From: Tomas Musil <tomik.musil@gmail.com>
Date: Thu, 3 Jul 2014 00:35:47 +0000 (+0200)
Subject: gridf3
X-Git-Url: http://git.tomasm.cz/imago.git/commitdiff_plain/6380acc3a648c4fcf2a1dd01eaaa74f737d2c7f0

gridf3
---

diff --git a/gridf3.py b/gridf3.py
deleted file mode 100644
index 7fa91fd..0000000
--- a/gridf3.py
+++ /dev/null
@@ -1,134 +0,0 @@
-import pickle
-import matplotlib.pyplot as pyplot
-import random
-
-from src.intrsc import intersections_from_angl_dist
-import src.linef as linef
-import src.ransac as ransac
-
-def plot_line(line, c):
-    points = linef.line_from_angl_dist(line, (520, 390))
-    pyplot.plot(*zip(*points), color=c)
-
-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')
-
-class Diagonal_model:
-    def __init__(self, data):
-        self.data = [p for p in sum(data, []) if p]
-        self.lines = data
-        self.gen = self.initial_g()
-
-    def initial_g(self):
-        l1, l2 = random.sample(self.lines, 2)
-        for i in xrange(len(l1)):
-            for j in xrange(len(l2)):
-                if i == j:
-                    continue
-                if l1[i] and l2[j]:
-                    yield (l1[i], l2[j])
-
-    def initial(self):
-        try:
-            return self.gen.next()
-        except StopIteration:
-            self.gen = self.initial_g()
-            return self.gen.next()
-
-    def get(self, sample):
-        if len(sample) == 2:
-            return ransac.points_to_line(*sample)
-        else:
-            return ransac.least_squares(sample)
-
-def intersection((a1, b1, c1), (a2, b2, c2)):
-    delim = float(a1 * b2 - b1 * a2)
-    x = (b1 * c2 - c1 * b2) / delim
-    y = (c1 * a2 - a1 * c2) / delim
-    return x, y
-
-class Point:
-    def __init__(self, (x, y)):
-        self.x = x
-        self.y = y
-
-    def __getitem__(self, key):
-        if key == 0:
-            return self.x
-        elif key == 1:
-            return self.y
-
-    def __iter__(self):
-        yield self.x
-        yield self.y
-
-    def __len__(self):
-        return 2
-
-class Line:
-    def __init__(self, (a, b, c)):
-        self.a, self.b, self.c = (a, b, c)
-        self.points = []
-
-    @classmethod
-    def from_ad(cls, (a, d), size):
-        p = linef.line_from_angl_dist((a, d), size)
-        return cls(ransac.points_to_line(*p))
-
-    def __iter__(self):
-        yield self.a
-        yield self.b
-        yield self.c
-
-    def __len__(self):
-        return 3
-
-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]
-
-def gen_corners(d1, d2):
-    for c1 in d1.points:
-        if c1 in d2.points:
-            continue
-        pass
-    # TODO TODO TODO
-
-
-while True:
-    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()
-
-#map(lambda l: plot_line(l, 'g'), sum(lines, []))
-
-pyplot.show()
-
-
diff --git a/src/gridf3.py b/src/gridf3.py
new file mode 100644
index 0000000..bdf3a82
--- /dev/null
+++ b/src/gridf3.py
@@ -0,0 +1,203 @@
+import random
+from math import sqrt
+
+from intrsc import intersections_from_angl_dist
+import linef as linef
+import ransac as ransac
+import manual as manual
+from geometry import l2ad
+
+# TODO comments, refactoring, move methods to appropriate modules
+
+def plot_line(line, c):
+    points = linef.line_from_angl_dist(line, (520, 390))
+    pyplot.plot(*zip(*points), color=c)
+
+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')
+
+class Diagonal_model:
+    def __init__(self, data):
+        self.data = [p for p in sum(data, []) if p]
+        self.lines = data
+        self.gen = self.initial_g()
+
+    def initial_g(self):
+        l1, l2 = random.sample(self.lines, 2)
+        for i in xrange(len(l1)):
+            for j in xrange(len(l2)):
+                if i == j:
+                    continue
+                if l1[i] and l2[j]:
+                    yield (l1[i], l2[j])
+
+    def initial(self):
+        try:
+            return self.gen.next()
+        except StopIteration:
+            self.gen = self.initial_g()
+            return self.gen.next()
+
+    def get(self, sample):
+        if len(sample) == 2:
+            return ransac.points_to_line(*sample)
+        else:
+            return ransac.least_squares(sample)
+
+def intersection((a1, b1, c1), (a2, b2, c2)):
+    delim = float(a1 * b2 - b1 * a2)
+    x = (b1 * c2 - c1 * b2) / delim
+    y = (c1 * a2 - a1 * c2) / delim
+    return x, y
+
+class Point:
+    def __init__(self, (x, y)):
+        self.x = x
+        self.y = y
+
+    def __getitem__(self, key):
+        if key == 0:
+            return self.x
+        elif key == 1:
+            return self.y
+
+    def __iter__(self):
+        yield self.x
+        yield self.y
+
+    def __len__(self):
+        return 2
+
+class Line:
+    def __init__(self, (a, b, c)):
+        self.a, self.b, self.c = (a, b, c)
+        self.points = []
+
+    @classmethod
+    def from_ad(cls, (a, d), size):
+        p = linef.line_from_angl_dist((a, d), size)
+        return cls(ransac.points_to_line(*p))
+
+    def __iter__(self):
+        yield self.a
+        yield self.b
+        yield self.c
+
+    def __len__(self):
+        return 3
+
+    def __getitem__(self, key):
+        if key == 0:
+            return self.a
+        elif key == 1:
+            return self.b
+        elif key == 2:
+            return self.c
+
+def gen_corners(d1, d2):
+    for c1 in d1.points:
+        if c1 in d2.points:
+            continue
+        pass
+        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]
+        yield [c1, c2, c3, c4]
+
+def dst(p, l):
+    (x, y), (a, b, c) = p, ransac.points_to_line(*l)
+    return abs(a * x + b * y + c) / sqrt(a*a+b*b)
+
+def score(lines, points):
+    score = 0
+    for p in points:
+        s = min(map(lambda l: dst(p, l), lines))
+        s = min(s, 2)
+        score += s
+    print score
+    return score
+
+
+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:
+        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)
+
+    grids = map(manual.lines, list(gen_corners(diag1, diag2)))
+
+    sc, grid = min(map(lambda g: (score(sum(g, []), data), g), grids))
+    
+    grid_lines = [[l2ad(l, size) for l in grid[0]], 
+                  [l2ad(l, size) for l in grid[1]]]
+
+    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()
diff --git a/src/imago.py b/src/imago.py
index 2d225e5..b513253 100755
--- a/src/imago.py
+++ b/src/imago.py
@@ -20,7 +20,7 @@ import im_debug
 import linef
 import manual
 import intrsc
-import gridf2 as gridf
+import gridf3 as gridf
 import output
 
 def argument_parser():