def find_corner_in_full_scale(self,point):
point= self.m_d.scale_up(point)
scale = self.m_d.scale
self.m_d.set_scale(0)
gray_img = self.m_d.gray_img
canny_img = self.m_d.canny_img
x,y = point
cr = correct_rectangle((x-5,y-5,10,10), cv.GetSize(gray_img))
for img in [gray_img,canny_img]:
cv.SetImageROI(img, cr)
cv.Canny(gray_img, canny_img, 300, 500)
conts = cv.FindContours(canny_img, cv.CreateMemStorage(),
cv.CV_RETR_LIST,(cr[0],cr[1]))
db.DrawContours(self.m_d.tmp_img, conts, (255,255,255), (128,128,128), 10)
min =10
min_point = None
while conts:
for c in conts:
vec = vector(point,c)
len =length(vec)
if len<min:
min = len
min_point = c
conts.h_next()
self.m_d.set_scale(scale)
return min_point
def get_candidates(self, m_d):
'''
Get candidates for this corner from new image
@param m_d: marker_detector
'''
# if this corner is wider then MAX_CORNER_ANGLE, we probably won't
# find it anyway. Instead lets find narrow corners and calculate its
# position
if self.angle > MAX_CORNER_ANGLE: return []
cr = self.get_rectangle(m_d)
cr = correct_rectangle(cr, m_d.size)
if cr is None: return []
m_d.set_ROI(cr)
tmp_img = m_d.tmp_img
gray_img = m_d.gray_img
bw_img = m_d.bw_img
canny = m_d.canny_img
cv.Copy(gray_img, tmp_img)
cv.Threshold(gray_img, bw_img, 125, 255, cv.CV_THRESH_OTSU)
if self.black_inside > 0:
cv.Not(bw_img, bw_img)
cv.Canny(gray_img, canny, 300, 500)
cv.Or(bw_img, canny, bw_img)
tmpim = m_d.canny_img
cv.Copy(bw_img, tmpim)
cv.Set2D(tmpim, 1, 1, 255)
conts = cv.FindContours(tmpim, cv.CreateMemStorage(),
cv.CV_RETR_EXTERNAL)
cv.Zero(tmpim)
m_d.set_ROI()
cv.SetImageROI(tmpim, cr)
result = []
while conts:
aconts = cv.ApproxPoly(conts, cv.CreateMemStorage(),
cv.CV_POLY_APPROX_DP, 2)
nconts = list(aconts)
cv.PolyLine(tmpim, [nconts], True, (255, 255, 255))
self._append_candidates_from_conts(cr, result, nconts, m_d)
conts = conts.h_next()
# print result
# db.show([tmpim,m_d.draw_img], 'tmpim', 0, 0, 0)
return result
def find_old_markers(self):
'''
Find markers using their previous position
'''
#print "find old"
self.borders = []
for scale in range(0, -1, -1):
self.set_scale(scale)
for mar in self.not_found:
if mar.find_corners():
self.not_found.remove(mar)
return
if len(self.not_found) == 0: return
# if there are some undetected markers, try to find them again. This
# time bw_img has more accurate tresholding, so maybe we will find them
if len(self.borders) == 0: return
(x, y, wx, wy) = cv.BoundingRect(self.borders)
cv.ResetImageROI(self.img)
rect = correct_rectangle((x - wx / 2, y - wy / 2, wx * 1.5, wy * 1.5),
self.size)
def get_candidates(self, m_d):
'''
Get candidates for this corner from new image
@param m_d: marker_detector
'''
# if this corner is wider then MAX_CORNER_ANGLE, we probably won't
# find it anyway. Instead lets find narrow corners and calculate its
# position
if self.angle > MAX_CORNER_ANGLE: return []
cr = self.get_rectangle(m_d)
cr = correct_rectangle(cr, m_d.size)
if cr is None: return []
m_d.set_ROI(cr)
tmp_img = m_d.tmp_img
gray_img = m_d.gray_img
bw_img = m_d.bw_img
canny = m_d.canny_img
cv.Copy(gray_img, tmp_img)
cv.Threshold(gray_img, bw_img, 125, 255, cv.CV_THRESH_OTSU)
if self.black_inside>0:
cv.Not(bw_img, bw_img)
cv.Canny(gray_img, canny, 300, 500)
cv.Or(bw_img, canny, bw_img)
tmpim = m_d.canny_img
cv.Copy(bw_img, tmpim)
cv.Set2D(tmpim, 1, 1, 255)
conts = cv.FindContours(tmpim, cv.CreateMemStorage(), cv.CV_RETR_EXTERNAL);
cv.Zero(tmpim)
m_d.set_ROI()
cv.SetImageROI(tmpim, cr)
result = []
while conts:
aconts = cv.ApproxPoly(conts, cv.CreateMemStorage(), cv.CV_POLY_APPROX_DP, 2)
nconts = list(aconts)
cv.PolyLine(tmpim, [nconts], True, (255,255,255))
self._append_candidates_from_conts(cr, result, nconts, m_d)
conts = conts.h_next()
# print result
# db.show([tmpim,m_d.draw_img], 'tmpim', 0, 0, 0)
return result
def find_better_point(self, from_, direction, predicted_length, range=20):
'''
Tries to find better corner arm - goes from from_ using vector direction
on a line to find last visible point on this line
@param from_:
@param tpredicted_length: predicted length of this side
@param direction:
'''
img = self.bw_img
timg = self.tmp_img
L1 = predicted_length * 1.2
vec = direction
L2 = length(vec)
vec = add((0, 0), vec, L1 / L2) #vector towards direction of length of old side
vec1 = rotateVec(vec, d2r(range))
vec2 = rotateVec(vec, d2r(-range))
x, y = from_
cv.ResetImageROI(img)
size = cv.GetSize(img)
border_points = [add(from_, vec1), add(from_, vec2), (x - 5, y - 5), (x + 5, y + 5)]
(x, y, wx, wy) = cv.BoundingRect(border_points)
crect = correct_rectangle((x - 3, y - 3, wx + 6, wy + 6), size)
[cv.SetImageROI(i, crect) for i in [img, timg, self.gray_img]]
self.bounds.extend(cvrect(crect))
cv.Threshold(self.gray_img, img, 125, 255, cv.CV_THRESH_OTSU)
cv.Not(img, timg)
cv.Canny(self.gray_img, img, 300, 500)
cv.Or(img, timg,timg)
rect = cvrect(crect)
cv.Set2D(timg, 1, 1, (30, 30, 30))
conts = cv.FindContours(timg, cv.CreateMemStorage(), cv.CV_RETR_EXTERNAL)
db.DrawContours(timg, conts, (255, 255, 255), (128, 128, 128), 10)
cv.Zero(timg)
fr = add(from_, rect[0], -1)
ans = []
while conts:
cont = cv.ApproxPoly(conts, cv.CreateMemStorage(), cv.CV_POLY_APPROX_DP, parameter=2, parameter2=0)
cv.DrawContours(timg, cont, (255, 255, 255), (128, 128, 128), 10)
cont = list(cont)
L = len(cont)
for i, p in enumerate(cont):
if length(vector(fr, p)) < 5:
prev = cont[(i - 1 + L) % L]
next = cont[(i + 1) % L]
ans.append(vector(fr, prev))
ans.append(vector(fr, next))
conts = conts.h_next()
[cv.ResetImageROI(i) for i in [self.gray_img, timg, img]]
if len(ans) == 0:
# we didn't find corresponding corner,
# that means it wasn't really a corner
return None
if len(ans) == 2 and ans[0] == ans[1]: return add(from_, direction)
min = math.pi
min_index = 0
for i, v in enumerate(ans):
tmp = vectorAngle(vec, v)
if tmp < min:
min = tmp
min_index = i
ans = ans[min_index]
if length(ans)+1< L2:
# the point we just found is closer then the previous one
return add(from_,direction)
abs_point = add(from_, ans)
if point_on_edge(abs_point, crect):
if not point_on_edge(abs_point, (0, 0, size[0], size[1])):
if range < 20:
# this is recurence call. When we are here it means that
# side is longer then expected by over 2 times - it is not
# the side we are looking for- corner is not valid
return None
else:
return self.find_better_point(from_, abs_point,
predicted_length * 2, 5)
return abs_point
