def __get_t_neighbors(self, point, dot_img, show_preview=False):
height, width, channels = self.__img.shape
neighbors = [point]
left = point.copy().add(Point(-GRID_SIZE, 0))
if left.inBounds(width, height) and (dot_img[left.y, left.x]
== WALL_FLAG).all():
neighbors.append(left)
right = point.copy().add(Point(GRID_SIZE, 0))
if right.inBounds(width, height) and (dot_img[right.y, right.x]
== WALL_FLAG).all():
neighbors.append(right)
down = point.copy().add(Point(0, GRID_SIZE))
if down.inBounds(width, height) and (dot_img[down.y, down.x]
== WALL_FLAG).all():
neighbors.append(down)
up = point.copy().add(Point(0, -GRID_SIZE))
if up.inBounds(width, height) and (dot_img[up.y, up.x]
== WALL_FLAG).all():
neighbors.append(up)
if show_preview:
preview = dot_img.copy()
preview = self.__draw_points(neighbors, img=preview)
self.show_image(1, fullscreen=True, img=preview)
return neighbors
def __line_length_vertical(self, point, dot_img, show_preview=False):
height, width, channels = self.__img.shape
far_top_point = point.copy()
while far_top_point.y - GRID_SIZE > 0 and (
dot_img[far_top_point.y - GRID_SIZE,
far_top_point.x] == WALL_FLAG).all():
far_top_point.add(Point(0, -GRID_SIZE))
far_bottom_point = far_top_point.copy()
count = 0
while far_bottom_point.y + GRID_SIZE < height and (
dot_img[far_bottom_point.y + GRID_SIZE,
far_bottom_point.x] == WALL_FLAG).all():
count += 1
far_bottom_point.add(Point(0, GRID_SIZE))
if show_preview:
preview = dot_img.copy()
cv2.line(preview, far_top_point.asTuple(),
far_bottom_point.asTuple(), GREEN)
cv2.rectangle(preview,
point.copy().add(Point(-1, -1)).asTuple(),
point.copy().add(Point(1, 1)).asTuple(), RED)
preview = cv2.addWeighted(self.__img, 0.2, preview, 0.9, 0)
self.show_image(1,
fullscreen=True,
img=preview,
text='Point %s' % point)
return count
def __line_length_horizontal(self, point, dot_img, show_preview=False):
height, width, channels = self.__img.shape
far_left_point = point.copy()
while far_left_point.x - GRID_SIZE > 0 and (
dot_img[far_left_point.y,
far_left_point.x - GRID_SIZE] == WALL_FLAG).all():
far_left_point.add(Point(-GRID_SIZE, 0))
far_right_point = far_left_point.copy()
count = 0
while far_right_point.x + GRID_SIZE < width and (
dot_img[far_right_point.y,
far_right_point.x + GRID_SIZE] == WALL_FLAG).all():
count += 1
far_right_point.add(Point(GRID_SIZE, 0))
if show_preview:
preview = dot_img.copy()
cv2.line(preview, far_left_point.asTuple(),
far_right_point.asTuple(), GREEN)
p1 = point.copy().add(Point(-1, -1)).asTuple()
p2 = point.copy().add(Point(1, 1)).asTuple()
cv2.rectangle(preview, p1, p2, RED)
preview = cv2.addWeighted(self.__img, 0.2, preview, 0.9, 0)
self.show_image(1,
fullscreen=True,
img=preview,
text='Point %s' % point)
return count
def __get_x_neighbors(self, point, dot_img):
height, width, channels = self.__img.shape
neighbors = [point]
top_left = point.copy().add(Point(-GRID_SIZE, -GRID_SIZE))
if top_left.inBounds(width, height) and (dot_img[top_left.y,
top_left.x]
== WALL_FLAG).all():
neighbors.append(top_left)
top_right = point.copy().add(Point(GRID_SIZE, -GRID_SIZE))
if top_right.inBounds(width, height) and (dot_img[top_right.y,
top_right.x]
== WALL_FLAG).all():
neighbors.append(top_right)
down_left = point.copy().add(Point(-GRID_SIZE, GRID_SIZE))
if down_left.inBounds(width, height) and (dot_img[down_left.y,
down_left.x]
== WALL_FLAG).all():
neighbors.append(down_left)
down_right = point.copy().add(Point(GRID_SIZE, GRID_SIZE))
if down_right.inBounds(width, height) and (dot_img[down_right.y,
down_right.x]
== WALL_FLAG).all():
neighbors.append(down_right)
return neighbors
def __draw_points(self, points, img, size=1):
p1 = points[0].copy().add(Point(-size, -size)).asTuple()
p2 = points[0].copy().add(Point(size, size)).asTuple()
cv2.rectangle(img, p1, p2, RED)
del points[0]
for point in points:
p1 = point.copy().add(Point(-size, -size)).asTuple()
p2 = point.copy().add(Point(size, size)).asTuple()
cv2.rectangle(img, p1, p2, YELLOW)
return img
def __get_tx_neighbors(self, point, dot_img):
height, width, channels = self.__img.shape
neighbors = [point]
left = point.copy().add(Point(-GRID_SIZE, 0))
if left.inBounds(width, height) and (dot_img[left.y, left.x]
== WALL_FLAG).all():
neighbors.append(left)
right = point.copy().add(Point(GRID_SIZE, 0))
if right.inBounds(width, height) and (dot_img[right.y, right.x]
== WALL_FLAG).all():
neighbors.append(right)
down = point.copy().add(Point(0, GRID_SIZE))
if down.inBounds(width, height) and (dot_img[down.y, down.x]
== WALL_FLAG).all():
neighbors.append(down)
up = point.copy().add(Point(0, -GRID_SIZE))
if up.inBounds(width, height) and (dot_img[up.y, up.x]
== WALL_FLAG).all():
neighbors.append(up)
top_left = point.copy().add(Point(-GRID_SIZE, -GRID_SIZE))
if top_left.inBounds(width, height) and (dot_img[top_left.y,
top_left.x]
== WALL_FLAG).all():
neighbors.append(top_left)
top_right = point.copy().add(Point(GRID_SIZE, -GRID_SIZE))
if top_right.inBounds(width, height) and (dot_img[top_right.y,
top_right.x]
== WALL_FLAG).all():
neighbors.append(top_right)
down_left = point.copy().add(Point(-GRID_SIZE, GRID_SIZE))
if down_left.inBounds(width, height) and (dot_img[down_left.y,
down_left.x]
== WALL_FLAG).all():
neighbors.append(down_left)
down_right = point.copy().add(Point(GRID_SIZE, GRID_SIZE))
if down_right.inBounds(width, height) and (dot_img[down_right.y,
down_right.x]
== WALL_FLAG).all():
neighbors.append(down_right)
return neighbors
def __get_square_neighbors(self, point, dot_img):
height, width, channels = self.__img.shape
neighbors = [point]
right = point.copy().add(Point(GRID_SIZE, 0))
if right.inBounds(width, height) and (dot_img[right.y, right.x]
== WALL_FLAG).all():
neighbors.append(right)
down = point.copy().add(Point(0, GRID_SIZE))
if down.inBounds(width, height) and (dot_img[down.y, down.x]
== WALL_FLAG).all():
neighbors.append(down)
down_right = point.copy().add(Point(GRID_SIZE, GRID_SIZE))
if down_right.inBounds(width, height) and (dot_img[down_right.y,
down_right.x]
== WALL_FLAG).all():
neighbors.append(down_right)
# print('Found point %s with %s neightbors' % (point, len(neighbors)))
return neighbors
def __wall_builder(self, dot_img, show_preview=False):
height, width, channels = self.__img.shape
wall_img = dot_img.copy()
wall_img[:] = WHITE
for x in range(width - 1):
for y in range(height - 1):
if (dot_img[y, x] == WALL_FLAG).all():
point = Point(x, y)
neighbors = self.__get_t_neighbors(point, dot_img)
wall_img = self.__draw_t_lines(point, neighbors, wall_img)
if show_preview:
preview = cv2.addWeighted(self.__img, 0.5, dot_img,
0.5, 0)
preview = cv2.addWeighted(preview, 0.5, wall_img, 0.5,
0)
self.show_image(100, fullscreen=True, img=preview)
return wall_img
def __four_corners(self, dot_img, show_preview=False):
height, width, channels = self.__img.shape
for x in range(width - 1):
for y in range(height - 1):
if (dot_img[y, x] == WALL_FLAG).all():
neighbors = self.__get_square_neighbors(
Point(x, y), dot_img)
if (len(neighbors) == 4):
dot_img = self.__kill_shorty(neighbors, self.__img,
dot_img)
with_removed = dot_img.copy()
with_removed[y, x] = GREEN
if show_preview:
preview = cv2.addWeighted(self.__img, 0.2,
with_removed, 0.9, 0)
self.show_image(20,
fullscreen=True,
img=preview,
text='(%s, %s)' % (x, y))
return dot_img
def get_perspective_transform(self, img_width, img_height):
top_left_point = Point(0, 0)
top_right_point = Point(img_width, 0)
bottom_left_point = Point(0, img_height)
bottom_right_point = Point(img_width, img_height)
center = Point(round(img_width / 2), round(img_width / 2))
top_left_ref = (top_left_point.distance(center), None)
top_right_ref = (top_right_point.distance(center), None)
bottom_left_ref = (bottom_left_point.distance(center), None)
bottom_right_ref = (bottom_right_point.distance(center), None)
for point in self.__points:
top_left_dist = top_left_point.distance(point.src)
top_right_dist = top_right_point.distance(point.src)
bottom_left_dist = bottom_left_point.distance(point.src)
bottom_right_dist = bottom_right_point.distance(point.src)
if top_left_dist < top_left_ref[0]:
top_left_ref = (top_left_dist, point)
if top_right_dist < top_right_ref[0]:
top_right_ref = (top_right_dist, point)
if bottom_left_dist < bottom_left_ref[0]:
bottom_left_ref = (bottom_left_dist, point)
if bottom_right_dist < bottom_right_ref[0]:
bottom_right_ref = (bottom_right_dist, point)
src = np.float32(
[[top_left_ref[1].src.x, top_left_ref[1].src.y],
[top_right_ref[1].src.x, top_right_ref[1].src.y],
[bottom_left_ref[1].src.x, bottom_left_ref[1].src.y],
[bottom_right_ref[1].src.x, bottom_right_ref[1].src.y]])
dst = np.float32(
[[top_left_ref[1].dst.x, top_left_ref[1].dst.y],
[top_right_ref[1].dst.x, top_right_ref[1].dst.y],
[bottom_left_ref[1].dst.x, bottom_left_ref[1].dst.y],
[bottom_right_ref[1].dst.x, bottom_right_ref[1].dst.y]])
matrix = cv2.getPerspectiveTransform(src, dst)
print('Transfrom based on %s to %s\n%s' % (src, dst, matrix))
return matrix
def __init__(self, grid_size, grid_offset):
self.__points = []
self.__grid_size = grid_size
self.__grid_offset = grid_offset
self.top_left = Point(99999, 99999)
self.bottom_right = Point(0, 0)
def __erode(self, dot_img, show_preview=False):
height, width, channels = self.__img.shape
for x in range(width - 1):
for y in range(height - 1):
if (dot_img[y, x] == WALL_FLAG).all():
point = Point(x, y)
neighbors = self.__get_t_neighbors(point, dot_img)
if len(neighbors) == 1:
dot_img[y, x] = WHITE
if show_preview:
preview = dot_img.copy()
p1 = point.copy().add(Point(-1, -1)).asTuple()
p2 = point.copy().add(Point(1, 1)).asTuple()
cv2.rectangle(preview, p1, p2, RED)
self.show_image(1000,
fullscreen=True,
img=preview,
text='Removing island point %s' %
point)
elif len(neighbors) == 2:
is_on_wall = (self.__img[y, x] == BLACK).all()
if not is_on_wall:
neighbor = neighbors[1]
if self.__is_corner(neighbor, dot_img):
dot_img[y, x] = WHITE
elif self.__line_lengths(
point, dot_img) < RELEVANT_LINE_LENGTH:
dot_img[y, x] = WHITE
if show_preview:
preview = dot_img.copy()
p1 = point.copy().add(Point(-1, -1)).asTuple()
p2 = point.copy().add(Point(1, 1)).asTuple()
cv2.rectangle(preview, p1, p2, ORANGE)
self.show_image(1000,
fullscreen=True,
img=preview,
text='Outlier %s' % point)
else:
if show_preview:
preview = dot_img.copy()
p1 = point.copy().add(Point(-1, -1)).asTuple()
p2 = point.copy().add(Point(1, 1)).asTuple()
cv2.rectangle(preview, p1, p2, GREEN)
self.show_image(
1,
fullscreen=True,
img=preview,
text='Point %s passed erosion with %s neighbors'
% (point, len(neighbors)))
return dot_img