OneEye Changeset - 184d592b02dd

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:

exp/board_detect.py

exp/geometry.py

exp/hough.py

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exp/board_detect.py

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@@ @@ -4,25 +4,25 @@ sys.path.append("../src") @@
 import os
 import math
 import random
 import logging as log
 import cv2 as cv
 import numpy as np
 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
 from analyzer.corners import Corners
 random.seed(361)
 log.basicConfig(level=log.DEBUG,format="%(message)s")
 def kmeans(img):
 	arr=np.reshape(img,(-1,3)).astype(np.float)
 	wood=[193,165,116]
@@ @@ -102,26 +102,31 @@ class BoardDetector: @@
 		# detect black and white stones
 		stones=self._detectStones(quantized,black,white)
 		# detect lines from edges and stones
 		edgeImg=prepareEdgeImg(rect)
 		hough=HoughTransform(edgeImg)
 		stonesImg=np.zeros((self._rectH,self._rectW),np.uint8)
 		for (point,c) in stones:
 			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)
 		# (a,b,c,d)=(p-EPoint(x1,y1) for p in self._annotations[filename][0])
 		# (p,q,r,s)=(Line(a,b),Line(b,c),Line(c,d),Line(d,a))
 		# v1=p.intersect(r)
 		# v2=q.intersect(s)
 		# log.debug("true vanishing points: %s ~ %s, %s ~ %s",v1,v1.toPolar(imgCenter),v2,v2.toPolar(imgCenter))
 		# vanish=self._detectVanishingPoints(lines,imgCenter,(v1.toPolar(imgCenter),v2.toPolar(imgCenter)))
+		#
 		# # rectify the image
 		# matrix=self._computeTransformationMatrix(vanish,lines)
@@ @@ -213,19 +218,37 @@ class BoardDetector: @@
 		matrix=cv.getPerspectiveTransform(np.float32(abcd),np.float32(abcd_))
 		log.debug("transformation matrix: %s",matrix)
 		rect=np.copy(self._rect)
 		for point in (a,b,c,d):
 			cv.drawMarker(rect,(int(point.x),int(point.y)),(0,255,255),cv.MARKER_TILTED_CROSS)
 		show(rect)
 		transformed=cv.warpPerspective(rect,matrix,(self._rectW,self._rectH))
 		show(transformed)
 		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])
 	filepath=sys.argv[1]
 	filename=os.path.basename(filepath)
 	img=cv.imread(filepath)
 	detector(img,filename)

exp/geometry.py

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@@ @@ -4,25 +4,26 @@ from analyzer.epoint import EPoint @@
 class Line:
 	def __init__(self,alpha,d):
 		self._alpha=alpha
 		self._d=d
 		self._sin=math.sin(alpha)
 		self._cos=math.cos(alpha)
 	@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_)
 	@staticmethod
 	def fromPoints(a,b):
 		return Line.fromNormal(a.y-b.y, b.x-a.x, (b.y-a.y)*a.x+(a.x-b.x)*a.y)
 	def toNormal(self):
 		# https://en.wikipedia.org/wiki/Line_(mathematics)#In_normal_form
 		"""ax + by + c = 0"""
 		return (self._cos, self._sin, -self._d)

exp/hough.py

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 import sys
 sys.path.append("../src")
 import math
 from datetime import datetime
 import logging as log
 import numpy as np
 import scipy.optimize
 import scipy.signal
 import cv2 as cv
 from geometry import EPoint,Line
 DEBUG=True
 class LineBag:
 	def __init__(self):
 		self._lines=[]
 	def put(self,score,alpha,beta,peaks):
 		self._lines.append((score,alpha,beta,peaks))
 	def pull(self,count):
 		self._lines.sort(reverse=True)
@@ @@ -36,33 +38,43 @@ class HoughTransform: @@
 		self._angleBandwidth=30 # degrees
 		(h,w)=img.shape[:2]
 		self._diagLen=int(np.sqrt(h**2+w**2))+1
 		self._center=(w//2,h//2)
 		self._acc=np.zeros((180,self._diagLen),dtype=np.int32)
 		self.update(img)
 	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()
 		for (r,row) in enumerate(img):
 			for (c,pix) in enumerate(row):
 				if pix==0: continue
 				for alphaDeg in range(0,180):
 					d=self._computeDist(c,r,alphaDeg)+self._diagLen//2
 					self._acc[(alphaDeg,d)]+=weight
 		log.debug("Hough updated in %s s",round(datetime.now().timestamp()-start,3))
 	def _computeDist(self,x,y,alphaDeg):

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