class DetectGoal:
_HISTORY_LENGTH = 5
def __init__(self, options):
self.options = options["Goals"]
self.ball_in_field_history = RingBuffer(self.options['HistoryLength'])
self.ball_in_left_goal_history = RingBuffer(2 * self.options['HistoryLength'])
self.ball_in_right_goal_history = RingBuffer(2 * self.options['HistoryLength'])
def detect(self, image, ball):
goal_keep_mask = np.zeros([image.shape[0], image.shape[1]], np.uint8)
height, width, channels = image.shape
# left goal keep
left = self.options['Gates'][0]
cv2.rectangle(goal_keep_mask, tuple(left[0]), tuple(left[1]), (255, 255, 255), thickness=-1)
# right goal keep
right = self.options['Gates'][1]
cv2.rectangle(goal_keep_mask, tuple(right[0]), tuple(right[1]), (255, 255, 255), thickness=-1)
ball_boundaries = ball.get_boundaries(width)
self.ball_in_field_history.extend(np.array(ball.is_visible()))
self.ball_in_left_goal_history.extend(goal_keep_mask[ball_boundaries[0][1], ball_boundaries[0][0]] == 255)
self.ball_in_right_goal_history.extend(goal_keep_mask[ball_boundaries[1][1], ball_boundaries[1][0]] == 255)
if self._detect_goal(self.ball_in_left_goal_history):
return [False, True]
elif self._detect_goal(self.ball_in_right_goal_history):
return [True, False]
else:
return [False, False]
def _detect_goal(self, ball_in_goal_area_history):
"""
Checks goal within goal area and within history of frames
:param ball_in_goal_area_history:
:return: whether goal was detected
"""
if np.any(ball_in_goal_area_history.get()) and not np.any(self.ball_in_field_history.get()):
ball_in_goal_area_history.clear()
return True
return False
