def test_polynomial_estimation():
# over-determined
tform = estimate_transform('polynomial', SRC, DST, order=10)
assert_array_almost_equal(tform(SRC), DST, 6)
# via estimate method
tform2 = PolynomialTransform()
tform2.estimate(SRC, DST, order=10)
assert_array_almost_equal(tform2._params, tform._params)
def get_inverse_warp(self, recompute=False):
if recompute:
self._inverse_warp = None
if self._inverse_warp is None:
self._inverse_warp = PolynomialTransform()
self._inverse_warp.estimate(self.get_targets(),
self.get_sources(),
self.get_transform_order())
return self._warp
def test_2D_only_implementations():
with pytest.raises(NotImplementedError):
_ = PolynomialTransform(dimensionality=3)
tf = AffineTransform(dimensionality=3)
with pytest.raises(NotImplementedError):
_ = tf.rotation
with pytest.raises(NotImplementedError):
_ = tf.shear
def test_polynomial_init(array_like_input):
tform = estimate_transform('polynomial', SRC, DST, order=10)
# init with transformation parameters
if array_like_input:
params = [list(p) for p in tform.params]
else:
params = tform.params
tform2 = PolynomialTransform(params)
assert_almost_equal(tform2.params, tform.params)
def test_invalid_input():
with testing.raises(ValueError):
ProjectiveTransform(np.zeros((2, 3)))
with testing.raises(ValueError):
AffineTransform(np.zeros((2, 3)))
with testing.raises(ValueError):
SimilarityTransform(np.zeros((2, 3)))
with testing.raises(ValueError):
EuclideanTransform(np.zeros((2, 3)))
with testing.raises(ValueError):
AffineTransform(matrix=np.zeros((2, 3)), scale=1)
with testing.raises(ValueError):
SimilarityTransform(matrix=np.zeros((2, 3)), scale=1)
with testing.raises(ValueError):
EuclideanTransform(
matrix=np.zeros((2, 3)), translation=(0, 0))
with testing.raises(ValueError):
PolynomialTransform(np.zeros((3, 3)))
with testing.raises(ValueError):
FundamentalMatrixTransform(matrix=np.zeros((3, 2)))
with testing.raises(ValueError):
EssentialMatrixTransform(matrix=np.zeros((3, 2)))
with testing.raises(ValueError):
EssentialMatrixTransform(rotation=np.zeros((3, 2)))
with testing.raises(ValueError):
EssentialMatrixTransform(
rotation=np.zeros((3, 3)))
with testing.raises(ValueError):
EssentialMatrixTransform(
rotation=np.eye(3))
with testing.raises(ValueError):
EssentialMatrixTransform(rotation=np.eye(3),
translation=np.zeros((2,)))
with testing.raises(ValueError):
EssentialMatrixTransform(rotation=np.eye(3),
translation=np.zeros((2,)))
with testing.raises(ValueError):
EssentialMatrixTransform(
rotation=np.eye(3), translation=np.zeros((3,)))
def test_polynomial_init():
tform = estimate_transform('polynomial', SRC, DST, order=10)
# init with transformation parameters
tform2 = PolynomialTransform(tform._params)
assert_array_almost_equal(tform2._params, tform._params)
def test_union_differing_types():
tform1 = SimilarityTransform()
tform2 = PolynomialTransform()
with pytest.raises(TypeError):
tform1.__add__(tform2)
def test_polynomial_inverse():
with pytest.raises(Exception):
PolynomialTransform().inverse(0)
def estimate(*data):
return PolynomialTransform.estimate(*data, order=2)
def test_polynomial_inverse():
assert_raises(Exception, PolynomialTransform().inverse, 0)
class CorrespondenceEditor(object):
ax: plt.Axes
canvas: plt.FigureCanvasBase
def __init__(self, ax, on_commit=None,
facecolor=None, edgecolor=None,
pick_radius=15):
self.arrowstyle = "-|>,head_width=2.5, head_length=5"
self.facecolor = facecolor or (0, 0.5, 1.0, 1.0)
self.edgecolor = edgecolor or (0, 0.5, 1.0, 1.0)
self.pick_radius = pick_radius
self.scroll_speed = -0.5
# Possible semantics:
# An integer > 1 -- fit a polynomial of that order
# A float in [0,1] -- Use that fraction of the number of matches as the order
self.order = 0.5
self._warp = None
self._inverse_warp = None
self.on_finish = on_commit
self.ax = ax
self.canvas = ax.figure.canvas
self.matches = [[], []]
self._active_point = -1
self._active_arrow = -1
self._arrow_patches = []
self._arrow_tails = [] # Zero-length arrows are iunvisible, so I will put markers at the tails
self._arrow_highlight = FancyArrowPatch((0, 0), (0, 0), visible=False,
arrowstyle=self.arrowstyle, color='y', linewidth=3)
self._arrow_highlight_head = Line2D([0], [0], visible=False,
marker='o', markersize=5, markerfacecolor='y', markeredgecolor='y',
pickradius=self.pick_radius)
self._arrow_highlight_tail = Line2D([0], [0], visible=False,
marker='o', markersize=5, markerfacecolor='y', markeredgecolor='y',
pickradius=self.pick_radius)
self._point_highlight = Line2D([0], [0], visible=False,
marker='o', markersize=5, markerfacecolor='r', markeredgecolor='r')
self._arrow_highlight = self.ax.add_patch(self._arrow_highlight)
self._arrow_highlight_head = self.ax.add_artist(self._arrow_highlight_head)
self._arrow_highlight_tail = self.ax.add_artist(self._arrow_highlight_tail)
self._point_highlight = self.ax.add_artist(self._point_highlight)
self.cids = []
self._history = []
self._future = []
self.save_state() # Initialuze history (to empty doc)
self._event = None
self._mouse_down = None # Set to the event that started a drag. None if not dragging.
self._editing = 0 # Whether we are editing. Counts up and down to allow compound edits.
self.key_handlers = {
' ': self.commit,
's': partial(self.set_active_point, 0),
't': partial(self.set_active_point, 1),
'n': partial(self.new_arrow, selected=True, drag_target=False),
'delete': self.delete_arrow,
'e': self.delete_arrow,
'left': partial(self.nudge, dx=-1, dy=0),
'right': partial(self.nudge, dx=1, dy=0),
'up': partial(self.nudge, dx=0, dy=-1),
'down': partial(self.nudge, dx=0, dy=1),
'ctrl+z': self.undo,
'ctrl+Z': self.redo,
'enter': self.commit,
}
# Create the arrows
self.refresh_arrows()
self.connect_events()
def __len__(self):
return len(self.matches[0])
def __getitem__(self, i):
return self.matches[0][i], self.matches[1][i]
def __iter__(self):
for i in range(len(self)):
yield self[i]
def begin_editing(self):
"""Call before changing the data"""
self._editing += 1
def finish_editing(self):
"""Call after you are done modifying the data.
Saves to history after all edits are complete. """
assert self._editing > 0
self._editing -= 1
if self._editing == 0:
self._warp = None # We changed the matched --> the warp is dirty
self._inverse_warp = None # We changed the matched --> the warp is dirty
self.save_state()
self.refresh_highlights()
self.canvas.draw_idle()
def get_state(self):
return self.matches
def set_state(self, state):
s, t = state
self.matches[0][:] = s
self.matches[1][:] = t
self.refresh_arrows()
def save_state(self):
# Sometimes I push multiple times for some reason
if self._history and self._history[-1] == self.get_state():
return
self._history.append(deepcopy(self.get_state()))
del self._future[:]
def undo(self):
if self._history:
self._future.append(deepcopy(self.get_state()))
self.set_state(self._history.pop())
def redo(self):
if self._future:
self.set_state(self._future.pop())
if self._history and self.get_state() != self._history[-1]:
self._history.append(deepcopy(self.get_state()))
def connect(self, event, handler):
self.cids.append(self.canvas.mpl_connect(event, handler))
def connect_events(self):
self.connect('motion_notify_event', self._on_motion)
self.connect('button_press_event', self._on_button_press)
self.connect('button_release_event', self._on_button_release)
self.connect('key_press_event', self._on_key_press)
# self.connect('key_release_event', self._on_key_release)
self.connect('scroll_event', self._on_scroll)
def disconnect_events(self):
"""Disconnect all event handlers"""
for cid in self.cids:
self.canvas.mpl_disconnect(cid)
self.cids = []
def ignore(self, event):
return event.inaxes != self.ax
def zoom(self, amount=1, xy=None):
amount = 2 ** (amount)
xmin, xmax = self.ax.get_xlim()
ymin, ymax = self.ax.get_ylim()
if xy is None:
x = (xmin + xmax) / 2.
y = (ymin + ymax) / 2.
else:
x, y = xy
xmin = x + (xmin - x) * amount
ymin = y + (ymin - y) * amount
xmax = x + (xmax - x) * amount
ymax = y + (ymax - y) * amount
self.ax.set_xbound(xmin, xmax)
self.ax.set_ybound(ymin, ymax)
def _on_scroll(self, event: MouseEvent):
x, y = event.xdata, event.ydata
self.zoom(event.step * self.scroll_speed, (x, y))
self.canvas.draw_idle()
def _on_motion(self, event: MouseEvent):
if self.ignore(event):
return
if self._mouse_down:
self.set_point((event.xdata, event.ydata))
else:
self.select_arrow(event)
def _distance_to_line_segment(self, p0, p1, xy, epsilon=1e-4):
p0 = np.array(p0)
p1 = np.array(p1)
xy = np.array(xy)
v = p1-p0
v2 = v@v
if v2 > epsilon:
q = (v @ (xy-p0))/(v @ v) # Distance along the edge
q = np.clip(q, 0, 1) # Make sure we are on the line segment
else:
q = 0
p = p0 + v*q # Closest point on the line segment
return np.linalg.norm(xy-p)
def select_arrow(self, event: MouseEvent):
patch: FancyArrowPatch
min_distance = self.pick_radius
argmin_distance = -1
p = np.array((event.xdata, event.ydata))
for i, (s, t) in enumerate(self):
d = self._distance_to_line_segment(s, t, p)
if d < min_distance:
min_distance = d
argmin_distance = i
self.set_active_arrow(argmin_distance)
if 0 <= argmin_distance:
s, t = self[argmin_distance]
d0 = norm(p-s)
d1 = norm(p-t)
if d0 < d1:
self.set_active_point(0)
else:
self.set_active_point(1)
def _start_drag(self, event: matplotlib.backend_bases.MouseEvent):
self._mouse_down = event
self.begin_editing()
self.set_point((event.xdata, event.ydata))
def _on_button_press(self, event: matplotlib.backend_bases.MouseEvent):
if self.ignore(event):
return
self._event = event
if self.has_active_arrow():
if event.button == 1:
# There are a couple of ways we can miss a mouse up event...
if not self._mouse_down:
self._start_drag(event)
else:
if event.button == 1:
self.new_arrow(s=(event.xdata, event.ydata),
t=(event.xdata, event.ydata),
selected=True,
drag_target=True)
def _on_button_release(self, event: MouseEvent):
if self.ignore(event):
return
if self._mouse_down:
self._mouse_down = None
self.finish_editing()
def _on_key_press(self, event: KeyEvent):
if self.ignore(event):
return
self._event = event
if event.key in self.key_handlers:
self.key_handlers[event.key]()
def refresh_arrows(self):
# Remove the old arrows
while self._arrow_patches:
self._arrow_patches.pop().remove()
# Dont forget I added a point marker to the back of every arrow
while self._arrow_tails:
self._arrow_tails.pop().remove()
# Add the new ones
for s, t in zip(*self.matches):
self._make_arrow_patch(s, t)
# Refresh the highlights
self.refresh_highlights()
# Schedule a redraw
self.canvas.draw_idle()
def _set_highlight_arrow(self, s=None, t=None, visible=True):
if s is not None and t is not None:
self._arrow_highlight.set_positions(s, t)
self._arrow_highlight_tail.set_data(s)
self._arrow_highlight_head.set_data(t)
self._arrow_highlight.set_visible(visible)
self._arrow_highlight_head.set_visible(visible)
self._arrow_highlight_tail.set_visible(visible)
def refresh_highlights(self):
if 0 <= self._active_arrow < len(self):
self._set_highlight_arrow(self.matches[0][self._active_arrow],
self.matches[1][self._active_arrow],
visible=True)
else:
self._set_highlight_arrow(visible=False)
if 0 <= self._active_arrow < len(self) and 0 <= self._active_point < 2:
self._point_highlight.set_data(*(self.matches[self._active_point][self._active_arrow]))
self._point_highlight.set_visible(True)
else:
self._point_highlight.set_visible(False)
self.canvas.draw_idle()
def commit(self, _unused=None):
if self.on_finish:
self.on_finish(self)
def get_active_arrow(self):
return self._active_arrow
def set_active_arrow(self, i):
if i != self._active_arrow:
self._active_arrow = i
self.refresh_highlights()
def has_active_arrow(self):
return 0 <= self._active_arrow < len(self)
def get_active_point(self):
return self._active_point
def has_active_point(self):
return 0 <= self._active_point < 2
def set_active_point(self, i):
if i != self._active_point:
self._active_point = i
self.refresh_highlights()
def _make_arrow_patch(self, s, t):
a = FancyArrowPatch(s, t,
arrowstyle=self.arrowstyle,
facecolor=self.facecolor,
edgecolor=self.edgecolor)
a = self.ax.add_patch(a)
self._arrow_patches.append(a)
tail = Line2D([s[0]], [s[1]],
marker='o',
markersize=2.5,
markeredgecolor=self.edgecolor,
markerfacecolor=self.facecolor,
pickradius=self.pick_radius
)
tail = self.ax.add_artist(tail)
self._arrow_tails.append(tail)
@mutator
def new_arrow(self, s=None, t=None, selected=True, drag_target=False):
# Default to the location of the mouse in most recent event
if s is None:
if t is None:
s = self._event.xdata, self._event.ydata
else:
s = self.predict_source(t)
if t is None:
if s is None:
t = self._event.xdata, self._event.ydata
else:
t = self.predict_target(s)
# Add the new source and target
self.matches[0].append(s)
self.matches[1].append(t)
# Add a patch for the new arrow
self._make_arrow_patch(s, t)
# Users expect the new arrow to be selected
if selected:
self.set_active_arrow(len(self) - 1)
self.set_active_point(1) # Presumably we clicked on the tail and we will click on the head next
if drag_target:
self._start_drag(self._event)
# noinspection PyUnusedLocal
@mutator
def set_point(self, xy, point=None, arrow=None):
patch: FancyArrowPatch
line: Line2D
if arrow is None:
arrow = self._active_arrow
if point is None:
point = self._active_point
if not 0 <= arrow < len(self):
return # No arrows to select yet
self.matches[point][arrow] = xy
# Update the plot elements for the arrow
patch = self._arrow_patches[arrow]
patch.set_positions(self.matches[0][arrow], self.matches[1][arrow])
# And also move the tail
self._arrow_tails[arrow].set_data(self.matches[0][arrow])
# Update the highlights if we are moving the selected item
if arrow == self._active_arrow:
self.refresh_highlights()
def ensure_selected_arrow(self):
if len(self) == 0:
self.new_arrow()
if self._active_arrow < 0:
self.set_active_arrow(len(self) - 1)
def ensure_selected_point(self):
self.ensure_selected_arrow()
if self._active_point < 0:
self.set_active_arrow(len(self) - 1)
@mutator
def nudge(self, dx=0, dy=0):
self.ensure_selected_point()
x, y = self.matches[self._active_point][self._active_arrow]
self.set_point((x + dx, y + dy))
@mutator
def delete_arrow(self, arrow=None):
if arrow is None:
self.ensure_selected_arrow()
arrow = self._active_arrow
del self.matches[0][arrow]
del self.matches[1][arrow]
# Remove the patch from the plot
arrow_patch = self._arrow_patches.pop(arrow)
arrow_patch.remove()
tail = self._arrow_tails.pop(arrow)
tail.remove()
# Update the active arrow index (it might have shifted)
# The behavior if we delete the active arrow should be that
# the next arrow is selected. Otherwise the selected arrow
# should be the same.
if self._active_arrow > arrow:
self._active_arrow -= 1
def get_sources(self):
return self.matches[0]
def get_targets(self):
return self.matches[1]
def get_transform_order(self):
if self.order > 1:
order = min(self.order, len(self))
else:
order = round(self.order * len(self))
return order
def get_warp(self, recompute=False):
if recompute:
self._warp = None
if self._warp is None:
self._warp = PolynomialTransform()
self._warp.estimate(np.array(self.get_sources()),
np.array(self.get_targets()),
self.get_transform_order())
return self._warp
def get_inverse_warp(self, recompute=False):
if recompute:
self._inverse_warp = None
if self._inverse_warp is None:
self._inverse_warp = PolynomialTransform()
self._inverse_warp.estimate(self.get_targets(),
self.get_sources(),
self.get_transform_order())
return self._warp
def predict_target(self, s):
t = self.get_warp()(np.array([s]))[0]
return tuple(t)
def predict_source(self, t):
s = self.get_inverse_warp()(np.array([t]))[0]
return tuple(s)
def test_union_differing_types():
tform1 = SimilarityTransform()
tform2 = PolynomialTransform()
assert_raises(TypeError, tform1.__add__, tform2)