class BallAnalyzer:
def __init__(self, table, rectifier):
self.occlusion_analyzer = OcclusionAnalyzer(rectifier)
self.color_analyzer = PixelColorAnalyzer(rectifier)
self.color_mean = table.ball.color
self.variance = 0.05 ** 2 * numpy.eye(3) + 0.1 ** 2 * numpy.ones((3, 3))
# FIXME: a lot of common code with foosmen!
self.silhouette_size = (table.ball.diameter, table.ball.diameter)
self.silhouette_area = self.silhouette_size[0] * self.silhouette_size[1]
self.filter_size = tuple(s * rectifier.resolution for s in self.silhouette_size)
self.visible_p = 0.999
self.visible_lpr = scipy.special.logit(self.visible_p)
w, h = rectifier.image_size
self.dtype = [
("color_analysis", self.color_analyzer.analysis_dtype),
("present_ll_c", "f4", (h, w)),
("absent_ll_c", "f4", (h, w)),
("present_llr", "f4", (h, w)),
("location_llr", "f4", (h, w)),
]
def analyze_color(self, data):
self.color_analyzer.compute_ll(data.frames, self, data.frames.ball.color_analysis)
def compute_visible_llr(self, data):
background = data.frames.background
ball = data.frames.ball
ball.present_ll_c[...] = numpy.logaddexp(ball.color_analysis.ll, self.occlusion_analyzer.occluded_lpr)
ball.absent_ll_c[...] = data.background.q_estimation * numpy.logaddexp(background.color_analysis.ll, self.occlusion_analyzer.occluded_lpr)
ball.present_llr[...] = numpy.logaddexp(ball.present_ll_c - ball.absent_ll_c + self.visible_lpr, ball.absent_ll_c)
def compute_location_llr(self, data):
ball = data.frames.ball
fw, fh = self.filter_size
filter_size = (1, fh, fw)
# TODO: we should multiply by (self.silhouette_area/data.frames.pixel_density)
ball.location_llr[...] = scipy.ndimage.uniform_filter(ball.present_llr, filter_size)
def __init__(self, table, rectifier):
self.occlusion_analyzer = OcclusionAnalyzer(rectifier)
self.color_analyzer = PixelColorAnalyzer(rectifier)
self.color_mean = table.ball.color
self.variance = 0.05 ** 2 * numpy.eye(3) + 0.1 ** 2 * numpy.ones((3, 3))
# FIXME: a lot of common code with foosmen!
self.silhouette_size = (table.ball.diameter, table.ball.diameter)
self.silhouette_area = self.silhouette_size[0] * self.silhouette_size[1]
self.filter_size = tuple(s * rectifier.resolution for s in self.silhouette_size)
self.visible_p = 0.999
self.visible_lpr = scipy.special.logit(self.visible_p)
w, h = rectifier.image_size
self.dtype = [
("color_analysis", self.color_analyzer.analysis_dtype),
("present_ll_c", "f4", (h, w)),
("absent_ll_c", "f4", (h, w)),
("present_llr", "f4", (h, w)),
("location_llr", "f4", (h, w)),
]
def __init__(self, table, rectifier):
self.color_estimator = ColorEstimator(rectifier)
self.color_analyzer = PixelColorAnalyzer(rectifier)
self.dtype = [
("color_analysis", self.color_analyzer.analysis_dtype),
]
class BackgroundAnalyzer:
def __init__(self, table, rectifier):
self.color_estimator = ColorEstimator(rectifier)
self.color_analyzer = PixelColorAnalyzer(rectifier)
self.dtype = [
("color_analysis", self.color_analyzer.analysis_dtype),
]
def estimate_color(self, data):
self.color_estimator.estimate(data.frames, data.background, mean_axis=0)
data.background.q_estimation = 0.8
def analyze_color(self, data):
self.color_analyzer.compute_ll(data.frames, data.background, data.frames.background.color_analysis)
