From 4be3470f4ad6fda40aeedef9929817aa56394ac3 Mon Sep 17 00:00:00 2001
From: Adrien Lescourt <adrien@lescourt.net>
Date: Fri, 16 Jul 2021 09:18:45 +0200
Subject: [PATCH] Separate rising and falling edges
in PieceTakenEdgeDetection
---
memory_lib/board.py | 20 +++++++++++---------
memory_lib/memory.py | 6 +++---
2 files changed, 14 insertions(+), 12 deletions(-)
diff --git a/memory_lib/board.py b/memory_lib/board.py
index 74a1ab9..b44294b 100644
--- a/memory_lib/board.py
+++ b/memory_lib/board.py
@@ -426,22 +426,24 @@ class ArucoPieceVisibilityDetector:
)
-class AveragePieceTakenTrigger:
+class PieceTakenDetectionEdgesTrigger:
"""Call 'trigger' function when after a piece is taken
- It waits for 'avg' times the same piece detection state before triggering
+ It waits for 'rising_count' times the same piece detection state before triggering when we take a piece
+ It waits for 'falling_count' times the same piece detection state before triggering when we put back a piece
TODO: replace this average impl with a counter to increase perf
"""
- def __init__(self, trigger: Callable[[int], None], avg: int = 5):
+ def __init__(self, trigger: Callable[[int], None], rising_count: int = 5, falling_count: int = 5):
self.trigger = trigger
- self.avg = avg
+ self.rising_count = rising_count
+ self.falling_count = falling_count
self.last_boards: List[Board] = []
self.out_board: Optional[Board] = None
def add_board(self, board: Board) -> None:
- if len(self.last_boards) > self.avg * 2: # FIFO size
+ if len(self.last_boards) > max(self.rising_count, self.falling_count) + 1: # FIFO size
self.last_boards.pop(0)
self.last_boards.append(board)
self.out_board = self._average_board()
@@ -449,20 +451,20 @@ class AveragePieceTakenTrigger:
def _average_board(self) -> Board:
next_out_board = Board.from_board(self.last_boards[-1])
for idx in range(16):
- avg = 0
+ current_count = 0
for board in self.last_boards:
- avg += int(board.pieces[idx].is_visible)
+ current_count += int(board.pieces[idx].is_visible)
if self.out_board:
if self.out_board.pieces[idx].is_visible:
- if avg < 1:
+ if current_count < len(self.last_boards) - self.falling_count:
next_out_board.pieces[idx].is_visible = False
else:
next_out_board.pieces[idx].is_visible = self.out_board.pieces[
idx
].is_visible
else:
- if avg > self.avg:
+ if current_count > self.rising_count:
next_out_board.pieces[idx].is_visible = True
self.trigger(idx)
else:
diff --git a/memory_lib/memory.py b/memory_lib/memory.py
index a5280fe..8d2c61c 100644
--- a/memory_lib/memory.py
+++ b/memory_lib/memory.py
@@ -18,7 +18,7 @@ from .board import (
ArucoPieceVisibilityDetector,
ABMExtractor,
AverageColorAndMovementPieceVisibilityDetector,
- AveragePieceTakenTrigger,
+ PieceTakenDetectionEdgesTrigger,
)
from .model import Board, PiecesObserver, Rect, Point
@@ -76,7 +76,7 @@ class MemoryAruco(Memory):
self.visibility_detector = visibility_detector
self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_4X4_250)
self.aruco_params = cv.aruco.DetectorParameters_create()
- self.average_trigger = AveragePieceTakenTrigger(self.piece_trigger, 5)
+ self.average_trigger = PieceTakenDetectionEdgesTrigger(self.piece_trigger, 10, 40)
self.frame_counter = 0
def process(self, img: np.ndarray) -> None:
@@ -118,7 +118,7 @@ class MemoryABM(Memory):
self.abm_extractor = abm_extractor
self.visibility_detector = visibility_detector
self.frame_counter = 0
- self.average_trigger = AveragePieceTakenTrigger(self.piece_trigger, 5)
+ self.average_trigger = PieceTakenDetectionEdgesTrigger(self.piece_trigger, 5)
self.last_board = None
def process(self, img: np.ndarray) -> None:
--
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