whack_a_mole.mole_detection module

Python library for CV operations for the Whack-a-Mole game.

class whack_a_mole.mole_detection.OpenCVClient(freq=30.0, clipping_distance=1400, crop=[(1, 1), (1, 1)])

Bases: object

A class to handle the OpenCV operations for the mole detection.

Attributes

• clipping_distance (int): The clipping distance for the depth image.

• crop (list): The crop region for the image.

• _running_avg (dict): A dictionary to store the running average of the

  centroids.

• _camera_intrinsics (np.array): The camera intrinsics.

• _color_image (np.array): The color image.

• _depth_image (np.array): The depth image.

Functions:

• find_centroid_cropped(masked_image, crop_indices):

  Find the centroid of the largest contour within a specified crop region.

• find_color_centroid(lower_HSV, higher_HSV):

  Returns the pixel indecies of the centroid of a color defined in lower_HSV , higher_HSV range

• get_3d_coordinates_at_pixel(x, y, frame_name):

  Convert the pixel coordinates (x, y) to 3D camera coordinates in meters.

property camera_intrinsics

Getter for the camera intrinsics.

property color_image

Getter for the color image.

property depth_image

Getter for the depth image.

detect_illumination(color: str)

Detect the illumination of the mole.

find_centroid_cropped(masked_image, crop_indices)

Find the centroid of the largest contour in specified crop region.

Args:

• masked_image (np.array): The masked image to process.

• crop_indices (tuple): A tuple (x1, y1, x2, y2) specifying the crop

  region.

Returns

• (int, int): The (x, y) coordinates of the centroid in the original

  image.

get_3d_coordinates_at_pixel(x, y, frame_name='')

Convert the pixel coordinates (x, y) to 3D coordinates in meters.

property running_avg

Getter for the running average.