def __init__(self):
threading.Thread.__init__(self)
self.run_it = True
self.gate = 0 # 0==yellow,1==blue
self.gates = [None, None]
self.gates_last = [[999, 0], [999, 0]]
self.frame_balls = [] # balls[]=[x,y,w,h,area]
self.largest_ball = None
self.fps = 60
with open("colors/colors.pkl", "rb") as fh: # color lookup table
self.colors_lookup = pickle.load(fh)
segment.set_table(self.colors_lookup) # load table to C module
self.CAM_D_ANGLE = 60 * np.pi / 180 / 640
with open("distances.pkl", "rb") as fh: # fitted distance parameters
self.CAM_HEIGHT, self.CAM_DISTANCE, self.CAM_ANGLE, self.Y_FAR, self.X_a, self.X_b, self.W_a, self.W_b = pickle.load(
fh
)
self.H_BALL = 2.15 # half height
self.H_GATE = 10 # half height
self.fragmented = np.zeros((480, 640), dtype=np.uint8)
self.t_ball = np.zeros((480, 640), dtype=np.uint8)
self.t_gatey = np.zeros((480, 640), dtype=np.uint8)
self.t_gateb = np.zeros((480, 640), dtype=np.uint8)
self.t_debug = np.zeros((480, 640, 3), dtype=np.uint8)
self.debugi = 0
self.ball_history = deque([], maxlen=60)
self.gate = 0
self.t_debug_locked = False
self.angle_fix = 0
ys, xs = np.mgrid[:480, :640]
self.ball_way = np.abs(xs - self.X_b - ys * self.X_a) < self.W_b + 4 + ys * self.W_a
self.yarr = np.arange(480)
self.xmid = np.round(self.yarr * self.X_a + self.X_b).astype("uint16")
def __init__(self):
threading.Thread.__init__(self)
self.run_it = True
self.gate = 0 #0==yellow,1==blue
self.gates = [None, None]
self.gates_last = [[999, 0], [999, 0]]
self.frame_balls = [] #balls[]=[x,y,w,h,area]
self.largest_ball = None
self.fps = 60
with open('colors/colors.pkl', 'rb') as fh: #color lookup table
self.colors_lookup = pickle.load(fh)
segment.set_table(self.colors_lookup) #load table to C module
self.CAM_D_ANGLE = 60 * np.pi / 180 / 640
with open('distances.pkl', 'rb') as fh: #fitted distance parameters
self.CAM_HEIGHT, self.CAM_DISTANCE, self.CAM_ANGLE, self.Y_FAR, self.X_a, self.X_b, self.W_a, self.W_b = pickle.load(
fh)
self.H_BALL = 2.15 #half height
self.H_GATE = 10 #half height
self.fragmented = np.zeros((480, 640), dtype=np.uint8)
self.t_ball = np.zeros((480, 640), dtype=np.uint8)
self.t_gatey = np.zeros((480, 640), dtype=np.uint8)
self.t_gateb = np.zeros((480, 640), dtype=np.uint8)
self.t_debug = np.zeros((480, 640, 3), dtype=np.uint8)
self.debugi = 0
self.ball_history = deque([], maxlen=60)
self.gate = 0
self.t_debug_locked = False
self.angle_fix = 0
ys, xs = np.mgrid[:480, :640]
self.ball_way = np.abs(xs - self.X_b -
ys * self.X_a) < self.W_b + 4 + ys * self.W_a
self.yarr = np.arange(480)
self.xmid = np.round(self.yarr * self.X_a + self.X_b).astype('uint16')
import segment
import numpy as np
import cPickle as pickle
import time
import cv2
with open("../colors.pkl", "rb") as fh:
colors_lookup = pickle.load(fh)
segment.set_table(colors_lookup)
cap = cv2.VideoCapture(0)
if not cap.isOpened():
print("cam not opened")
exit()
_, yuv = cap.read()
cap.release()
timea = time.time()
for i in xrange(60):
ob = yuv.astype("uint32")
fragmented = colors_lookup[ob[:, :, 0] + ob[:, :, 1] * 0x100 + ob[:, :, 2] * 0x10000]
t_ball = (fragmented == 1).view("uint8")
t_gatey = (fragmented == 2).view("uint8")
t_gateb = (fragmented == 3).view("uint8")
print(time.time() - timea)
print(fragmented.shape)
while True:
cv2.imshow("tava", t_ball * 255)
if cv2.waitKey(1) & 0xFF == ord("q"):
import segment
import numpy as np
import cPickle as pickle
import time
import cv2
with open('../colors.pkl', 'rb') as fh:
colors_lookup = pickle.load(fh)
segment.set_table(colors_lookup)
cap = cv2.VideoCapture(0)
if not cap.isOpened():
print('cam not opened')
exit()
_, yuv = cap.read()
cap.release()
timea = time.time()
for i in xrange(60):
ob = yuv.astype('uint32')
fragmented = colors_lookup[ob[:, :, 0] + ob[:, :, 1] * 0x100 +
ob[:, :, 2] * 0x10000]
t_ball = (fragmented == 1).view('uint8')
t_gatey = (fragmented == 2).view('uint8')
t_gateb = (fragmented == 3).view('uint8')
print(time.time() - timea)
print(fragmented.shape)
while True:
cv2.imshow('tava', t_ball * 255)
