# HG changeset patch
# User Laman
# Date 2019-01-22 11:18:50
# Node ID 40cc3b625eb2d6e3d2a44eda7fdb5cdb5d9844ea
# Parent 12717eacf401036ae09046584698ab457ed7f35d
work on polar hough
diff --git a/exp/stone_detect.py b/exp/stone_detect.py
--- a/exp/stone_detect.py
+++ b/exp/stone_detect.py
@@ -4,11 +4,13 @@ sys.path.append("../src")
import os
import math
import random
+import itertools
import cv2 as cv
import numpy as np
import scipy.cluster
import scipy.ndimage
+import scipy.signal
from annotations import DataFile,computeBoundingBox
from hough import show
@@ -53,6 +55,62 @@ class Line():
def __repr__(self): return "Line({0},{1})".format(repr(self.a),repr(self.b))
+class PolarHough:
+ # http://www.cis.pku.edu.cn/vision/vpdetection/LiPYZ10isvc.pdf
+ def __init__(self,anglePrecision,lengthPrecision):
+ self._anglePrecision=anglePrecision
+ self._lengthPrecision=lengthPrecision
+ self._maxLength=4096
+ n=math.ceil(2*math.pi/anglePrecision)
+ self._acc=[[] for i in range(n)]
+
+ def put(self,item):
+ k=int(item[0]//self._anglePrecision)
+ self._acc[k].append(item)
+
+ def extract(self,count):
+ vanishingPoints=[]
+ angles=self._extractAngles(count)
+ angles=[alpha for (alpha,prominence) in angles]
+ bins=self._mapAngles(angles)
+ for (alpha,bin) in zip(angles,bins):
+ (length,sampleCount)=self._extractLength([dist for (beta,dist) in bin])
+ vanishingPoints.append((alpha,length))
+ return vanishingPoints
+
+ def _extractAngles(self,k):
+ lens=np.array(list(map(len,self._acc)))
+ print(lens)
+ (peakKeys,info)=scipy.signal.find_peaks(lens,prominence=0)
+ res=sorted(zip(info["prominences"],peakKeys),reverse=True)[:k]
+ res=[(key*self._anglePrecision,prominence) for (prominence,key) in res]
+ print("(angle, prominence):",res,"...",[alpha/self._anglePrecision for (alpha,_) in res])
+ return res
+
+ def _mapAngles(self,angles):
+ res=[[] for alpha in angles]
+ for (i,bin) in enumerate(self._acc):
+ beta=i*self._anglePrecision
+ key=min(zip(map(lambda alpha: angleDiff(alpha,beta), angles), itertools.count()))[1]
+ res[key].extend(bin)
+ return res
+
+ def _extractLength(self,arr):
+ acc=np.zeros(self._maxLength+1,dtype=np.int32)
+ for dist in arr:
+ dist=min(dist,self._maxLength)
+ acc[int(dist//self._lengthPrecision)]+=1
+ res=acc.argmax()
+ print("(length, count):",(res*self._lengthPrecision,acc[res]))
+ return (res*self._lengthPrecision,acc[res])
+
+
+def angleDiff(alpha,beta):
+ diff=abs(alpha-beta)
+ if diff>math.pi: diff=2*math.pi-diff
+ return diff
+
+
def kmeans(img):
arr=np.reshape(img,(-1,3)).astype(np.float)
colors=np.array([[0,0,0],[255,255,255],[193,165,116]],np.float)
@@ -190,9 +248,9 @@ if __name__=="__main__":
kernel=np.ones((3,3),np.uint8)
maskB=cv.inRange(rect,centers[0]-unit,centers[0]+unit)
maskB=cv.morphologyEx(maskB,cv.MORPH_OPEN,kernel,iterations=1)
- maskB=cv.erode(maskB,kernel,iterations=2)
+ maskB=cv.erode(maskB,kernel,iterations=4)
maskW=cv.inRange(rect,centers[1]-unit,centers[1]+unit)
- maskW=cv.erode(maskW,kernel,iterations=2)
+ maskW=cv.erode(maskW,kernel,iterations=3)
show(img,filename)
show(maskB,filename)
@@ -241,92 +299,22 @@ if __name__=="__main__":
(xb,yb)=line.b
cv.line(linesImg,(int(xa),int(ya)),(int(xb),int(yb)),(255,255,0),1)
res.sort()
- # for row in res: print(row)
- # linePack=[
- # Line(EPoint(174.457,166.127),EPoint(174.96,27.253)),
- # Line(EPoint(191.333,38.075),EPoint(191.485,71.227)),
- # Line(EPoint(210.117,167.092),EPoint(205.0,50.0)),
- # Line(EPoint(127.7,25.6),EPoint(120.172,179.405)),
- # Line(EPoint(127.809,58.481),EPoint(124.324,127.427)),
- # Line(EPoint(85.964,191.64),EPoint(97.68,14.477)),
- # Line(EPoint(56.447,124.662),EPoint(54.889,137.918))
- # ]
- # linePack=[
- # Line(EPoint(56.447,124.662),EPoint(139.695,128.104)),
- # Line(EPoint(288.267,74.433),EPoint(191.485,71.227)),
- # Line(EPoint(252.926,29.71),EPoint(174.96,27.253)),
- # Line(EPoint(274.412,120.07),EPoint(41.065,112.759)),
- # Line(EPoint(289.674,108.019),EPoint(26.17,100.538)),
- # Line(EPoint(240.702,107.818),EPoint(41.065,112.759)),
- # Line(EPoint(174.457,166.127),EPoint(88.192,164.5))
- # ]
- # for (i,p) in enumerate(linePack):
- # for q in linePack[i+1:]:
- # print(p.intersect(q))
- # show(linesImg)
-
- # parallels=[]
- # for (i,ab) in enumerate(lines):
- # for cd in lines[i+1:]:
- # if ab.computeAngle(cd)>math.pi/4:
- # continue
- # parallels.append((ab,cd))
- # print("parallel lines candidate pairs:",len(parallels))
-
- # parallels=list(groupParallels(lines,50,w))
- # print("parallel triples:",len(parallels))
- # for (p,q,r) in parallels:
- # print(p,q,r)
- # print(p.intersect(q))
- # print(p.intersect(r))
- # print(q.intersect(r))
- # print()
- # matsImg_=np.copy(matsImg)
- # for pi in (p,q,r):
- # cv.line(matsImg_,(int(pi.a.x),int(pi.a.y)),(int(pi.b.x),int(pi.b.y)),(0,255,255),1)
- # show(matsImg_)
+ show(linesImg)
- # p=Line(corners[0],corners[1])
- # q=Line(corners[2],corners[3])
- # r=Line(corners[1],corners[2])
- # s=Line(corners[3],corners[0])
- #
- # matrix=computeRectiMatrix(p,q,r,s)
- # print(matrix)
- # for (point,contour) in stoneLocs:
- # point_=EPoint.fromProjective(transformPoint(point.toProjective(),matrix))
- # # print(point,"->",point_)
- # cv.line(matsImg,(int(point.x),int(point.y)),(int(point_.x),int(point_.y)),(0,255,255),1)
- # points1=np.float32([[p.x-x1,p.y-y1] for p in corners])
- # points2=np.float32([[0,0],[0,400],[400,400],[400,0]])
- # print(points1)
- # print(points2)
- # mat=cv.getPerspectiveTransform(points1,points2)
- # print(mat)
- # show(rect)
- # warped=cv.warpPerspective(rect,matrix,(400,400))
- # show(warped)
-
- # mats=[]
- # for (i,(p,q)) in enumerate(parallels):
- # for (r,s) in parallels[i+1:]:
- # if p is r or p is s or q is r or q is s:
- # continue
- # matrix=computeRectiMatrix(p,q,r,s)
- # score=scoreMatrix(matrix,p,r,lines)
- # mats.append((score,p,q,r,s,matrix))
- # mats.sort(key=lambda x: x[0])
- # for (score,p,q,r,s,matrix) in mats[:4]:
- # print(score,p,q,r,s,matrix)
- # matsImg_=np.copy(matsImg)
- # for ab in (p,q,r,s):
- # ((xa,ya),(xb,yb))=(ab.a,ab.b)
- # cv.line(matsImg_,(int(xa),int(ya)),(int(xb),int(yb)),(255,255,0),1)
- # show(matsImg_)
- # for (score,p,q,r,s,matrix) in mats[-4:]:
- # print(score,p,q,r,s,matrix)
- # matsImg_=np.copy(matsImg)
- # for ab in (p,q,r,s):
- # ((xa,ya),(xb,yb))=(ab.a,ab.b)
- # cv.line(matsImg_,(int(xa),int(ya)),(int(xb),int(yb)),(0,0,255),1)
- # show(matsImg_)
+ imgSize=img.shape[:2]
+ print("image size:",imgSize)
+ imgCenter=EPoint(imgSize[1]/2,imgSize[0]/2)-EPoint(x1,y1)
+ polarHough=PolarHough(math.pi/180,10)
+ for (i,ab) in enumerate(lines):
+ for cd in lines[i+1:]:
+ point=ab.intersect(cd)
+ if 0<=point.x<=w and 0<=point.y<=h: continue
+ print(point,"->",point.toPolar(imgCenter))
+ polarHough.put(point.toPolar(imgCenter))
+ vanish=[EPoint.fromPolar(p,imgCenter) for p in polarHough.extract(2)]
+ print(vanish)
+ (a,b,c,d)=corners
+ (p,q,r,s)=(Line(a,b),Line(b,c),Line(c,d),Line(d,a))
+ v1=p.intersect(r)
+ v2=q.intersect(s)
+ print("true vanishing points:",v1,"~",v1.toPolar(imgCenter),"and",v2,"~",v2.toPolar(imgCenter))
diff --git a/src/analyzer/epoint.py b/src/analyzer/epoint.py
--- a/src/analyzer/epoint.py
+++ b/src/analyzer/epoint.py
@@ -24,12 +24,20 @@ class EPoint:
if point.item(0)==0: return None
return EPoint(point.item(1)/point.item(0),point.item(2)/point.item(0))
+ @staticmethod
+ def fromPolar(point,center):
+ (alpha,length)=point
+ x=math.cos(alpha)
+ y=math.sin(alpha)
+ return length*EPoint(x,y)+center
+
def toProjective(self):
return (1,self._x,self._y)
def toPolar(self,center):
v=self-center
alpha=math.atan2(v.y,v.x)
+ if alpha<0: alpha+=2*math.pi
k=self.dist(center)
return (alpha,k)