def test_point_distance(self):
l1 = Line((0, 0), (0, 1))
point1 = (0, 0)
point2 = (1, 0)
self.assertEqual(l1.point_distance(point1), 0)
self.assertEqual(l1.point_distance(point2), 1)
def find_stop_line(self):
"""
Finds stop line from stored stop-points.
For stop line is used second vanishing point which is used as anchor for all detected stop line points.
Stop line is detected using RANSAC algorithm.
"""
best_line_ratio = 0
best_line = None
vp2 = self._info.vanishing_points[1]
test_image = np.zeros(shape=(self._info.height, self._info.width))
for point in self._stop_places:
cv2.circle(test_image,
point.tuple(),
radius=5,
color=255,
thickness=5)
cv2.imwrite("stopky.png", test_image)
for point2 in self._stop_places:
try:
line = Line(vp2.point, point2.tuple())
except SamePointError:
continue
except VanishingPointError:
line = Line(point1=point2.tuple(), direction=vp2.direction)
num = 0
ransac_threshold = constants.CORRIDORS_RANSAC_THRESHOLD
for point in self._stop_places:
distance = line.point_distance(point.tuple())
if distance < ransac_threshold:
num += 1
if num > best_line_ratio:
best_line_ratio = num
best_line = line
self.stopline = best_line
self._stopline_found = True
