_inrange(img, 'HSV', H_L = 165, H_U = 25, S_L = 60, V_L = 90, V_U = 240)
mask_ball, _ = zc.get_small_blobs(mask_ball, max_area = 2300)
mask_ball, _ = zc.get_big_blobs(mask_ball, min_area = 8)
mask_ball, counter = zc.get_square_blobs(mask_ball, th_diff = 0.2, th_area = 0.2)
if counter == 0:
rtn_msg = {'status' : 'fail', 'message' : "No good color candidate"}
return (rtn_msg, None)
cnt_table = zc.mask2cnt(mask_table)
loc_table_center = zc.get_contour_center(cnt_table)[::-1]
mask_ball_ontable = np.bitwise_and(mask_ball, mask_table)
mask_ball_ontable = zc.get_closest_blob(mask_ball_ontable, loc_table_center)
if mask_ball_ontable is not None: # if any ball on the table, we don't have to rely on previous ball positions
mask_ball = mask_ball_ontable
return (rtn_msg, (mask_ball, get_ball_stat(mask_ball)))
if mask_ball_prev is None: # mask_ball_ontable is already None
rtn_msg = {'status' : 'fail', 'message' : "Cannot initialize a location of ball"}
return (rtn_msg, None)
cnt_ball_prev = zc.mask2cnt(mask_ball_prev)
loc_ball_prev = zc.get_contour_center(cnt_ball_prev)[::-1]
mask_ball = zc.get_closest_blob(mask_ball, loc_ball_prev)
cnt_ball = zc.mask2cnt(mask_ball)
loc_ball = zc.get_contour_center(cnt_ball)[::-1]
ball_moved_dist = zc.euc_dist(loc_ball_prev, loc_ball)
if ball_moved_dist > 110:
rtn_msg = {'status' : 'fail', 'message' : "Lost track of ball: %d" % ball_moved_dist}
return (rtn_msg, None)
return (rtn_msg, (mask_ball, get_ball_stat(mask_ball)))
def find_pingpong(img, img_prev, mask_table, mask_ball_prev, rotation_matrix,
display_list):
def get_ball_stat(mask_ball):
cnt_ball = zc.mask2cnt(mask_ball)
area = cv2.contourArea(cnt_ball)
center = cnt_ball.mean(axis=0)[0]
center_homo = np.hstack((center, 1)).reshape(3, 1)
center_rotated = np.dot(rotation_matrix, center_homo)
return (area, center_rotated)
rtn_msg = {'status': 'success'}
mask_ball = zc.color_inrange(img,
'HSV',
H_L=165,
H_U=25,
S_L=65,
V_L=150,
V_U=255)
mask_screen = find_screen(img, display_list)
mask_screen, _ = zc.find_largest_CC(mask_screen)
mask_possible = np.bitwise_or(mask_screen, zc.expand(mask_table, 3))
mask_ball = np.bitwise_and(mask_ball, mask_possible)
mask_ball, _ = zc.get_small_blobs(mask_ball, max_area=2300)
mask_ball, _ = zc.get_big_blobs(mask_ball, min_area=8)
mask_ball, counter = zc.get_square_blobs(mask_ball,
th_diff=0.2,
th_area=0.2)
zc.check_and_display_mask('ball_raw',
img,
mask_ball,
display_list,
resize_max=config.DISPLAY_MAX_PIXEL,
wait_time=config.DISPLAY_WAIT_TIME)
if counter == 0:
rtn_msg = {'status': 'fail', 'message': "No good color candidate"}
return (rtn_msg, None)
cnt_table = zc.mask2cnt(mask_table)
loc_table_center = zc.get_contour_center(cnt_table)[::-1]
mask_ball_ontable = np.bitwise_and(mask_ball, mask_table)
mask_ball_ontable = zc.get_closest_blob(mask_ball_ontable,
loc_table_center)
if mask_ball_ontable is not None: # if any ball on the table, we don't have to rely on previous ball positions
mask_ball = mask_ball_ontable
zc.check_and_display_mask('ball',
img,
mask_ball,
display_list,
resize_max=config.DISPLAY_MAX_PIXEL,
wait_time=config.DISPLAY_WAIT_TIME)
return (rtn_msg, (mask_ball, get_ball_stat(mask_ball)))
if mask_ball_prev is None: # mask_ball_ontable is already None
rtn_msg = {
'status': 'fail',
'message': "Cannot initialize a location of ball"
}
return (rtn_msg, None)
cnt_ball_prev = zc.mask2cnt(mask_ball_prev)
loc_ball_prev = zc.get_contour_center(cnt_ball_prev)[::-1]
mask_ball = zc.get_closest_blob(mask_ball, loc_ball_prev)
zc.check_and_display_mask('ball',
img,
mask_ball,
display_list,
resize_max=config.DISPLAY_MAX_PIXEL,
wait_time=config.DISPLAY_WAIT_TIME)
cnt_ball = zc.mask2cnt(mask_ball)
loc_ball = zc.get_contour_center(cnt_ball)[::-1]
ball_moved_dist = zc.euc_dist(loc_ball_prev, loc_ball)
if ball_moved_dist > 110:
rtn_msg = {
'status': 'fail',
'message': "Lost track of ball: %d" % ball_moved_dist
}
return (rtn_msg, None)
return (rtn_msg, (mask_ball, get_ball_stat(mask_ball)))