def homePlate_transform(frame, home):
# obtain a square in a consistent points order
square = get_home_square(home)
# compute the destination points of the perspective transform square
home_width = params.transform_resolution[1] * params.size_homePercenct
x14 = params.transform_resolution[0] - params.transform_resolution[0] * .01
x23 = x14 - home_width
y12 = (params.transform_resolution[1] + home_width) / 2.
y34 = y12 - home_width
dst = np.array([[x14, y12], [x23, y12], [x23, y34], [x14, y34]],
dtype="float32")
# compute the perspective transform matrix
PTM = cv2.getPerspectiveTransform(square, dst)
# find the new home plate contour
homePlate_cnt = np.array([[x14, params.transform_resolution[1] / 2.],
[x23 + home_width / 2., y12], [x23, y12],
[x23, y34], [x23 + home_width / 2., y34]])
if params.debugging:
warped = cv2.warpPerspective(frame, PTM, params.transform_resolution)
cnt = square.reshape((4, 1, 2))
show_contours([cnt.astype('int32')], frame, 'Square')
cv2.imshow('Warped', warped)
cv2.waitKey(0)
cv2.destroyWindow('Warped')
cv2.destroyWindow('Square')
print("TRANSFORMING FRAME DONE!!!\n")
# return the perspective transform matrix
return PTM, homePlate_cnt
def filter_by_area(frame, contours):
filter_contours = []
frame_size = frame.shape[0] * frame.shape[1]
for cnt in contours:
cnt_area = cv2.contourArea(cnt)
percent_area = 100 * cnt_area / frame_size
if percent_area > params.max_percentArea or percent_area < params.min_percentArea:
if params.debugging:
print("discarded by area")
else:
filter_contours.append(cnt)
if params.debugging:
print("carded by area")
if params.debugging:
show_contours([cnt], frame, 'working cnt in filter by area')
cv2.waitKey(0)
if params.debugging:
print('\nFilter By Area. DONE!!!\n')
cv2.destroyWindow('working cnt in filter by area')
cv2.destroyWindow('all contours')
show_contours(filter_contours, frame, 'filters contours by area')
cv2.waitKey(0)
return np.array(filter_contours)
def filter_by_angles(frame, contours):
filter_contours = []
for cnt in contours:
angles = get_angles_sorted_by_magnitude(cnt)
if np.allclose(angles[:3], [90] * 3, 0,
params.diff_rectAngles) and np.allclose(
angles[3:], [135] * 2, 0, params.diff_maxAngles):
filter_contours.append(cnt)
if params.debugging:
print("carded by angles")
elif params.debugging:
print("discarded by angles")
print("SORTED ANGLES")
print(angles)
if params.debugging:
show_contours([cnt.astype('int32')], frame,
'working cnt in filter by angles')
filter_contours = np.array(filter_contours)
if params.debugging:
print('\nFilter By Angles. DONE!!!\n')
cv2.destroyWindow('working cnt in filter by angles')
cv2.destroyWindow('filters contours by sides ratio')
show_contours(filter_contours.astype('int32'), frame,
'filters contours by angles')
cv2.waitKey(0)
return filter_contours
def get_homes(frame):
thresh = cv2.adaptiveThreshold(frame, 255, cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY, params.thresh_blockSize,
7)
if params.debugging:
cv2.imshow('Thresh', thresh)
contours_img = thresh.copy()
contours, _ = cv2.findContours(contours_img, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
if params.debugging:
show_contours(contours, frame, 'all contours')
filters = [
filter_by_area, filter_by_sidesNumber, filter_by_sidesRatio,
filter_by_angles
]
homes = filter_by(frame, filters, contours)
if params.debugging:
cv2.destroyWindow('Thresh')
cv2.destroyWindow('filters contours by angles')
print("DETECTING HOMES DONE!!!\n")
show_contours(homes.astype('int32'), frame, 'homes')
cv2.waitKey(0)
cv2.destroyWindow('homes')
homes = [HomePlate(home) for home in homes]
return homes
def filter_by_radius(frame, contours, frame_number):
balls = []
frame_size = frame.shape[0] * frame.shape[1]
for cnt in contours:
if params.aproxContour == 0:
x, y, w, h = cv2.boundingRect(cnt)
radius = w / 2. if w < h else h / 2.
# center = np.array([x+w/2., y+h/2.])
center = np.array([x + w - radius, y + h - radius])
elif params.aproxContour == 1:
rect = cv2.minAreaRect(cnt)
# box = cv2.boxPoints(rect)
# box = np.int0(box)
elif params.aproxContour == 2:
center, radius = cv2.minEnclosingCircle(cnt)
radiusPercent = 100 * radius / frame_size
ball = Ball(center, radius, frame_number)
if radiusPercent > params.max_radiusPercent or radiusPercent < params.min_radiusPercent:
if params.debugging:
print("discarded by radius ", radiusPercent)
elif center[0] > params.home_begin:
if params.debugging:
print("discarded by the ball is in the end of the image")
else:
balls.append(ball)
if params.debugging:
print("carded by radius")
if params.debugging:
if params.aproxContour == 0:
preview = frame.copy()
cv2.rectangle(preview, (x, y), (x + w, y + h), (0, 255, 0), 2)
cv2.imshow('rect aprox', preview)
show_contours([cnt], frame, 'working cnt in filter by radius')
draw_ball(ball, frame,
'Enclosing circle of working cnt in filter by radius')
cv2.waitKey(0)
if params.debugging:
if params.aproxContour == 0:
cv2.destroyWindow('rect aprox')
cv2.destroyWindow('working cnt in filter by radius')
cv2.destroyWindow(
'Enclosing circle of working cnt in filter by radius')
cv2.destroyWindow('all contours')
draw_balls(balls, frame, 'filters balls by radius')
cv2.waitKey(0)
return np.array(balls)
def filter_by_sidesRatio(frame, contours):
filter_contours = []
for cnt in contours:
lines = get_lines_sorted_by_dist(cnt)
min_dist = int(((lines[0][0][0] - lines[0][1][0])**2 +
(lines[0][0][1] - lines[0][1][1])**2)**.5)
winSize = min_dist // 2 if min_dist % 4 != 0 else min_dist // 2 - 1
refined_corners = cnt.astype('float32')
refining_corners(frame, refined_corners, (winSize, winSize))
refined_lines = get_lines_sorted_by_dist(refined_corners)
dist = get_dist(refined_lines)
min_diff = abs(dist[0] - dist[1])
percent_min_sides = 100 * min_diff / dist[
1] # find the percent with max distance to minimize the percentage
max_diff = abs(dist[2] - dist[3])
percent_middel_sides = 100 * max_diff / dist[
3] # find the percent with max distance to minimize the percentage
if percent_min_sides <= params.percentSideRatio and percent_middel_sides <= params.percentSideRatio: # filter by percent between distances
filter_contours.append(refined_corners)
if params.debugging:
print('carded by sides ratio')
elif params.debugging:
print("discarded by sides ratio")
print("SORTED DISTANCES")
print(dist)
print("MIN_SIDES PERCENT: ", percent_min_sides)
print("MIDDEL_SIDES PERCENT: ", percent_middel_sides)
if params.debugging:
show_contours([cnt], frame, 'working cnt in filter by sides ratio')
draw_home_lines(lines, frame, 'lines')
draw_home_lines(refined_lines, frame, 'refined_corners')
cv2.waitKey(0)
filter_contours = np.array(filter_contours)
if params.debugging:
print('\nFilter By Sides Ratio. DONE!!!\n')
cv2.destroyWindow('working cnt in filter by sides ratio')
cv2.destroyWindow('lines')
cv2.destroyWindow('refined_corners')
cv2.destroyWindow('filters contours by sides number')
show_contours(filter_contours.astype('int32'), frame,
'filters contours by sides ratio')
cv2.waitKey(0)
return filter_contours
def get_balls(frame, frame_number):
mask = get_mask(frame)
contours, _ = cv2.findContours(mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
if params.debugging:
show_contours(contours, frame, 'all contours')
filters = [filter_by_radius]
balls = filter_by(frame, filters, contours, frame_number)
if params.debugging:
cv2.destroyWindow('filters balls by radius')
if params.useKmeans:
cv2.destroyWindow('Kmeans')
else:
cv2.destroyWindow('Background Subtractor')
print("\nGETTING BALLS DONE!!!\n")
draw_balls(balls, frame, 'balls')
cv2.waitKey(0)
cv2.destroyWindow('balls')
return balls
def filter_by_sidesNumber(frame, contours):
filter_contours = []
for cnt in contours:
hull = cv2.convexHull(cnt)
if params.useHull:
epsilon = 0.03 * cv2.arcLength(hull, True)
cnt_approx = cv2.approxPolyDP(hull, epsilon, True)
else:
epsilon = 0.03 * cv2.arcLength(cnt, True)
cnt_approx = cv2.approxPolyDP(cnt, epsilon, True)
if len(cnt_approx) == params.numberOfSizes:
filter_contours.append(cnt_approx)
if params.debugging:
print("carded by sides number")
elif params.debugging:
print("discarded by sides number: ", len(cnt_approx), " sides")
if params.debugging:
show_contours([cnt], frame, 'working cnt in filter by sides')
show_contours([hull], frame, "Hull")
show_contours([cnt_approx], frame,
'approx of working cnt in filter by sides')
cv2.waitKey(0)
if params.debugging:
print('\nFilter By Sides Number. DONE!!!\n')
cv2.destroyWindow('working cnt in filter by sides')
cv2.destroyWindow('Hull')
cv2.destroyWindow('approx of working cnt in filter by sides')
cv2.destroyWindow('filters contours by area')
show_contours(filter_contours, frame,
'filters contours by sides number')
cv2.waitKey(0)
return np.array(filter_contours)