fix(goal-counting): Fix a false positive by defining goal grace perio…

…d in seconds of runtime not seconds in rendering

const.py

@@ -23,6 +23,7 @@
 GPU = "gpu"
 AUDIO = "audio"
 WEBHOOK = "webhook"
+SEEK = "seek"
 
 
 class CalibrationMode:

foosball/__init__.py

@@ -6,7 +6,7 @@
 
 from const import CALIBRATION_MODE, CALIBRATION_IMG_PATH, CALIBRATION_VIDEO, CALIBRATION_SAMPLE_SIZE, ARUCO_BOARD, \
     FILE, CAMERA_ID, FRAMERATE, OUTPUT, CAPTURE, DISPLAY, BALL, XPAD, YPAD, SCALE, VERBOSE, HEADLESS, OFF, \
-    MAX_PIPE_SIZE, INFO_VERBOSITY, GPU, AUDIO, WEBHOOK, BUFFER, BallPresets, CalibrationMode, GOAL_GRACE_PERIOD
+    MAX_PIPE_SIZE, INFO_VERBOSITY, GPU, AUDIO, WEBHOOK, BUFFER, BallPresets, CalibrationMode, GOAL_GRACE_PERIOD, SEEK
 from foosball.arUcos.calibration import print_aruco_board, calibrate_camera
 from foosball.tracking.ai import AI
 
@@ -67,6 +67,7 @@ def get_argparse():
                          help="use GPU")
     general.add_argument("-A", f"--{AUDIO}", action='store_true', help="Enable audio")
     general.add_argument("-W", f"--{WEBHOOK}", action='store_true', help="Enable webhook")
+    general.add_argument("-S", f"--{SEEK}", type=int, default=None, help="Seek to frame number")
 
     preprocess = ap.add_argument_group(title="Preprocessor", description="Options for the preprocessing step")
     preprocess.add_argument("-xp", f"--{XPAD}", type=int, default=50,
@@ -122,10 +123,10 @@ def main(kwargs):
         match kwargs.get(CAPTURE):
             case 'gear':
                 from .source.gear import GearSource
-                cap = GearSource(source, framerate=kwargs.get(FRAMERATE), resolution=(1280, 720))
+                cap = GearSource(source, framerate=kwargs.get(FRAMERATE), resolution=(1280, 720), seek_to_frame=kwargs.get(SEEK))
             case 'cv':
                 from .source.opencv import OpenCVSource
-                cap = OpenCVSource(source)
+                cap = OpenCVSource(source, seek_to_frame=kwargs.get(SEEK))
             case _:
                 return usage_and_exit()
         ai = AI(cap, dis, **kwargs)

foosball/source/__init__.py

@@ -10,14 +10,15 @@
 
 class Source(Thread):
 
-    def __init__(self, maxsize=128, skip_frames=True, timeout=2, *args, **kwargs):
+    def __init__(self, maxsize=128, skip_frames=True, timeout=2, seek_to_frame: int | None = None, *args, **kwargs):
         super().__init__(daemon=True, *args, **kwargs)
         # initialize the file video stream along with the boolean
         # used to indicate if the thread should be stopped or not
         self.timeout = timeout
         self.skip_frames = skip_frames
         self.skipped_frames = 0
         self.stopped = False
+        self.seek_to_frame = seek_to_frame
 
         # initialize the queue used to store frames read from
         # the video file
@@ -74,7 +75,10 @@ def run(self) -> None:
                 print("Could not grab")
                 self.stopped = True
                 frame = None
-            self.send_frame(frame)
+            if self.seek_to_frame is not None and self.seek_to_frame >= 0:
+                self.seek_to_frame -= 1
+            else:
+                self.send_frame(frame)
         print("Release")
         self.close_capture()
 

foosball/tracking/analyze.py

@@ -63,9 +63,8 @@ def process(self, msg: Msg) -> Msg:
         try:
             self.check_reset_score()
             now = dt.datetime.now()
-
+            # TODO: define goal grace period in seconds of runtime not seconds in rendering!
             no_track_sighting_in_grace_period = (now - self.last_track_sighting).total_seconds() >= self.goal_grace_period_sec if self.last_track_sighting is not None else None
-
             if not self.is_track_empty(track):
                 # track is not empty, so we save our state and remove a potential goal (which was wrongly tracked)
                 # case1: detected goals where not accurate => false positive
@@ -75,14 +74,12 @@ def process(self, msg: Msg) -> Msg:
             else:
                 # let's wait for track (s.a.), or we run out of grace period (down below)
                 # whatever happens first
-                if self.goal_candidate is not None:
-                    if self.last_track_sighting is not None and no_track_sighting_in_grace_period:
+                if self.goal_candidate is not None and self.last_track_sighting is not None and no_track_sighting_in_grace_period:
                         self.count_goal(self.goal_candidate)
                         self.goal_candidate = None
                 else:
                     # if track is empty, and we have no current goal candidate, check if there is one
                     self.goal_candidate = self.goal_shot(goals, track) if None not in [goals, track, self.last_track] else None
-
         except Exception as e:
             self.logger.error("Error in analyzer ", e)
             traceback.print_exc()