def find_corners(self):
'''
Tries to find corners or to predict them. Return empty list,
if every corner is found, or list of points in the area which tell where
to do futher checking
'''
time = self.m_d.time
if time-self.last_seen >= MAX_SEEN:
return False
#cv.ResetImageROI(draw_img)
ncorners = []
bounds = []
for c in self.corners:
db.db_break("find_corners")
cands = c.get_candidates(self.m_d)
min = NOT_SIMILLAR;
bestcand = None;
for cand in cands:
if cand.similarity < min:
min = cand.similarity;
bestcand = cand
ncorners.append(bestcand)
bounds.extend(cvrect(cv.GetImageROI(self.m_d.bw_img)))
if bestcand is None:
pass
db.pr([ncorners], "find_corners")
for cor in ncorners:
if cor is not None:
cor.draw(self.m_d.tmp_img)
if None in ncorners:
pass
CP = CornerPredictor(self.corners, time, self.m_d)
ncorners = CP.predict_corners(ncorners)
db.pr([ncorners], "new corners")
if ncorners is not None:
points = [x.p for x in ncorners]
correctness = self.code_correctness(points)
if correctness>REQUIRED_CORRECTNESS:
self.set_new_position(ncorners)
return True
else:
db.PolyLine(self.m_d.tmp_img,[points], True, (255,255,255),
"%.2f"%correctness)
self.m_d.borders.extend(CP.bounds)
return False
def find_corners(self):
'''
Tries to find corners or to predict them. Return empty list,
if every corner is found, or list of points in the area which tell where
to do futher checking
'''
time = self.m_d.time
if time - self.last_seen >= MAX_SEEN:
return False
#cv.ResetImageROI(draw_img)
ncorners = []
bounds = []
for c in self.corners:
db.db_break("find_corners")
cands = c.get_candidates(self.m_d)
min = NOT_SIMILLAR
bestcand = None
for cand in cands:
if cand.similarity < min:
min = cand.similarity
bestcand = cand
ncorners.append(bestcand)
bounds.extend(cvrect(cv.GetImageROI(self.m_d.bw_img)))
if bestcand is None:
pass
db.pr([ncorners], "find_corners")
for cor in ncorners:
if cor is not None:
cor.draw(self.m_d.tmp_img)
if None in ncorners:
pass
CP = CornerPredictor(self.corners, time, self.m_d)
ncorners = CP.predict_corners(ncorners)
db.pr([ncorners], "new corners")
if ncorners is not None:
points = [x.p for x in ncorners]
correctness = self.code_correctness(points)
if correctness > REQUIRED_CORRECTNESS:
self.set_new_position(ncorners)
return True
else:
db.PolyLine(self.m_d.tmp_img, [points], True, (255, 255, 255),
"%.2f" % correctness)
self.m_d.borders.extend(CP.bounds)
return False
def _test_improve_corners(self, a, b):
cv.FillConvexPoly(self.draw_img, self.points, (255, 255, 255))
# cv.Circle(self.draw_img, (75,30), 20, (0,0,0),4)
ncorners = self._prepare_corners(self.points)
CP = CornerPredictor(self.corners, 1, self.draw_img, self.timg,self.tmp_img)
ncorners[a] = None
ncorners[b] = None
corners = CP._improve_corners(ncorners)
for i in filter(lambda x: (x <> a and x <> b), range(4)):
ea = r2d(self.corners[i].angle)
print '-----',ncorners[i].prev,ncorners[i].p, ncorners[i].next, corners[i].prev, corners[i].next
na = r2d(ncorners[i].angle)
ra = r2d(corners[i].angle)
self.assertTrue(abs(ea - ra) <= abs(ea-na), 'Angle of [%d] not improved: \
expected %f received %f previous %f' % (i, ea, ra, na))
ea = r2d(self.corners[i].rotation)
na = r2d(ncorners[i].rotation)
ra = r2d(corners[i].rotation)
self.assertTrue(abs(ea - ra) <= abs(ea-na) , 'rotation of [%d] not improved: \
expected %f received %f previous %f' % (i, ea, ra, na))
def _predict(self,npoints):
cv.FillConvexPoly(self.draw_img, npoints, (0,0,0))
corners = Corner.get_corners(npoints)
tcorners = list(corners)
for i,cor in enumerate(corners):
print cor.p
if not(0<=cor.p[0]<self.size and 0<=cor.p[1]<self.size):
tcorners[i]=None
CP = CornerPredictor(self.corners, 1, self.tmp_img, self.timg, self.draw_img)
print "predicting....",tcorners
ncorners = CP.predict_corners(tcorners)
print 'done'
for i,cor in enumerate(ncorners):
v=vector(corners[i].p,cor.p)
print length(v), cor.toString()
self.assertTrue(length(v)<5,"Wrong prediction!Corner: %d \
Expected: (%d,%d) received (%d,%d)" \
%(i,corners[i].p[0],corners[i].p[1],cor.p[0],cor.p[1]))
print ncorners
def test_validate_corners(self):
print self.corners
print self.old_corners
ncorners = self._prepare_corners(self.points)
c= ncorners[0]
prev = add(c.prev,(2,0))
p = add(c.p,(1,1))
next= add(c.next,(2,0))
ncorners[0] = Corner([prev,p,next],1,imgtime=2)
ncorners[0].compute_change(self.corners[0])
res = list(ncorners)
res[0]=None
print ncorners
for i,cor in enumerate(ncorners):
cor.draw(self.draw_img)
cor.compute_change(self.corners[i])
db.show(self.draw_img,"main")
CP = CornerPredictor(self.corners, 1, self.tmp_img, self.timg, self.draw_img)
CP.validate_corners(ncorners)
self.assertEqual(ncorners,res,
"First corner is invalid:"+ncorners.__repr__())
