Initial commit

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml

.idea/Project.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/.venv" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

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+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.11 (Project)" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (Project)" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Project.iml" filepath="$PROJECT_DIR$/.idea/Project.iml" />
+    </modules>
+  </component>
+</project>

LICENSE

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+MIT License
+
+Copyright (c) 2024 Mann Patel
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# Project
+ RoboCup SSL

main.py

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+import cv2
+import numpy as np
+from scipy.spatial import distance as dist, distance
+import copy
+
+
+# Initialize empty lists for robots and ID markings
+robotList = []
+robotMarks = []
+
+
+
+class Robot:
+    def __init__(self, pos=None, team='-no team!-', ID='-no ID!-'):
+        # Initialize with default empty list if pos is not provided
+        self.pos = pos if pos is not None else []
+        self.team = team
+        self.ID = ID
+        self.circles = [] # ID markings [x, y, color]
+
+    def add_marking(self, circle=None):
+        # Initialize with default circle if none is provided
+        if circle is None:
+            circle = [0, 0, [0, 0, 0]]
+        self.circles.append(circle)
+
+class Ball:
+    def __init__(self, pos=None):
+        # Initialize with default empty list if pos is not provided
+        self.pos = pos if pos is not None else []
+
+# Initialize the ball with default position
+ball = Ball()
+
+def Color_Detection(blue, green, red):
+    if blue > 220 and green < 50 and red < 50:
+        return 'Blue'
+    if blue < 50 and green > 200 and red > 200:
+        return 'Yellow'
+    if blue > 200 and green < 50 and red > 200:
+        return 'Purple'
+    if blue < 50 and green > 220 and red < 50:
+        return 'Green'
+    if blue < 50 and green < 200 and red > 220:
+        return 'Orange'
+    return 'Unidentified'
+
+
+def IdentifyCircles(img, circle):
+    global ball
+
+    x, y = int(circle[0]), int(circle[1])
+    blue, green, red = img[y, x, 0], img[y, x, 1], img[y, x, 2]
+    color = Color_Detection(blue, green, red)
+
+    if color == 'Blue' or color == 'Yellow':
+        robotList.append(Robot([x, y], color))
+    elif color == 'Green' or color == 'Purple':
+        robotMarks.append([x, y, color])
+        print('ROBOT FOUND')
+    elif color == 'Orange':
+        ball = Ball([x, y])
+
+
+def assignIDmarks():
+    if robotList is not None:
+        for idx, robot in enumerate(robotList):
+            distances = []
+
+            for i, mark in enumerate(robotMarks):
+                mark_dist = distance.euclidean(mark[:2], robot.pos)
+                distances.append((i, mark_dist))
+            distances.sort(key=lambda x: x[1])
+            closest_marks_indices = [i for i, _ in distances[:4]]
+            robot.circles = [robotMarks[i] for i in closest_marks_indices]
+            robot.ID = idx + 1
+
+
+def detect_circles(image):
+    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+    blurred = cv2.GaussianBlur(gray, (9, 9), 0)
+    circles = cv2.HoughCircles(blurred, cv2.HOUGH_GRADIENT, 1, minDist=20, param1=50, param2=14, minRadius=15, maxRadius=25)
+    return circles
+
+def annotate_image(img):
+    for robot in robotList:
+        team_color = "B" if robot.team == 'Blue' else "Y"
+        cv2.putText(img, f'{team_color}', (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+        cv2.putText(img, f'ID{robot.ID}', (robot.pos[0] + 20, robot.pos[1] - 20), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+        cv2.putText(img, f'{robot.pos}', (robot.pos[0] + 20, robot.pos[1]), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+        # Assuming orientation and other details are part of robot attributes
+
+    if ball:
+        cv2.putText(img, f'Ball {ball.pos}', (ball.pos[0] + 20, ball.pos[1] + 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
+
+# Main function
+def main():
+    global robotList, robotMarks, ball
+
+    # Initialize globals
+    robotList = []
+    robotMarks = []
+    ball = None
+
+    # Load and process the image
+    imgpath = "/Users/mannpatel/Desktop/Project/Template.jpg"
+    img = cv2.imread(imgpath)
+    cv2.imshow("Original Image", img)
+
+    # Detect circles in the image
+    circles = detect_circles(img)
+
+    if circles is not None:
+        circles = np.uint16(np.around(circles))
+        for circle in circles[0, :]:
+            IdentifyCircles(img, circle)
+            cv2.circle(img, (circle[0], circle[1]), circle[2], (0, 255, 0), 2)
+            cv2.circle(img, (circle[0], circle[1]), 2, (0, 0, 255), 3)
+
+        assignIDmarks()
+
+        for robot in robotList:
+            print(f'There is a {robot.team} robot with these ID circles:')
+            for mark in robot.circles:
+                print(mark)
+
+        if ball:
+            print(f'Ball found at {ball.pos}')
+
+        for robot in robotList:
+            cv2.circle(img, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
+            for mark in robot.circles:
+                cv2.circle(img, (mark[0], mark[1]), 10, (0, 0, 0), 5)
+
+    else:
+        print("No circles detected")
+
+    annotate_image(img)
+    cv2.imshow("Annotated Image", img)
+    cv2.waitKey(0)
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

main1.py

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+import cv2
+import numpy as np
+from scipy.spatial import distance as dist
+
+# Initialize empty lists for robots and ID markings
+robotList = []
+robotMarks = []
+
+class Robot:
+    def __init__(self, pos=None, team='-no team!-', ID='-no ID!-'):
+        self.pos = pos if pos is not None else []
+        self.team = team
+        self.ID = ID
+        self.circles = [] # ID markings [x, y, color]
+
+    def add_marking(self, circle=None):
+        if circle is None:
+            circle = [0, 0, [0, 0, 0]]
+        self.circles.append(circle)
+
+class Ball:
+    def __init__(self, pos=None):
+        self.pos = pos if pos is not None else []
+
+# Initialize the ball with default position
+ball = Ball()
+
+def Color_Detection(blue, green, red):
+    if blue > 220 and green < 50 and red < 50:
+        return 'Blue'
+    if blue < 50 and green > 200 and red > 200:
+        return 'Yellow'
+    if blue > 200 and green < 50 and red > 200:
+        return 'Purple'
+    if blue < 50 and green > 220 and red < 50:
+        return 'Green'
+    if blue < 50 and green < 200 and red > 220:
+        return 'Orange'
+    return 'Unidentified'
+
+def IdentifyCircles(img, circle):
+    global ball
+
+    x, y = int(circle[0]), int(circle[1])
+    blue, green, red = img[y, x, 0], img[y, x, 1], img[y, x, 2]
+    color = Color_Detection(blue, green, red)
+
+    if color == 'Blue' or color == 'Yellow':
+        robotList.append(Robot([x, y], color))
+    elif color == 'Green' or color == 'Purple':
+        robotMarks.append([x, y, color])
+        print('ROBOT FOUND')
+    elif color == 'Orange':
+        ball = Ball([x, y])
+
+def assignIDmarks():
+    if robotList is not None:
+        for idx, robot in enumerate(robotList):
+            distances = []
+
+            for i, mark in enumerate(robotMarks):
+                mark_dist = dist.euclidean(mark[:2], robot.pos)
+                distances.append((i, mark_dist))
+            distances.sort(key=lambda x: x[1])
+            closest_marks_indices = [i for i, _ in distances[:4]]
+            robot.circles = [robotMarks[i] for i in closest_marks_indices]
+            robot.ID = idx + 1
+
+def detect_circles(image):
+    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+    blurred = cv2.GaussianBlur(gray, (9, 9), 0)
+    circles = cv2.HoughCircles(blurred, cv2.HOUGH_GRADIENT, 1, minDist=20, param1=50, param2=14, minRadius=15, maxRadius=50)
+    return circles
+
+def annotate_image(img):
+    for robot in robotList:
+        team_color = "B" if robot.team == 'Blue' else "Y"
+        cv2.putText(img, f'{team_color}', (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+        cv2.putText(img, f'ID{robot.ID}', (robot.pos[0] + 20, robot.pos[1] - 20), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+        cv2.putText(img, f'{robot.pos}', (robot.pos[0] + 20, robot.pos[1]), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
+
+    if ball:
+        cv2.putText(img, f'Ball {ball.pos}', (ball.pos[0] + 20, ball.pos[1] + 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
+
+# Main function
+def main():
+    global robotList, robotMarks, ball
+
+    # Initialize globals
+    robotList = []
+    robotMarks = []
+    ball = None
+
+    # Load and process the video
+    video_path = "/Test2.mp4"
+    cap = cv2.VideoCapture(video_path)
+
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+
+        # Reset robot and mark lists for each frame
+        robotList = []
+        robotMarks = []
+
+        # Detect circles in the frame
+        circles = detect_circles(frame)
+
+        if circles is not None:
+            circles = np.uint16(np.around(circles))
+            for circle in circles[0, :]:
+                IdentifyCircles(frame, circle)
+                cv2.circle(frame, (circle[0], circle[1]), circle[2], (0, 255, 0), 2)
+                cv2.circle(frame, (circle[0], circle[1]), 2, (0, 0, 255), 3)
+
+            assignIDmarks()
+
+            for robot in robotList:
+                print(f'There is a {robot.team} robot with these ID circles:')
+                for mark in robot.circles:
+                    print(mark)
+
+            if ball:
+                print(f'Ball found at {ball.pos}')
+
+            for robot in robotList:
+                cv2.circle(frame, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
+                for mark in robot.circles:
+                    cv2.circle(frame, (mark[0], mark[1]), 10, (0, 0, 0), 5)
+
+        else:
+            print("No circles detected")
+
+        annotate_image(frame)
+        cv2.imshow("Annotated Video", frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()