from math import sqrt
from intrsc import intersections_from_angl_dist
-import linef as linef
-import ransac as ransac
-import manual as manual
+import linef
+import params
+import ransac
+import manual_lines as manual
from geometry import l2ad
# TODO comments, refactoring, move methods to appropriate modules
class GridFittingFailedError(Exception):
pass
+class BadGenError(Exception):
+ pass
+
def plot_line(line, c, size):
points = linef.line_from_angl_dist(line, size)
pyplot.plot(*zip(*points), color=c)
if l1[i] and l2[j]:
yield (l1[i], l2[j])
+ def remove(self, data):
+ self.data = list(set(self.data) - set(data))
+
def initial(self):
try:
- return self.gen.next()
+ nxt = self.gen.next()
except StopIteration:
self.gen = self.initial_g()
- return self.gen.next()
+ nxt = self.gen.next()
+ return nxt
def get(self, sample):
if len(sample) == 2:
score = 0
a, b, c = est
dst = lambda (x, y): abs(a * x + b * y + c) / sqrt(a*a+b*b)
+ l1 = None
+ l2 = None
for p in self.data:
d = dst(p)
if d <= dist:
cons.append(p)
- score += min(d, dist)
+ if p.l1 == l1 or p.l2 == l2:
+ return float("inf"), []
+ else:
+ l1, l2 = p.l1, p.l2
+ else: # TODO delete this or refactor
+ score += min(d, dist)
+
return score, cons
def intersection((a1, b1, c1), (a2, b2, c2)):
delim = float(a1 * b2 - b1 * a2)
+ if delim == 0:
+ return None
x = (b1 * c2 - c1 * b2) / delim
y = (c1 * a2 - a1 * c2) / delim
return x, y
elif key == 2:
return self.c
-def gen_corners(d1, d2):
+def gen_corners(d1, d2, min_size):
for c1 in d1.points:
if c1 in d2.points:
continue
c2 = [p for p in d2.points if p in c1.l1.points][0]
c3 = [p for p in d1.points if p in c2.l2.points][0]
c4 = [p for p in d2.points if p in c3.l1.points][0]
+ x_min = min([c1[0], c2[0], c3[0], c4[0]])
+ x_max = max([c1[0], c2[0], c3[0], c4[0]])
+ if x_max - x_min < min_size:
+ continue
+ y_min = min([c1[1], c2[1], c3[1], c4[1]])
+ y_max = max([c1[1], c2[1], c3[1], c4[1]])
+ if y_max - y_min < min_size:
+ continue
+
except IndexError:
continue
# there is not a corresponding intersection
# TODO create an intersection?
try:
yield manual.lines(map(lambda p: p.to_tuple(), [c2, c1, c3, c4]))
- except TypeError:
+ except (TypeError):
pass
# the square was too small to fit 17 lines inside
# TODO define SquareTooSmallError or something
return abs(a * x + b * y + c) / sqrt(a*a+b*b)
def score(lines, points):
+ # TODO find whether the point actualy lies on the line or just in the same
+ # direction
score = 0
for p in points:
s = min(map(lambda l: dst(p, l), lines))
def find(lines, size, l1, l2, bounds, hough, show_all, do_something, logger):
- logger("finding the grid")
new_lines1 = map(lambda l: Line.from_ad(l, size), lines[0])
new_lines2 = map(lambda l: Line.from_ad(l, size), lines[1])
for l1 in new_lines1:
points = [l.points for l in new_lines1]
- for trial in xrange(3):
- line1, cons = ransac.estimate(points, 2, 800, Diagonal_model)
- points2 = map(lambda l: [(p if not p in cons else None) for p in l], points)
- line2, cons2 = ransac.estimate(points2, 2, 800, Diagonal_model)
- center = intersection(line1, line2)
- data = sum(points, [])
- diag1 = Line(line1)
- diag1.points = ransac.filter_near(data, diag1, 2)
- diag2 = Line(line2)
- diag2.points = ransac.filter_near(data, diag2, 2)
+ def dst_p(x, y):
+ x = x - size[0] / 2
+ y = y - size[1] / 2
+ return sqrt(x * x + y * y)
+
+ for n_tries in xrange(3):
+ logger("finding the diagonals")
+ model = Diagonal_model(points)
+ diag_lines = ransac.ransac_multi(6, points, 2,
+ params.ransac_diagonal_iter, model=model)
+ diag_lines = [l[0] for l in diag_lines]
+ centers = []
+ cen_lin = []
+ for i in xrange(len(diag_lines)):
+ line1 = diag_lines[i]
+ for line2 in diag_lines[i+1:]:
+ c = intersection(line1, line2)
+ if c and dst_p(*c) < min(size) / 2:
+ cen_lin.append((line1, line2, c))
+ centers.append(c)
if show_all:
import matplotlib.pyplot as pyplot
- import Image
+ from PIL import Image
def plot_line_g((a, b, c), max_x):
find_y = lambda x: - (c + a * x) / b
pyplot.plot([0, max_x], [find_y(0), find_y(max_x)], color='b')
fig = pyplot.figure(figsize=(8, 6))
- plot_line_g(diag1, size[0])
- plot_line_g(diag2, size[0])
+ for l in diag_lines:
+ plot_line_g(l, size[0])
pyplot.scatter(*zip(*sum(points, [])))
- pyplot.scatter([center[0]], [center[1]], color='r')
+ if len(centers) >= 1:
+ pyplot.scatter([c[0] for c in centers], [c[1] for c in centers], color='r')
pyplot.xlim(0, size[0])
pyplot.ylim(0, size[1])
pyplot.gca().invert_yaxis()
size_f = fig.canvas.get_width_height()
buff = fig.canvas.tostring_rgb()
image_p = Image.fromstring('RGB', size_f, buff, 'raw')
- do_something(image_p, "finding diagonal")
-
+ do_something(image_p, "finding diagonals")
- grids = list(gen_corners(diag1, diag2))
-
- try:
- sc, grid = min(map(lambda g: (score(sum(g, []), data), g), grids))
+ logger("finding the grid")
+ data = sum(points, [])
+ # TODO what if lines are missing?
+ sc = float("inf")
+ grid = None
+ for (line1, line2, c) in cen_lin:
+ diag1 = Line(line1)
+ diag1.points = ransac.filter_near(data, diag1, 2)
+ diag2 = Line(line2)
+ diag2.points = ransac.filter_near(data, diag2, 2)
+
+
+ grids = list(gen_corners(diag1, diag2, min(size) / 3))
+
+ try:
+ new_sc, new_grid = min(map(lambda g: (score(sum(g, []), data), g), grids))
+ if new_sc < sc:
+ sc, grid = new_sc, new_grid
+ except ValueError:
+ pass
+ if grid:
break
- except ValueError:
- pass
else:
raise GridFittingFailedError
return grid, grid_lines
-def test():
- import pickle
- import matplotlib.pyplot as pyplot
-
- lines = pickle.load(open('lines.pickle'))
-
- size = (520, 390)
- new_lines1 = map(lambda l: Line.from_ad(l, size), lines[0])
- new_lines2 = map(lambda l: Line.from_ad(l, size), lines[1])
- for l1 in new_lines1:
- for l2 in new_lines2:
- p = Point(intersection(l1, l2))
- p.l1 = l1
- p.l2 = l2
- l1.points.append(p)
- l2.points.append(p)
-
- points = [l.points for l in new_lines1]
-
- line1, cons = ransac.estimate(points, 2, 800, Diagonal_model)
- points2 = map(lambda l: [(p if not p in cons else None) for p in l], points)
- line2, cons2 = ransac.estimate(points2, 2, 800, Diagonal_model)
- center = intersection(line1, line2)
- data = sum(points, [])
- diag1 = Line(line1)
- diag1.points = ransac.filter_near(data, diag1, 2)
- diag2 = Line(line2)
- diag2.points = ransac.filter_near(data, diag2, 2)
-
- plot_line_g(diag1, 520)
- plot_line_g(diag2, 520)
- pyplot.scatter(*zip(*sum(points, [])))
- pyplot.scatter([center[0]], [center[1]], color='r')
- pyplot.xlim(0, 520)
- pyplot.ylim(0, 390)
- pyplot.show()
-
- grids = map(manual.lines, list(gen_corners(diag1, diag2)))
- plot_grid = lambda g: map(lambda l: pyplot.plot(*zip(*l), color='g'), sum(g, []))
- map(plot_grid, grids)
- pyplot.show()
-
- sc, grid = min(map(lambda g: (score(sum(g, []), data), g), grids))
-
- map(lambda l: pyplot.plot(*zip(*l), color='g'), sum(grid, []))
- pyplot.scatter(*zip(*sum(points, [])))
- pyplot.xlim(0, 520)
- pyplot.ylim(0, 390)
- pyplot.show()
projekty / imago.git / blobdiff