def __init__(self, coordinate_factory, robot_factory):
self._coordinate_factory = coordinate_factory
self._playfield_detector = PlayfieldDetector()
self._robot_detector = RobotDetector(robot_factory)
self._charging_station_detector = ChargingStationDetector(self._coordinate_factory)
self._island_detector = IslandDetector(self._coordinate_factory)
self._treasure_detector = TreasureDetector(self._coordinate_factory)
self._image_straightening_angle = None
self._image = None
self._playfield = None
self._robot = None
self._charging_station = None
self._islands = []
self._treasures = []
class WorldDetector(Detector):
MAX_IMAGE_SIZE = Vector2(800, 600)
RED_ISLAND_COLOR_RANGES = [ColorRange(Color.from_hsv(0, 100, 95), Color.from_hsv(20, 255, 255)), ColorRange(Color.from_hsv(340, 100, 100), Color.from_hsv(360, 255, 255))]
YELLOW_ISLAND_COLOR_RANGE = ColorRange(Color.from_hsv(44, 170, 128), Color.from_hsv(80, 255, 255))
GREEN_ISLAND_COLOR_RANGE = ColorRange(Color.from_hsv(82, 100, 95), Color.from_hsv(168, 255, 255))
BLUE_ISLAND_COLOR_RANGE = ColorRange(Color.from_hsv(170, 100, 95), Color.from_hsv(250, 255, 255))
def __init__(self, coordinate_factory, robot_factory):
self._coordinate_factory = coordinate_factory
self._playfield_detector = PlayfieldDetector()
self._robot_detector = RobotDetector(robot_factory)
self._charging_station_detector = ChargingStationDetector(self._coordinate_factory)
self._island_detector = IslandDetector(self._coordinate_factory)
self._treasure_detector = TreasureDetector(self._coordinate_factory)
self._image_straightening_angle = None
self._image = None
self._playfield = None
self._robot = None
self._charging_station = None
self._islands = []
self._treasures = []
def detect_objects(self, image, world_object_types):
self._image = image.clone()
self._pre_process_image(self._image, world_object_types)
if WorldObjectType.PLAYFIELD in world_object_types:
self._playfield = self._detect_playfield(self._image)
self._set_image_padding(self._image)
if WorldObjectType.ROBOT in world_object_types and self._playfield is not None:
self._robot = self._detect_robot(self._image, self._playfield)
if WorldObjectType.CHARGING_STATION in world_object_types and self._playfield is not None:
self._charging_station = self._detect_charging_station(self._image, self._playfield)
if WorldObjectType.ISLAND in world_object_types and self._playfield is not None:
self._islands = self._detect_islands(self._image, self._playfield, self._robot)
if WorldObjectType.TREASURE in world_object_types and self._playfield is not None:
self._treasures = self._detect_treasures(self._image, self._playfield, self._robot, self._islands)
return WorldDescriptor(world_object_types, self._image, self._playfield, self._robot, self._charging_station, self._islands, self._treasures)
def _pre_process_image(self, image, world_object_types):
self._resize_image(image)
self._straighten_image(image, world_object_types)
self._set_image_brightness(image)
def _resize_image(self, image):
if image.size > self.MAX_IMAGE_SIZE:
image.resize(image.size.shrink_to_fit(self.MAX_IMAGE_SIZE))
self._log_detection_step("Resize", image)
def _straighten_image(self, image, world_object_types):
if WorldObjectType.PLAYFIELD in world_object_types:
self._image_straightening_angle = self._calculate_image_straightening_angle(image)
image.rotate(-self._image_straightening_angle, ImageRotationMode.FIT_INNER)
self._log_detection_step("Straighten", image)
def _calculate_image_straightening_angle(self, image):
grayscale_image = image.to_grayscale()
self._log_detection_step("Convert to grayscale", grayscale_image)
hough_lines = OpenCV.hough_lines(grayscale_image)
return Segment.average_angle_snap_value(hough_lines)
def _set_image_brightness(self, image):
image.set_brightness(target_brightness_level = 150)
self._log_detection_step("Brightness Adjust", image)
def _detect_playfield(self, image):
try:
playfield = self._playfield_detector.detect(image)
except DetectionError as e:
Logger.get_instance().log(self, "Playfield Detection Failed", LogEntryType.DEBUG, error = e, blob_data = image)
return None
self._coordinate_factory.set_playfield(playfield)
self._coordinate_factory.set_image_size(image.size)
return playfield
def _set_image_padding(self, image):
if self._playfield is not None and self._playfield.rect.width > image.width:
padding_value = (self._playfield.rect.width - image.width) / 2
image.pad(0, 0, padding_value, padding_value, Color.GRAY)
def _detect_robot(self, image, playfield):
try:
return self._robot_detector.detect(image, playfield)
except DetectionError as e:
Logger.get_instance().log(self, "Robot Detection Failed", LogEntryType.DEBUG, error = e, blob_data = image)
return None
def _detect_charging_station(self, image, playfield):
try:
return self._charging_station_detector.detect(image, playfield)
except DetectionError as e:
Logger.get_instance().log(self, "Charging Station Detection Failed", LogEntryType.DEBUG, error = e, blob_data = image)
return None
def _detect_islands(self, image, playfield, robot):
islands = []
islands.extend(self._island_detector.detect(image, playfield, self.RED_ISLAND_COLOR_RANGES, IslandColor.RED, robot))
islands.extend(self._island_detector.detect(image, playfield, self.YELLOW_ISLAND_COLOR_RANGE, IslandColor.YELLOW, robot))
islands.extend(self._island_detector.detect(image, playfield, self.GREEN_ISLAND_COLOR_RANGE, IslandColor.GREEN, robot))
islands.extend(self._island_detector.detect(image, playfield, self.BLUE_ISLAND_COLOR_RANGE, IslandColor.BLUE, robot))
return islands
def _detect_treasures(self, image, playfield, robot, islands):
return self._treasure_detector.detect(image, playfield, robot, islands)