Changeset - 353129d558d3
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Laman - 6 years ago 2019-01-23 12:28:55

refactored pipeline into BoardDetector with separate methods
2 files changed with 127 insertions and 93 deletions:
exp/board_detect.py
123
90
exp/polar_hough.py
4
3
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exp/board_detect.py
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file renamed from exp/stone_detect.py to exp/board_detect.py
 
import sys
 

			




	
	
	
		
 
from polar_hough import PolarHough

			




	
	
	
		
 

			




	
	
	
		
 
sys.path.append("../src")

			




	
	
	
		
 

			




	
	
	
		
 
import os

			




	
	
	
		
 
import math

			




	
	
	
		
 
import random

			




	
	
	
		
 
import logging as log

			




	
	
	
		
 

			




	
	
	
		
 
import cv2 as cv

			




	
	
	
		
 
import numpy as np

			




	
	
		
 
@@ -15,19 +14,21 @@ import scipy.ndimage

			




	
	
	
		
 
import scipy.signal

			




	
	
	
		
 

			




	
	
	
		
 
from geometry import Line, point2lineDistance

			




	
	
	
		
 
from polar_hough import PolarHough

			




	
	
	
		
 
from annotations import DataFile,computeBoundingBox

			




	
	
	
		
 
from hough import show

			




	
	
	
		
 
from analyzer.epoint import EPoint

			




	
	
	
		
 

			




	
	
	
		
 
random.seed(361)

			




	
	
	
		
 
log.basicConfig(level=log.DEBUG,format="%(message)s")

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
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)

			




	
	
	
		
 
	print(colors)

			




	
	
	
		
 
	log.debug(colors)

			




	
	
	
		
 
	(centers,distortion)=scipy.cluster.vq.kmeans(arr,colors)

			




	
	
	
		
 
	print("k-means centers:",centers)

			




	
	
	
		
 
	log.debug("k-means centers: %s",centers)

			




	
	
	
		
 
	return centers

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
		
 
@@ -60,8 +61,8 @@ def filterStones(contours,bwImg,stoneDim

			




	
	
	
		
 
		if keep:

			




	
	
	
		
 
			res.append((EPoint(*center),c))

			




	
	
	
		
 
			cv.drawMarker(contourImg,tuple(map(int,center)),(255,0,0),cv.MARKER_CROSS)

			




	
	
	
		
 
	print("accepted:",len(res))

			




	
	
	
		
 
	print("rejected:",len(contours)-len(res))

			




	
	
	
		
 
	log.debug("accepted: %s",len(res))

			




	
	
	
		
 
	log.debug("rejected: %s",len(contours)-len(res))

			




	
	
	
		
 
	show(contourImg)

			




	
	
	
		
 
	return res

			




	
	
	
		
 

			




	
	
		
 
@@ -81,94 +82,126 @@ def groupLines(points,minCount,tolerance

			




	
	
	
		
 
				yield ab

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
if __name__=="__main__":

			




	
	
	
		
 
	filepath=sys.argv[1]

			




	
	
	
		
 
	annotations=DataFile(sys.argv[2])

			




	
	
	
		
 
	filename=os.path.basename(filepath)

			




	
	
	
		
 
	corners=annotations[filename][0]

			




	
	
	
		
 
	(x1,y1,x2,y2)=computeBoundingBox(corners)

			




	
	
	
		
 
	(w,h)=(x2-x1,y2-y1)

			




	
	
	
		
 
	img=cv.imread(filepath)

			




	
	
	
		
 
	(x3,x4,y3,y4)=(x1+w//4,x1+3*w//4,y1+h//4,y1+3*h//4)

			




	
	
	
		
 
	print("x3,x4,y3,y4:",x3,x4,y3,y4)

			




	
	
	
		
 
	rect=img[y3:y4,x3:x4,:]

			




	
	
	
		
 
	centers=kmeans(rect)

			




	
	
	
		
 
	print("x1,x2,y1,y2:",(x1,x2,y1,y2))

			




	
	
	
		
 
	img[y1:y2,x1:x2,:]=quantize(img[y1:y2,x1:x2,:],centers)

			




	
	
	
		
 
	print("image quantized")

			




	
	
	
		
 
class BoardDetector:

			




	
	
	
		
 
	def __init__(self,annotationsPath):

			




	
	
	
		
 
		self._annotations=DataFile(annotationsPath)

			




	
	
	
		
 

			




	
	
	
		
 
		self._rectW=0

			




	
	
	
		
 
		self._rectH=0

			




	
	
	
		
 

			




	
	
	
		
 
	def __call__(self,img,filename):

			




	
	
	
		
 
		# approximately detect the board

			




	
	
	
		
 
		(h,w)=img.shape[:2]

			




	
	
	
		
 
		log.debug("image dimensions: %s x %s",w,h)

			




	
	
	
		
 
		show(img,filename)

			




	
	
	
		
 
		(x1,y1,x2,y2)=self._detectRough(img,filename)

			




	
	
	
		
 
		rect=img[y1:y2,x1:x2]

			




	
	
	
		
 
		self._rectW=x2-x1

			




	
	
	
		
 
		self._rectH=y2-y1

			




	
	
	
		
 

			




	
	
	
		
 
		# quantize colors

			




	
	
	
		
 
		colors=self._sampleColors(rect)

			




	
	
	
		
 
		quantized=quantize(rect,colors)

			




	
	
	
		
 
		show(quantized,filename)

			




	
	
	
		
 

			




	
	
	
		
 
		# detect black and white stones

			




	
	
	
		
 
		stones=self._detectStones(quantized,colors)

			




	
	
	
		
 

			




	
	
	
		
 
		# detect lines passing through the stones

			




	
	
	
		
 
		lines=self._constructLines(stones)

			




	
	
	
		
 

			




	
	
	
		
 
	rect=img[y1:y2,x1:x2]

			




	
	
	
		
 
	unit=np.array([1,1,1],dtype=np.uint8)

			




	
	
	
		
 
	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=4)

			




	
	
	
		
 
	maskW=cv.inRange(rect,centers[1]-unit,centers[1]+unit)

			




	
	
	
		
 
	maskW=cv.erode(maskW,kernel,iterations=3)

			




	
	
	
		
 
		# detect vanishing points of the lines

			




	
	
	
		
 
		vanish=self._detectVanishingPoints(lines,EPoint(w//2-x1, h//2-y1))

			




	
	
	
		
 

			




	
	
	
		
 
		# rectify the image

			




	
	
	
		
 
		# determine precise board edges

			




	
	
	
		
 

			




	
	
	
		
 
	def _detectRough(self,img,filename):

			




	
	
	
		
 
		corners=self._annotations[filename][0]

			




	
	
	
		
 
		(x1,y1,x2,y2)=computeBoundingBox(corners)

			




	
	
	
		
 
		log.debug("bounding box: (%s,%s) - (%s,%s)",x1,y1,x2,y2)

			




	
	
	
		
 
		return (x1,y1,x2,y2)

			




	
	
	
		
 

			




	
	
	
		
 
	show(img,filename)

			




	
	
	
		
 
	show(maskB,filename)

			




	
	
	
		
 
	show(maskW,filename)

			




	
	
	
		
 
	stones=cv.bitwise_or(maskB,maskW)

			




	
	
	
		
 
	show(stones)

			




	
	
	
		
 

			




	
	
	
		
 
	stoneDims=(w/19,h/19)

			




	
	
	
		
 
	print("stone dims:",tuple(x/2 for x in stoneDims),"-",stoneDims)

			




	
	
	
		
 
	def _sampleColors(self,rect):

			




	
	
	
		
 
		(h,w)=rect.shape[:2]

			




	
	
	
		
 
		minirect=rect[h//4:3*h//4, w//4:3*w//4]

			




	
	
	
		
 
		return kmeans(minirect)

			




	
	
	
		
 

			




	
	
	
		
 
	(contours,hierarchy)=cv.findContours(stones,cv.RETR_LIST,cv.CHAIN_APPROX_SIMPLE)

			




	
	
	
		
 
	stoneLocs=filterStones(contours,stones,stoneDims)

			




	
	
	
		
 
	def _detectStones(self,quantized,colors):

			




	
	
	
		
 
		(h,w)=quantized.shape[:2]

			




	
	
	
		
 
		mask=self._maskStones(quantized,colors)

			




	
	
	
		
 
		stoneDims=(w/19,h/19)

			




	
	
	
		
 
		log.debug("stone dims: %s - %s",tuple(x/2 for x in stoneDims),stoneDims)

			




	
	
	
		
 

			




	
	
	
		
 
	linesImg=cv.cvtColor(np.zeros((h,w),np.uint8),cv.COLOR_GRAY2BGR)

			




	
	
	
		
 
	cv.drawContours(linesImg,[c for (point,c) in stoneLocs],-1,(255,255,255),-1)

			




	
	
	
		
 
	for (p,c) in stoneLocs:

			




	
	
	
		
 
		cv.drawMarker(linesImg,(int(p.x),int(p.y)),(255,0,0),cv.MARKER_CROSS)

			




	
	
	
		
 
	matsImg=np.copy(linesImg)

			




	
	
	
		
 
		(contours,hierarchy)=cv.findContours(mask,cv.RETR_LIST,cv.CHAIN_APPROX_SIMPLE)

			




	
	
	
		
 
		stoneLocs=filterStones(contours,mask,stoneDims)

			




	
	
	
		
 

			




	
	
	
		
 
		return stoneLocs

			




	
	
	
		
 

			




	
	
	
		
 
	lineDict=dict()

			




	
	
	
		
 
	minCount=min(max(math.sqrt(len(stoneLocs))-4,3),7)

			




	
	
	
		
 
	print("min count:",minCount)

			




	
	
	
		
 
	for line in groupLines([point for (point,contour) in stoneLocs],minCount,2):

			




	
	
	
		
 
		key=line.getSortedPoints()

			




	
	
	
		
 
		if key in lineDict: # we already have a line with the same incident points

			




	
	
	
		
 
			continue

			




	
	
	
		
 
		lineDict[line.getSortedPoints()]=line

			




	
	
	
		
 
		obsolete=set()

			




	
	
	
		
 
		for ab in lineDict.values():

			




	
	
	
		
 
			if ab is line: continue

			




	
	
	
		
 
			if line.points<ab.points: # == impossible

			




	
	
	
		
 
				del lineDict[key]

			




	
	
	
		
 
				break

			




	
	
	
		
 
			if ab.points<line.points:

			




	
	
	
		
 
				obsolete.add(ab.getSortedPoints())

			




	
	
	
		
 
		for key in obsolete: del lineDict[key]

			




	
	
	
		
 
	def _maskStones(self,quantized,colors):

			




	
	
	
		
 
		unit=np.array([1,1,1],dtype=np.uint8)

			




	
	
	
		
 
		kernel=np.ones((3,3),np.uint8)

			




	
	
	
		
 
		maskB=cv.inRange(quantized,colors[0]-unit,colors[0]+unit)

			




	
	
	
		
 
		maskB=cv.morphologyEx(maskB,cv.MORPH_OPEN,kernel,iterations=1)

			




	
	
	
		
 
		maskB=cv.erode(maskB,kernel,iterations=4)

			




	
	
	
		
 
		show(maskB)

			




	
	
	
		
 
		maskW=cv.inRange(quantized,colors[1]-unit,colors[1]+unit)

			




	
	
	
		
 
		maskW=cv.erode(maskW,kernel,iterations=3)

			




	
	
	
		
 
		show(maskW)

			




	
	
	
		
 
		stones=cv.bitwise_or(maskB,maskW)

			




	
	
	
		
 
		show(stones)

			




	
	
	
		
 
		return stones

			




	
	
	
		
 

			




	
	
	
		
 
	print("valid lines:",len(lineDict))

			




	
	
	
		
 
	lines=sorted(lineDict.values(), key=lambda ab: len(ab.points), reverse=True)

			




	
	
	
		
 
	res=[]

			




	
	
	
		
 
	for line in lines:

			




	
	
	
		
 
		v=line.b-line.a

			




	
	
	
		
 
		alpha=math.atan(v.y/v.x)

			




	
	
	
		
 
		res.append((round(math.pi/2-alpha if alpha>0 else math.pi/2+alpha,3),repr(line)))

			




	
	
	
		
 
		(xa,ya)=line.a

			




	
	
	
		
 
		(xb,yb)=line.b

			




	
	
	
		
 
		cv.line(linesImg,(int(xa),int(ya)),(int(xb),int(yb)),(255,255,0),1)

			




	
	
	
		
 
	res.sort()

			




	
	
	
		
 
	show(linesImg)

			




	
	
	
		
 
	def _constructLines(self,stoneLocs):

			




	
	
	
		
 
		lineDict=dict()

			




	
	
	
		
 
		minCount=min(max(math.sqrt(len(stoneLocs))-4,3),7)

			




	
	
	
		
 
		log.debug("min count: %s",minCount)

			




	
	
	
		
 
		for line in groupLines([point for (point,contour) in stoneLocs],minCount,2):

			




	
	
	
		
 
			key=line.getSortedPoints()

			




	
	
	
		
 
			if key in lineDict: # we already have a line with the same incident points

			




	
	
	
		
 
				continue

			




	
	
	
		
 
			lineDict[line.getSortedPoints()]=line

			




	
	
	
		
 
			obsolete=set()

			




	
	
	
		
 
			for ab in lineDict.values():

			




	
	
	
		
 
				if ab is line: continue

			




	
	
	
		
 
				if line.points<ab.points: # == impossible

			




	
	
	
		
 
					del lineDict[key]

			




	
	
	
		
 
					break

			




	
	
	
		
 
				if ab.points<line.points:

			




	
	
	
		
 
					obsolete.add(ab.getSortedPoints())

			




	
	
	
		
 
			for key in obsolete: del lineDict[key]

			




	
	
	
		
 
		log.debug("valid lines: %s",len(lineDict))

			




	
	
	
		
 
		lines=sorted(lineDict.values(), key=lambda ab: len(ab.points), reverse=True)

			




	
	
	
		
 

			




	
	
	
		
 
	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))

			




	
	
	
		
 
		# visualize

			




	
	
	
		
 
		linesImg=cv.cvtColor(np.zeros((self._rectH,self._rectW),np.uint8),cv.COLOR_GRAY2BGR)

			




	
	
	
		
 
		cv.drawContours(linesImg,[c for (point,c) in stoneLocs],-1,(255,255,255),-1)

			




	
	
	
		
 
		for (p,c) in stoneLocs:

			




	
	
	
		
 
			cv.drawMarker(linesImg,(int(p.x),int(p.y)),(255,0,0),cv.MARKER_CROSS)

			




	
	
	
		
 
		for line in lines:

			




	
	
	
		
 
			points=line.getSortedPoints()

			




	
	
	
		
 
			(xa,ya)=points[0]

			




	
	
	
		
 
			(xb,yb)=points[-1]

			




	
	
	
		
 
			cv.line(linesImg,(int(xa),int(ya)),(int(xb),int(yb)),(255,255,0),1)

			




	
	
	
		
 
		show(linesImg)

			




	
	
	
		
 

			




	
	
	
		
 
		return lines

			




	
	
	
		
 

			




	
	
	
		
 
	def _detectVanishingPoints(self,lines,imgCenter):

			




	
	
	
		
 
		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<=self._rectW and 0<=point.y<=self._rectH: continue

			




	
	
	
		
 
				log.debug("%s -> %s",point,point.toPolar(imgCenter))

			




	
	
	
		
 
				polarHough.put(point.toPolar(imgCenter))

			




	
	
	
		
 
		vanish=[EPoint.fromPolar(p,imgCenter) for p in polarHough.extract(2)]

			




	
	
	
		
 
		log.debug(vanish)

			




	
	
	
		
 
		return vanish

			




	
	
	
		
 

			




	
	
	
		
 
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/polar_hough.py
                

                

                  
                      
                        

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import itertools

			




	
	
	
		
 
import math

			




	
	
	
		
 
import logging as log

			




	
	
	
		
 

			




	
	
	
		
 
import numpy as np

			




	
	
	
		
 
import scipy.signal

			




	
	
		
 
@@ -32,11 +33,11 @@ class PolarHough:

			




	
	
	
		
 

			




	
	
	
		
 
	def _extractAngles(self,k):

			




	
	
	
		
 
		lens=np.array(list(map(len,self._acc)))

			




	
	
	
		
 
		print(lens)

			




	
	
	
		
 
		log.debug(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])

			




	
	
	
		
 
		log.debug("(angle, prominence): %s ... %s",res,[alpha/self._anglePrecision for (alpha,_) in res])

			




	
	
	
		
 
		return res

			




	
	
	
		
 

			




	
	
	
		
 
	def _mapAngles(self,angles):

			




	
	
		
 
@@ -53,5 +54,5 @@ class PolarHough:

			




	
	
	
		
 
			dist=min(dist,self._maxLength)

			




	
	
	
		
 
			acc[int(dist//self._lengthPrecision)]+=1

			




	
	
	
		
 
		res=acc.argmax()

			




	
	
	
		
 
		print("(length, count):",(res*self._lengthPrecision,acc[res]))

			




	
	
	
		
 
		log.debug("(length, count): %s",(res*self._lengthPrecision,acc[res]))

			




	
	
	
		
 
		return (res*self._lengthPrecision,acc[res])

			




        

    



    


    



    



      

      





    
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