def get_image(self, angle_idx):
if self.is_test:
self.angles_imgs_counter[angle_idx] += 1
img = self.angles_imgs_lst[angle_idx][
self.angles_imgs_counter[angle_idx]]
if (IS_PI):
self.socket.send_image(img) # asynchronus send, w/ timeout
gui_img_manager.add_img(img)
return img
else:
if (IS_PI):
gpio.setup(7, gpio.IN, pull_up_down=gpio.PUD_DOWN)
should_enter = True
try:
while True:
if (gpio.input(7) == 1):
should_enter = True
elif (should_enter):
img = self.one_still()
self.socket.send_image(img)
should_enter = False
return img
except KeyboardInterrupt:
print('cam err!')
else: # gui
img = self.socket.get_image()
gui_img_manager.add_img(img)
return img
def get_image(self, angle_idx):
if self.is_test:
self.angles_imgs_counter[angle_idx] += 1
img = self.angles_imgs_lst[angle_idx][
self.angles_imgs_counter[angle_idx]]
# img = cv2.resize(img,(RESIZE_SIZE,RESIZE_SIZE))
if (IS_PI):
self.socket.send_image(img) # asynchronus send, w/ timeout
gui_img_manager.add_img(img)
return img
else:
if (IS_PI):
gpio.setmode(gpio.BOARD)
gpio.setup(btn, gpio.IN, pull_up_down=gpio.PUD_DOWN)
should_enter = True
try:
print("plz press me honz")
while True:
if (gpio.input(btn) == 1):
should_enter = True
elif (should_enter):
img = self.one_still()
#img = cv2.resize(img,(RESIZE_SIZE,RESIZE_SIZE))
self.socket.send_image(img)
should_enter = False
gpio.cleanup()
return img
except KeyboardInterrupt:
print('cam err!')
else: # gui
img = self.socket.get_image()
gui_img_manager.add_img(img)
return img
def main(self, img):
edgeim, real_img = self.get_image_from_img(img, True)
gui_img_manager.add_img(edgeim)
try:
egdeim_copy = copy.deepcopy(edgeim)
ver, her = self.amen_yaavod(edgeim)
if (DEBUG):
self.draw_lines(ver, edgeim)
self.draw_lines(her, edgeim)
lines = self.filter_lines3(ver, her)
points = self.get_point_for_rect_cut(lines)
# find exectly the forth line
croped_img, x_tikun, y_tikun = self.rect_cutter(
egdeim_copy, [points[0], points[1]])
forth_line = self.find_specific_line(croped_img,
self.get_theta(lines[1]),
lines, x_tikun, y_tikun)
# get final points
final_points = self.get_final_points(lines, forth_line, x_tikun,
y_tikun)
# self.draw_lines_by_points(final_points,egdeim_copy)
gui_img_manager.add_img(self.get_line_image(final_points, edgeim))
img = self.projection(final_points, real_img, RESIZE_WIDTH,
RESIZE_HEIGHT)
edgeim = self.projection(final_points, edgeim, RESIZE_WIDTH,
RESIZE_HEIGHT)
gui_img_manager.add_img(img)
return img, edgeim
except:
print("identify board has failed")
return real_img, edgeim
def main(self, real_img, edgeim):
def get_theta(line):
if line[2] == line[0]:
return math.pi / 2
else:
return (float)(math.atan2(float(line[3] - line[1]),
float(line[2] - line[0]))) % math.pi
""""""
"""
do not use with vertical lines.
"""
def get_y_point_on_line(line):
x1 = line[0]
y1 = line[1]
y = y1 - (x1 - RESIZE_WIDTH // 2) * (line[3] - y1) * 1.0 / (line[2] - x1)
return y
"""
do not use with horizontal lines.
"""
def get_x_point_on_line(line):
x1 = line[0]
y1 = line[1]
return x1 - (y1 - RESIZE_HEIGHT // 2) * (line[2] - x1) * 1.0 / (line[3] - y1)
def get_theta_hor(line):
angle = self.get_theta(line)
if angle > math.pi / 2:
return angle - math.pi
return angle
def get_theta_ver(line):
return self.get_theta(line)
try:
hor, ver = self.get_lines(edgeim)
hor = self.remove_bad_bottom_lines(hor,get_y_point_on_line,real_img)
new_hor, best_hor_idx, hor_d = self.get_line_series(hor,
get_y_point_on_line, len(edgeim) * MIN_GRID_SIZE,
len(edgeim) * MAX_GRID_SIZE, 9)
new_ver, best_ver_idx, ver_d = self.get_line_series(ver,
get_x_point_on_line, len(edgeim[0]) * MIN_GRID_SIZE,
len(edgeim[0]) * MAX_GRID_SIZE, 9)
if(DEBUG):
self.draw_lines(ver, edgeim)
self.draw_lines(new_ver, edgeim)
self.draw_lines(hor, edgeim)
self.draw_lines(new_hor, edgeim)
best_hor_idx = self.get_highest_horizontal_line_index(new_hor,
best_hor_idx,
hor_d,
get_y_point_on_line, get_theta_hor)
best_ver_pair = self.get_best_vertical_line_pair_index(new_ver,
best_ver_idx,
ver_d,
get_x_point_on_line,
get_theta_ver)
line_num = 8-best_hor_idx
left_num = min(best_ver_pair)
right_num = max(best_ver_pair)
up_line = new_hor[best_hor_idx]
down_line = new_hor[8]
left_line = new_ver[left_num]
right_line = new_ver[right_num]
"""
up_pos, up_angle = self.get_last_line_extrapolation(new_hor, best_hor, 0, get_theta_hor, lambda x: -get_y_point_on_line(x),
hor_d)
down_pos, down_angle = self.get_last_line_extrapolation(new_hor, best_hor, 8, get_theta_hor,
lambda x: get_y_point_on_line(x), hor_d)
left_pos, left_angle = self.get_last_line_extrapolation(new_ver, best_ver, 0, get_theta_ver,
get_x_point_on_line, ver_d)
right_pos, right_angle = self.get_last_line_extrapolation(new_ver, best_ver, 8, get_theta_ver,
get_x_point_on_line, ver_d)
up_point = (RESIZE_WIDTH * 1.0 / 2, -up_pos)
down_point = (RESIZE_WIDTH * 1.0 / 2, -down_pos)
left_point = (left_pos, RESIZE_HEIGHT * 1.0 / 2)
right_point = (right_pos, RESIZE_HEIGHT * 1.0 / 2)
points = [up_point, left_point, down_point, right_point]
self.draw_points(real_img, points)
# print "up angle=" + str(up_angle)
# print "down angle=" + str(down_angle)
up_line = self.make_hor_line(up_point, up_angle)
down_line = self.make_hor_line(down_point, down_angle)
left_line = self.make_ver_line(left_point, left_angle)
right_line = self.make_ver_line(right_point, right_angle)
"""
points = self.get_board_limits(up_line, right_line, down_line, left_line)
if(DEBUG):
self.draw_lines([up_line, left_line, right_line, down_line], edgeim)
self.draw_points(real_img, points)
proim = self.projection(points, real_img, [line_num,right_num,0 ,
left_num] )
gui_img_manager.add_img(self.get_line_image(hor, edgeim))
gui_img_manager.add_img(self.get_line_image(new_hor, edgeim))
gui_img_manager.add_img(self.get_line_image([up_line, left_line, right_line, down_line], edgeim))
gui_img_manager.add_img(proim)
return proim
except:
print("cut board fixer has failed")
return real_img