BallTracker.py 文件源码

def _smooth_ball_mask(self, mask):
        """
        The mask created inDetectBallPosition might be noisy.
        :param mask: The mask to smooth (Image with bit depth 1)
        :return: The smoothed mask
        """
        # create the disk-shaped kernel for the following image processing,
        r = 3
        kernel = np.ones((2*r, 2*r), np.uint8)
        for x in range(0, 2*r):
            for y in range(0, 2*r):
                if(x - r + 0.5)**2 + (y - r + 0.5)**2 > r**2:
                    kernel[x, y] = 0

        # remove noise
        # see http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_morphological_ops/py_morphological_ops.html
        mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
        mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)

        return mask