Changeset - 184d592b02dd
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Laman - 6 years ago 2019-02-22 17:49:44

returning and visualizing detected lines
3 files changed with 42 insertions and 6 deletions:
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exp/board_detect.py
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@@ -13,7 +13,7 @@ import scipy.cluster
 
import scipy.ndimage
 
import scipy.signal
 

	
 
from polar_hough import PolarHough
 
from geometry import Line
 
from annotations import DataFile,computeBoundingBox
 
from hough import show,prepareEdgeImg,HoughTransform
 
from analyzer.epoint import EPoint
 
@@ -111,8 +111,13 @@ class BoardDetector:
 
			cv.circle(stonesImg,(int(point.x),int(point.y)),2,255,-1)
 
		# cv.drawContours(stonesImg,[c for (point,c) in stones],-1,255,-1)
 
		show(stonesImg,"detected stones")
 
		hough.update(stonesImg,5)
 
		hough.extract()
 
		hough.update(stonesImg,10)
 
		lines=hough.extract()
 

	
 
		linesImg=np.copy(rect)
 
		for line in lines:
 
			self._drawLine(linesImg,line)
 
		show(linesImg,"detected lines")
 

	
 
		# # detect vanishing points of the lines
 
		# imgCenter=EPoint(w//2-x1, h//2-y1)
 
@@ -222,6 +227,24 @@ class BoardDetector:
 

	
 
		return matrix
 

	
 
	def _drawLine(self,img,line):
 
		(h,w)=img.shape[:2]
 
		corners=[EPoint(0,0),EPoint(w,0),EPoint(0,h),EPoint(w,h)] # NW NE SW SE
 
		borders=[
 
			[Line.fromPoints(corners[0],corners[1]), Line.fromPoints(corners[2],corners[3])], # N S
 
			[Line.fromPoints(corners[0],corners[2]), Line.fromPoints(corners[1],corners[3])] # W E
 
		]
 

	
 
		(a,b)=(line.intersect(borders[0][0]), line.intersect(borders[0][1]))
 
		log.debug("%s %s",line,(a,b))
 
		if not a or not b:
 
			(a,b)=(line.intersect(borders[1][0]), line.intersect(borders[1][1]))
 
			log.debug("* %s %s",line,(a,b))
 
		if any(abs(x)>10**5 for x in [*a,*b]):
 
			log.debug("ignored")
 
			return
 
		cv.line(img,(int(a.x),int(a.y)),(int(b.x),int(b.y)),[0,255,0])
 

	
 

	
 
if __name__=="__main__":
 
	detector=BoardDetector(sys.argv[2])
exp/geometry.py
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@@ -13,7 +13,8 @@ class Line:
 
	@staticmethod
 
	def fromNormal(a,b,c):
 
		"""ax + by + c = 0"""
 
		norm=-c/abs(c)*math.sqrt(a**2+b**2)
 
		sign=-c/abs(c) if c!=0 else 1
 
		norm=sign*math.sqrt(a**2+b**2)
 
		(a_,b_,c_)=(a/norm,b/norm,c/norm)
 
		alpha=math.acos(a_) if b_>=0 else 2*math.pi-math.acos(a_)
 
		return Line(alpha,-c_)
exp/hough.py
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@@ -10,6 +10,8 @@ import scipy.optimize
 
import scipy.signal
 
import cv2 as cv
 

	
 
from geometry import EPoint,Line
 

	
 
DEBUG=True
 

	
 

	
 
@@ -45,15 +47,25 @@ class HoughTransform:
 
	def extract(self):
 
		img=self._createImg()
 
		self.show(img)
 
		(ab,cd)=self._detectLines()
 
		lines=self._detectLines()
 
		res=[]
 
		i=0
 
		for (score,alpha,beta,peaks) in (ab,cd):
 
		for (score,alpha,beta,peaks) in lines:
 
			log.debug("score: %s",score)
 
			log.debug("alpha, beta: %s, %s",alpha,beta)
 
			self._drawLine(img,alpha,beta,peaks,i)
 

	
 
			keys=self._readLineKeys(alpha,beta)
 
			for k in peaks:
 
				(alphaDeg,d)=keys[k]
 
				alphaRad=alphaDeg*math.pi/180
 
				baseLine=Line(alphaRad,0)
 
				dd=baseLine.distanceTo(EPoint(*self._center)) # to shift d from the center to 0,0
 
				res.append(Line(alphaRad, dd+d-self._diagLen//2))
 
			i+=1
 

	
 
		self.show(img)
 
		return res
 

	
 
	def update(self,img,weight=1):
 
		start=datetime.now().timestamp()
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