def track_table(block):
table_corners = get_rectangle_corners(block.table.ground.size)
settings = TableTrackingSettings(False, None, None)
controls = ControlGroupStatus(ControlGroup())
prev_tracker = None
for f in xrange(block.frames):
tracker = TableTracker(prev_tracker, settings, controls)
prev_tracker = tracker
corners = tracker.track_table(block.video.image[f])
block.camera.transform[f] = cv2.getPerspectiveTransform(table_corners, corners)
def __init__(self, frame, frame_num, timestamp, playback_time, frame_settings, prev_frame_analysis, controls):
self.frame = frame
self.frame_num = frame_num
self.timestamp = timestamp
self.playback_time = playback_time
self.frame_settings = frame_settings
self.controls = controls
# Table tracker
prev_table_tracker = prev_frame_analysis.table_tracker if prev_frame_analysis is not None else None
self.table_tracker = TableTracker(prev_table_tracker, self.frame_settings.table_tracking_settings, controls.subpanel("table tracking"), ticker=self)
# Table analysis
self.prev_table_bg_estimation = prev_frame_analysis.table_bg_estimation if prev_frame_analysis is not None else None
self.table_bg_estimation = None
# Spot finder
self.spots_finder = SpotsFinder(frame_settings.spots_finder_settings);
# Computed data
self.table_transform = None
self.table_frame = None
self.ball_density = None
# Final data
self.ball_pos = None # False if absent, (x, y) if present
self.bars_pos = None # list of (lists of?) (shift, angle)
# Timing data
self.timings = {}
# Record beginning of processing of this frame
self.tic("lifetime")
def __init__(self, table, camera):
self.table = table
self.camera = camera
self.frames_in_flight = 120
self.table_tracker = TableTracker(table, camera, TableReferenceFrame())
self.rectifier = Rectifier(table, margin=0.10, camera=camera, resolution=120)
self.background_analyzer = BackgroundAnalyzer(table, self.rectifier)
self.team_foosmen_analyzer = TeamFoosmenAnalyzer(table, self.rectifier)
self.ball_analyzer = BallAnalyzer(table, self.rectifier)
self.rod_analyzer = [RodAnalyzer(table, rod, self.rectifier) for rod in table.rods]
class GameAnalyzer:
def __init__(self, table, camera):
self.table = table
self.camera = camera
self.frames_in_flight = 120
self.table_tracker = TableTracker(table, camera, TableReferenceFrame())
self.rectifier = Rectifier(table, margin=0.10, camera=camera, resolution=120)
self.background_analyzer = BackgroundAnalyzer(table, self.rectifier)
self.team_foosmen_analyzer = TeamFoosmenAnalyzer(table, self.rectifier)
self.ball_analyzer = BallAnalyzer(table, self.rectifier)
self.rod_analyzer = [RodAnalyzer(table, rod, self.rectifier) for rod in table.rods]
def analyze(self, data):
self.table_tracker.locate_table(data)
self.table_tracker.settle_table(data)
self.table_tracker.compute_camera_transform(data)
self.rectifier.rectify(data.frames)
self.background_analyzer.estimate_color(data)
self.background_analyzer.analyze_color(data)
for i, team in enumerate(self.table.teams):
self.team_foosmen_analyzer.initialize_model(team, data)
self.team_foosmen_analyzer.analyze_color(team, data)
self.team_foosmen_analyzer.compute_visible_llr(team, data)
self.team_foosmen_analyzer.compute_location_llr(team, data)
for i, rod in enumerate(self.table.rods):
analyzer = self.rod_analyzer[i]
for j, foosman in enumerate(rod.foosmen):
foosman_analyzer = analyzer.foosman_analyzer[j]
foosman_analyzer.compute_shift_llr(data)
analyzer.compute_shift_llr(data)
self.ball_analyzer.analyze_color(data)
self.ball_analyzer.compute_visible_llr(data)
self.ball_analyzer.compute_location_llr(data)
class FrameAnalysis:
def __init__(self, frame, frame_num, timestamp, playback_time, frame_settings, prev_frame_analysis, controls):
self.frame = frame
self.frame_num = frame_num
self.timestamp = timestamp
self.playback_time = playback_time
self.frame_settings = frame_settings
self.controls = controls
# Table tracker
prev_table_tracker = prev_frame_analysis.table_tracker if prev_frame_analysis is not None else None
self.table_tracker = TableTracker(prev_table_tracker, self.frame_settings.table_tracking_settings, controls.subpanel("table tracking"), ticker=self)
# Table analysis
self.prev_table_bg_estimation = prev_frame_analysis.table_bg_estimation if prev_frame_analysis is not None else None
self.table_bg_estimation = None
# Spot finder
self.spots_finder = SpotsFinder(frame_settings.spots_finder_settings);
# Computed data
self.table_transform = None
self.table_frame = None
self.ball_density = None
# Final data
self.ball_pos = None # False if absent, (x, y) if present
self.bars_pos = None # list of (lists of?) (shift, angle)
# Timing data
self.timings = {}
# Record beginning of processing of this frame
self.tic("lifetime")
def do_undistort_frame(self):
if self.frame_settings.undistort_camera:
self.tic("undistort frame")
self.frame = cv2.undistort(self.frame, self.frame_settings.camera_matrix, self.frame_settings.dist_coeffs)
self.controls.subpanel("table tracking").show("undistorted", self.frame / 255.0)
self.toc("undistort frame")
def do_table_tracking(self):
self.tic("table tracking")
self.table_corners = self.table_tracker.track_table(self.frame)
self.toc("table tracking")
self.tic("table warping")
warping_proj = numpy.dot(rectangle_to_region(self.table_corners), pixels_to_rectangle(*self.frame_settings.table_frame_size))
# logger.info("\n%r\n%r", self.table_corners, warping_proj)
self.table_frame = cv2.warpPerspective(self.frame,
warping_proj,
self.frame_settings.table_frame_size,
flags=cv2.INTER_LINEAR | cv2.WARP_INVERSE_MAP,
borderMode=cv2.BORDER_REPLICATE) / 255.0
self.toc("table warping")
self.controls.subpanel("table tracking").show("table frame", self.table_frame)
def do_compute_ball_density(self):
self.tic("estimate background")
self.table_bg_estimation = estimate_table_background(self.prev_table_bg_estimation, self.table_frame, self.frame_settings.table_bg_settings, self.controls.subpanel("tablebg"))
self.toc("estimate background")
self.tic("compute ball density")
self.table_bg_analysis = analyze_table_background(self.table_bg_estimation, self.table_frame, self.controls.subpanel("tablebg"))
# FIXME: the ball analysis is done in the analyze_table_background
self.ball_density = self.table_bg_analysis.ballness
self.toc("compute ball density")
def find_spots(self):
self.spots = self.spots_finder.find_spots(self.ball_density)
def get_csv_line(self):
line = "%.5f" % (self.playback_time)
if self.ball_pos is not None:
line += ",%.5f,%.5f" % (self.ball_pos[0], self.ball_pos[1])
else:
line += ",,"
# FIXME: decide how bars are to be enumerated
# for side in [0, 1]:
# for bar in xrange(BARS):
# line += ",%.5f,%.5f" % (self.bars_pos[side][bar][0], self.bars_pos[side][bar][1])
line += '\n'
# Record finishing of processing of this frame
self.toc("lifetime")
return line
def tic(self, name):
assert name not in self.timings
self.timings[name] = [monotonic_time(), None]
def toc(self, name):
assert name in self.timings
assert self.timings[name][1] is None
self.timings[name][1] = monotonic_time()
timings_logger.debug("Frame %d, %s took %f msecs", self.frame_num, name, 1000.0 * (self.timings[name][1] - self.timings[name][0]))