Changeset - 40cc3b625eb2
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Laman - 6 years ago 2019-01-22 11:18:50

work on polar hough
2 files changed with 86 insertions and 90 deletions:
exp/stone_detect.py
78
90
src/analyzer/epoint.py
8
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exp/stone_detect.py
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import sys
 
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

			




	
	
	
		
 
from analyzer.epoint import EPoint,homogenize

			




	
	
	
		
 
from analyzer.grid import transformPoint

			




	
	
	
		
 

			




	
	
		
 
@@ -50,12 +52,68 @@ class Line():

			




	
	
	
		
 
		return Line(a,b)

			




	
	
	
		
 

			




	
	
	
		
 
	def __str__(self): return "({0},{1})".format(self.a,self.b)

			




	
	
	
		
 
	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)

			




	
	
	
		
 
	print(colors)

			




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

			




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

			




	
	
		
 
@@ -187,15 +245,15 @@ if __name__=="__main__":

			




	
	
	
		
 

			




	
	
	
		
 
	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=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)

			




	
	
	
		
 
	show(maskW,filename)

			




	
	
	
		
 
	stones=cv.bitwise_or(maskB,maskW)

			




	
	
	
		
 
	show(stones)

			




	
	
		
 
@@ -238,95 +296,25 @@ if __name__=="__main__":

			




	
	
	
		
 
		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()

			




	
	
	
		
 
	# 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))

			




        

    


    
    

    

        

                

                    src/analyzer/epoint.py
                

                

                  
                      
                        

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@@ -21,18 +21,26 @@ class EPoint:

			




	
	
	
		
 

			




	
	
	
		
 
	@staticmethod

			




	
	
	
		
 
	def fromProjective(point):

			




	
	
	
		
 
		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)

			




	
	
	
		
 

			




	
	
	
		
 
	def dist(self,a):

			




	
	
	
		
 
		return math.sqrt((self._x-a._x)**2+(self._y-a._y)**2)

			




	
	
	
		
 

			




        

    



    


    



    



      

      





    
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