-
Notifications
You must be signed in to change notification settings - Fork 1
/
Ball.py
64 lines (48 loc) · 2.07 KB
/
Ball.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
import datetime
import numpy as np
from tablesoccer.Position import Position
class Ball:
def __init__(self):
self.position = Position(10)
self.history = []
self.direction = ""
def update(self, detection):
if detection is None:
# no detection of center
self.position.remove_last()
return
if len(detection) > 0:
# save position from detection
self.position.update_position(detection[0][2][0], detection[0][2][1])
# update history
self.history.append({"ts": datetime.datetime.now(), "position": self.get_position()})
self.history = self.history[-100:] # keep last 100 positions
# check if direction has changed
self.update_direction()
def get_position(self):
return self.position.get_position()
def update_direction(self):
if len(self.history) > 10:
# check direction between current and 10 frames ago
prev = self.history[-10]["position"]
this = self.history[-1]["position"]
dX = prev[0] - this[0]
dY = prev[1] - this[1]
(dirX, dirY) = ("", "")
# ensure there is significant movement in the x-direction
if np.abs(dX) > 10:
dirX = "Left" if np.sign(dX) == 1 else "Right"
# ensure there is significant movement in the y-direction
if np.abs(dY) > 10:
dirY = "Up" if np.sign(dY) == 1 else "Down"
# handle when both directions are non-empty
if dirX != "" and dirY != "":
self.direction = "{}-{}".format(dirY, dirX)
# otherwise, only one direction is non-empty
else:
self.direction = dirX if dirX != "" else dirY
if self.direction == "":
if "dir" in self.history[-2]:
# update direction to last known direction if nothing found
self.direction = self.history[-2]["dir"]
self.history[-1]["dir"] = self.direction