Changeset - 90d22d070710
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Laman - 6 years ago 2019-01-14 17:04:05

refactored line reconstruction
2 files changed with 37 insertions and 22 deletions:
exp/stone_detect.py
27
22
src/analyzer/epoint.py
10
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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 cv2 as cv

			




	
	
	
		
 
import numpy as np

			




	
	
	
		
 
import scipy.cluster

			




	
	
	
		
 
import scipy.ndimage

			




	
	
	
		
 

			




	
	
	
		
 
from annotations import DataFile,computeBoundingBox

			




	
	
	
		
 
from hough import show

			




	
	
	
		
 
from analyzer.epoint import EPoint

			




	
	
	
		
 

			




	
	
	
		
 
random.seed(361)

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
class NeighboringPoint(EPoint):

			




	
	
	
		
 
	def __init__(self,x,y):

			




	
	
	
		
 
		super().__init__(x,y)

			




	
	
	
		
 
		self.neighbours=[]

			




	
	
	
		
 
class Line():

			




	
	
	
		
 
	def __init__(self,a,b):

			




	
	
	
		
 
		self.a=a

			




	
	
	
		
 
		self.b=b

			




	
	
	
		
 
		self.points={a,b}

			




	
	
	
		
 

			




	
	
	
		
 
	def getSortedPoints(self):

			




	
	
	
		
 
		return tuple(sorted(self.points))

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
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)

			




	
	
	
		
 
	return centers

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
def quantize(img,centers):

			




	
	
	
		
 
	origShape=img.shape

			




	
	
	
		
 
	data=np.reshape(img,(-1,3))

			




	
	
	
		
 
	(keys,dists)=scipy.cluster.vq.vq(data,centers)

			




	
	
	
		
 
	pixels=np.array([centers[k] for k in keys],dtype=np.uint8).reshape(origShape)

			




	
	
	
		
 
	return pixels

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
def filterStones(contours,bwImg,stoneDims):

			




	
	
	
		
 
	contourImg=cv.cvtColor(bwImg,cv.COLOR_GRAY2BGR)

			




	
	
	
		
 
	res=[]

			




	
	
	
		
 
	for (i,c) in enumerate(contours):

			




	
	
	
		
 
		keep=True

			




	
	
		
 
@@ -60,97 +64,98 @@ def filterStones(contours,bwImg,stoneDim

			




	
	
	
		
 
			keep=False

			




	
	
	
		
 
		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))

			




	
	
	
		
 
	show(contourImg)

			




	
	
	
		
 
	return res

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
def point2lineDistance(a,b,p):

			




	
	
	
		
 
	# https://en.wikipedia.org/wiki/Point-line_distance#Line_defined_by_two_points

			




	
	
	
		
 
	ab=b-a

			




	
	
	
		
 
	num=abs(ab.y*p.x - ab.x*p.y + b.x*a.y - a.x*b.y)

			




	
	
	
		
 
	denum=math.sqrt(ab.y**2+ab.x**2)

			




	
	
	
		
 
	return num/denum # double_area / side_length == height

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
def groupLines(points,minCount,tolerance):

			




	
	
	
		
 
	random.shuffle(points)

			




	
	
	
		
 
	sample=points[:57]

			




	
	
	
		
 
	for (i,a) in enumerate(sample):

			




	
	
	
		
 
		for (j,b) in enumerate(sample):

			




	
	
	
		
 
			if j<=i: continue

			




	
	
	
		
 
			incidentPoints=[a,b]

			




	
	
	
		
 
			ab=Line(a,b)

			




	
	
	
		
 
			for c in points:

			




	
	
	
		
 
				if c is a or c is b: continue

			




	
	
	
		
 
				if point2lineDistance(a,b,c)<=tolerance:

			




	
	
	
		
 
					incidentPoints.append(c)

			




	
	
	
		
 
			if len(incidentPoints)>=minCount:

			




	
	
	
		
 
				yield incidentPoints

			




	
	
	
		
 
					ab.points.add(c)

			




	
	
	
		
 
			if len(ab.points)>=minCount:

			




	
	
	
		
 
				yield ab

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
if __name__=="__main__":

			




	
	
	
		
 
	filepath=sys.argv[1]

			




	
	
	
		
 
	annotations=DataFile(sys.argv[2])

			




	
	
	
		
 
	filename=os.path.basename(filepath)

			




	
	
	
		
 
	(x1,y1,x2,y2)=computeBoundingBox(annotations[filename][0])

			




	
	
	
		
 
	(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")

			




	
	
	
		
 

			




	
	
	
		
 
	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)

			




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

			




	
	
	
		
 
	maskW=cv.erode(maskW,kernel,iterations=2)

			




	
	
	
		
 

			




	
	
	
		
 
	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)

			




	
	
	
		
 

			




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

			




	
	
	
		
 
	stoneLocs=filterStones(contours,stones,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)

			




	
	
	
		
 

			




	
	
	
		
 
	lineSet=set()

			




	
	
	
		
 
	lineDict=dict()

			




	
	
	
		
 
	minCount=min(max(math.sqrt(len(stoneLocs))-2,3),7)

			




	
	
	
		
 
	print("min count:",minCount)

			




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

			




	
	
	
		
 
		points=tuple(sorted(tuple(p) for p in points))

			




	
	
	
		
 
		lineSet.add(points)

			




	
	
	
		
 
	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()

			




	
	
	
		
 
		pointSet=set(points)

			




	
	
	
		
 
		for line in lineSet:

			




	
	
	
		
 
			lineS=set(line)

			




	
	
	
		
 
			if points is line: continue

			




	
	
	
		
 
			if pointSet<lineS:

			




	
	
	
		
 
				lineSet.remove(points)

			




	
	
	
		
 
		for ab in lineDict.values():

			




	
	
	
		
 
			if ab is line: continue

			




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

			




	
	
	
		
 
				del lineDict[line.getSortedPoints()]

			




	
	
	
		
 
				break

			




	
	
	
		
 
			if lineS<pointSet:

			




	
	
	
		
 
				obsolete.add(line)

			




	
	
	
		
 
		lineSet-=obsolete

			




	
	
	
		
 
	for line in sorted(lineSet,key=len,reverse=True)[:16]:

			




	
	
	
		
 
			if ab.points<line.points:

			




	
	
	
		
 
				obsolete.add(ab.getSortedPoints())

			




	
	
	
		
 
		for key in obsolete: del lineDict[key]

			




	
	
	
		
 

			




	
	
	
		
 
	for line in sorted(lineDict, key=len, reverse=True)[:16]:

			




	
	
	
		
 
		print(len(line),line)

			




	
	
	
		
 
		(xa,ya)=line[0]

			




	
	
	
		
 
		(xb,yb)=line[-1]

			




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

			




	
	
	
		
 
	show(linesImg)

			




        

    


    
    

    

        

                

                    src/analyzer/epoint.py
                

                

                  
                      
                        

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@@ -48,26 +48,36 @@ class EPoint:

			




	
	
	
		
 

			




	
	
	
		
 
	def __imul__(self,k):

			




	
	
	
		
 
		self.x*=k

			




	
	
	
		
 
		self.y*=k

			




	
	
	
		
 
		return self

			




	
	
	
		
 

			




	
	
	
		
 
	def __itruediv__(self,k):

			




	
	
	
		
 
		self.x/=k

			




	
	
	
		
 
		self.y/=k

			




	
	
	
		
 
		return self

			




	
	
	
		
 

			




	
	
	
		
 
	def __ifloordiv__(self,k):

			




	
	
	
		
 
		self.x//=k

			




	
	
	
		
 
		self.y//=k

			




	
	
	
		
 
		return self

			




	
	
	
		
 

			




	
	
	
		
 
	def __neg__(self):

			




	
	
	
		
 
		return EPoint(-self.x,-self.y)

			




	
	
	
		
 

			




	
	
	
		
 
	def __getitem__(self,key):

			




	
	
	
		
 
		if key==0: return self.x

			




	
	
	
		
 
		elif key==1: return self.y

			




	
	
	
		
 
		raise IndexError(key)

			




	
	
	
		
 

			




	
	
	
		
 
	def __hash__(self):

			




	
	
	
		
 
		return hash((self.x,self.y))

			




	
	
	
		
 

			




	
	
	
		
 
	def __lt__(self,a): return self.x<a.x or (self.x==a.x and self.y<a.y)

			




	
	
	
		
 
	def __le__(self,a): return self.x<a.x or (self.x==a.x and self.y<=a.y)

			




	
	
	
		
 
	def __gt__(self,a): return self.x>a.x or (self.x==a.x and self.y>a.y)

			




	
	
	
		
 
	def __ge__(self,a): return self.x>a.x or (self.x==a.x and self.y>=a.y)

			




	
	
	
		
 
	def __eq__(self,a): return self.x==a.x and self.y==a.y

			




	
	
	
		
 
	def __ne__(self,a): return self.x!=a.x or self.y!=a.y

			




	
	
	
		
 

			




	
	
	
		
 
	def __str__(self): return "({0},{1})".format(round(self.x,3),round(self.y,3))

			




	
	
	
		
 
	def __repr__(self): return "EPoint({0},{1})".format(round(self.x,3),round(self.y,3))

			




        

    



    


    



    



      

      





    
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