def test_contains_point_returns_true_if_the_specified_point_is_within_radius(
self):
circle = Circle(Point(0, 0), 10)
point_center = Point(0, 0)
self.assertTrue(circle.contains_point(point_center))
point_middle = Point(5, 5)
self.assertTrue(circle.contains_point(point_middle))
def _calculate_square_and_writing_metric(self, binary_image, transform, size):
""" Similar to the _calculate_square_metric function above, but also includes the regions above
and below that barcode that contain a text version of the information contained in the barcode.
This may do a better job of correctly fitting the square in certain circumstances, but may also
get trapped if there are dark/shadow regions around the edge of the image. """
center = transform.trans
angle = transform.rot
rotated = binary_image.rotate(angle, center)
brightness = rotated.calculate_brightness(center, size, size) * size**2
txt_height = self.TXT_HEIGHT * size
txt_width = self.TXT_WIDTH * size
area = txt_width * txt_height
rect1_center = center + Point(0, self.TXT_OFFSET*size)
rect2_center = center - Point(0, self.TXT_OFFSET*size)
brightness += rotated.calculate_brightness(rect1_center, txt_width, txt_height) * area
brightness += rotated.calculate_brightness(rect2_center, txt_width, txt_height) * area
brightness /= (size**2 + 2*area)
self.count += 1
return brightness
def test_scale_returns_new_circle_which_is_a_scaled_version_of_input_one(
self):
circle = Circle(Point(3, 0), 10)
new_circle = circle.offset(Point(3, 3))
self.assertEqual(new_circle.x(), 6)
self.assertEqual(new_circle.y(), 3)
self.assertEqual(new_circle.radius(), 10)
def find_location(self):
# find center, radius and location of the puck
# use feature detection to identify the orientation of the puck
self.unipuck_contours = self._find_puck_contours()
(x, y), radius = self._find_enclosing_circle_of_largest_contour()
features_cnt = self._find_contours_of_features(x, y, radius)
match_factor, match_cnt = self._find_feature(features_cnt)
uni = None
if (match_factor < FEATURE_MATCH_FACTOR): # take only the very good feature matches
hull = cv2.convexHull(match_cnt)
hull_area = cv2.contourArea(hull)
feature_area = cv2.contourArea(match_cnt)
#puck_area = math.pi * math.sqrt(radius)
area_factor = feature_area / hull_area
#puck_area_factor = feature_area / puck_area
if round(area_factor, 2) > FEATURE_HULL_MATCH_FACTOR:# and puck_area_factor > PUCK_FEATURE_AREA_FACTOR_MIN:
# take the features which have only small convexity defects
(cx, cy) = self._find_contour_momentum(match_cnt)
feature_orientation = math.atan2(cy - y, cx - x) # feature orientation
puck_orientation = feature_orientation - math.pi / 2 # puck orientation shifted -pi/2 rad from feature orientation
uni = Unipuck(Point(x, y), radius)
uni.set_rotation(puck_orientation)
uni.set_feature_center(Point(cx, cy))
uni.set_feature_boarder(match_cnt)
return uni
def TRIANGLE_DEMO():
""" Draw a set of axes and a triangle. Perform a series of random transformations
on the triangle and display the results.
"""
A = Point(143, 52)
B = Point(17, 96.5)
C = Point(0, 0)
for i in range(10):
# Create random transformation
angle = random.random() * 2 * math.pi
scale = random.random() * 3
delX = (random.random() - 0.5) * 200
delY = (random.random() - 0.5) * 200
translate = Point(delX, delY)
transform = Transform(translate, angle, scale)
# Transform the triangle
A_ = transform.transform(A)
B_ = transform.transform(B)
C_ = transform.transform(C)
# From the line A-B and the transformed line A'-B', determine what the transformation was
# This should be the same as the original transformation
trans_calc = Transform.line_mapping(A, B, A_, B_)
print("Angle: {:.2f}; {:.2f}".format(rad_to_deg(angle), rad_to_deg(trans_calc.rot)))
print("Trans: ({}); ({})".format(translate, trans_calc.trans))
print("Zoom: {:.2f}; {:.2f}".format(scale, trans_calc.zoom))
# Display on image
image = Image.blank(1000, 800)
image.draw_offset = IMG_CENTER
draw_axes(image, 300)
# Draw original triangle
image.draw_line(A, B, Color.Red(), 5)
image.draw_line(C, B, Color.Red(), 5)
image.draw_line(A, C, Color.Red(), 5)
#Draw transformed triangle
image.draw_line(A_, B_, Color.Green())
image.draw_line(A_, C_, Color.Green())
image.draw_line(C_, B_, Color.Green())
# Check that the reverse transformation works properly
A__ = transform.reverse(A_)
B__ = transform.reverse(B_)
C__ = transform.reverse(C_)
# Draw the reverse transformation - this should overlap the origianl triangle
image.draw_line(A__, B__, Color.Green(), 1)
image.draw_line(A__, C__, Color.Green(), 1)
image.draw_line(C__, B__, Color.Green(), 1)
# Write the transformation on the image
image.draw_text(transform.__str__(), Point(-450, 350), Color.White(), centered=False, scale=0.5, thickness=1)
# Show the image
image.popup()
def edges_image(edge_sets):
blank = Image.blank(image_original.width, image_original.height, 3, 255)
for shape in edge_sets:
for edge in shape:
print(edge[1])
blank.draw_line(Point.from_array(edge[0]), Point.from_array(edge[1]), Color.Green(), 1)
return blank
def draw_axes(img, length):
# Draw axes
x_neg = Point(-length, 0)
x_pos = Point(length, 0)
y_neg = Point(0, -length)
y_pos = Point(0, length)
img.draw_line(y_neg, y_pos, Color.White(), 5)
img.draw_line(x_neg, x_pos, Color.White(), 5)
def draw_rectangle(self, roi, color, thickness=2):
""" Draw the specified rectangle on the image (in place). """
top_left = self._format_point(Point(roi[0], roi[1]))
bottom_right = self._format_point(Point(roi[2], roi[3]))
cv2.rectangle(self.img,
top_left.tuple(),
bottom_right.tuple(),
color.bgra(),
thickness=thickness)
def _find_puck_center(pin_centers):
""" Calculate approximate center point of the puck from positions of the center points
of the pin slots.
Within each layer there may be some missing points, so if we calculate the center
position of the puck by averaging the center positions of the slots, the results will
be a bit out. Instead, we use the average center position (the centroid) as a starting
point and divide the slots into two groups based on how close they are to the centroid.
As long as not too many slots are missing, the division into groups should work well.
We then iterate over different values for the puck center position, attempting to find
a location that is equidistant from all of the slot centers.
"""
centroid = calculate_centroid(pin_centers)
# Calculate distance from center to each pin-center
distances = [[point, point.distance_to(centroid)]
for point in pin_centers]
distances = sorted(distances, key=lambda distance: distance[1])
# Sort the points into two layers based on their distance from the centroid
layer_break = _partition([d for p, d in distances])
first_layer = [p for p, d in distances[:layer_break]]
second_layer = [p for p, d in distances[layer_break:]]
# Optimise for the puck center by finding the point that is equidistant from every point in each layer
center = fmin(func=_center_minimiser,
x0=centroid.tuple(),
args=tuple([[first_layer, second_layer]]),
xtol=1,
disp=False)
center = Point(center[0], center[1]).intify()
return center
def test_draw_circle_thickness_equals_one(self):
img = Image.blank(40, 40)
circle = Circle(Point(20, 20), 10)
img.draw_circle(circle, Color(200, 200, 200), 1)
self.assertEquals(img.img[10][20][1], 200)
self.assertEquals(img.img[9][20][1], 0)
self.assertEquals(img.img[11][20][1], 0)
def _sanitize_circles(raw_circles):
circles = []
if raw_circles is not None:
for raw in raw_circles[0]:
center = Point(int(raw[0]), int(raw[1]))
radius = int(raw[2])
circles.append(Circle(center, radius))
return circles
def _rotate_around_point(point, angle, center):
""" Rotate the point about the center position """
x = point.x - center.x
y = point.y - center.y
cos = math.cos(angle)
sin = math.sin(angle)
x_ = x * cos - y * sin
y_ = x * sin + y * cos
return Point(x_, y_) + center
def draw_text(self, text, position, color, centered=False, scale=1.5, thickness=3):
""" Draw the specified text on the image (in place). """
if centered:
text_size = opencv.getTextSize(text, opencv.FONT_HERSHEY_SIMPLEX, fontScale=scale, thickness=thickness)[0]
text_size = Point(-text_size[0]/2.0, text_size[1]/2.0)
position = (position + text_size)
position = self._format_point(position)
opencv.putText(self.img, text, position.tuple(), opencv.FONT_HERSHEY_SIMPLEX, fontScale=scale,
color=color.bgra(), thickness=thickness)
def deserialize(string):
""" Generate a Unipuck object from a string representation. """
tokens = string.split(Unipuck._SERIAL_DELIM)
center = Point(int(tokens[0]), int(tokens[1]))
radius = int(tokens[2])
angle = float(tokens[3])
return Unipuck(center, radius, angle)
def CIRCLES_DEMO():
""" Draw a set of axes and a random set of circles. Perform a series of
random transformations on the circles.
"""
# Create a set of random circles
points = []
for i in range(10):
X = (random.random()) * 200
Y = (random.random()) * 200
points.append(Point(X, Y))
for i in range(10):
# Create random transformation
angle = random.random() * 2 * math.pi
scale = random.random() * 3
delX = (random.random() - 0.5) * 200
delY = (random.random() - 0.5) * 200
translate = Point(delX, delY)
trs = Transform(translate, angle, scale)
# Display on image
image = Image.blank(1000, 800)
image.draw_offset = IMG_CENTER
draw_axes(image, 300)
# Draw the circles and transformed circles on the image
radius = 10
for p in points:
circle = Circle(p, radius)
trans_circle = Circle(trs.transform(p), radius * trs.zoom)
image.draw_circle(circle, Color.Red())
image.draw_circle(trans_circle, Color.Blue())
# Write the transformation on the image
image.draw_text(trs.__str__(),
Point(-450, 350),
Color.White(),
centered=False,
scale=0.5,
thickness=1)
# Show the image
image.popup()
def test_sub_image_is_created_if_the_center_is_outside_but_the_radius_ovelaps_with_input_image(
self):
image = Image.blank(9, 9, 3, 0)
x_center = 10
y_center = 10
radius = 2
sub_image, roi = image.sub_image(Point(x_center, y_center), radius)
height = sub_image.height
width = sub_image.width
self.assertEquals(width, 1)
self.assertEquals(height, 1)
def test_sub_image_has_size_of_input_image_if_2xradius_covers_the_whole_image(
self):
image = Image.blank(5, 6, 3, 0)
x_center = 2
y_center = 2
radius = 7
sub_image, roi = image.sub_image(Point(x_center, y_center), radius)
height = sub_image.height
width = sub_image.width
self.assertEquals(width, image.width)
self.assertEquals(height, image.height)
def test_sub_image_has_size_0x0_if_center_and_radius_outside_the_input_image(
self):
image = Image.blank(5, 6, 3, 0)
x_center = 10
y_center = 10
radius = 2
sub_image, roi = image.sub_image(Point(x_center, y_center), radius)
height = sub_image.height
width = sub_image.width
self.assertEquals(width, 0)
self.assertEquals(height, 0)
def test_circle_is_correctly_detected_when_there_there_are_two_circles_in_the_image_not_intersecting(
self):
img = Image.blank(100, 100)
circle_a = Circle(Point(20, 20), 10)
circle_b = Circle(Point(50, 50), 10)
img.draw_circle(circle_a, Color(10, 50, 100), 2)
img.draw_circle(circle_b, Color(10, 50, 100), 2)
grey = img.to_grayscale()
decorator = CircleDetector()
decorator.set_maximum_radius(20)
decorator.set_minimum_radius(5)
decorator.set_accumulator_threshold(30)
decorator.set_canny_threshold(30)
decorator.set_minimum_separation(10)
list = decorator.find_circles(grey)
self.assertEqual(list.__len__(), 2)
def test_sub_image_is_not_square_if_center_x_is_too_close_to_the_edge(
self):
image = Image.blank(10, 10, 3, 0)
x_center = 9
y_center = 5
radius = 2
sub_image, roi = image.sub_image(Point(x_center, y_center), radius)
height = sub_image.height
width = sub_image.width
self.assertEquals(width, 3)
self.assertEquals(height, 2 * radius)
self.assertNotEquals(width, height)
def _center_minimiser(center, dist):
""" Used as the cost function in an optimisation routine.
for a trial center point, we calculate an error that is the sum of the squares of the deviation
of the distance of each slot from the mean distance of all the slots.
"""
errors = []
center = Point.from_array(center)
distances = [p.distance_to_sq(center) for p in dist]
mean = np.mean(distances)
layer_errors = [(d - mean)**2 for d in distances]
errors.extend(layer_errors)
return sum(errors)
def _draw_square(image, transform, size):
radius = size/2
center = Point(transform.x, transform.y)
rotated = image.rotate(transform.rot, center)
x1, y1 = center.x-radius, center.y-radius
x2, y2 = x1 + size, y1 + size
roi = (x1, y1, x2, y2)
marked_img = rotated.to_alpha()
marked_img.draw_rectangle(roi, Color.Green(), 1)
return marked_img
def _make_transforms(transform, grid_points, angle_points):
transforms = []
for x in grid_points:
for y in grid_points:
for degrees in angle_points:
radians = degrees * math.pi / 180
offset = Point(x, y)
trs = transform.by_offset(offset)
trs = trs.by_rotation(radians)
transforms.append(trs)
return transforms
def test_draw_circle_thickness_equals_four(self):
img = Image.blank(40, 40)
circle = Circle(Point(20, 20), 10)
img.draw_circle(circle, Color(200, 200, 200), 4)
self.assertEquals(img.img[6][20][1], 0)
self.assertEquals(img.img[7][20][1], 0) #!!
self.assertEquals(img.img[8][20][1], 200)
self.assertEquals(img.img[10][20][1], 200)
self.assertEquals(img.img[9][20][1], 200)
self.assertEquals(img.img[11][20][1], 200)
self.assertEquals(img.img[12][20][1], 200)
self.assertEquals(img.img[13][20][1], 0) #!!
self.assertEquals(img.img[14][20][1], 0)
def test_calculate_slot_bounds_returns_x0_for_slots1and6_if_rotation_and_center_are_0(
self):
#again the assumption that slot bounds have a particular sequence - slot bound[0] is slot number 1
center = Point(0, 0)
rotation = 0
radius = 10
slot_bounds = Unipuck.calculate_slot_bounds(center, radius, rotation)
self.assertTrue(len(slot_bounds) == 16)
slot1 = slot_bounds[0]
self.assertTrue(slot1.center().x == 0)
slot6 = slot_bounds[5]
self.assertTrue(slot6.center().x == 0)
def __init__(self, img):
self.img = img
size = self.img.shape
self.width = size[1]
self.height = size[0]
if len(size) > 2:
self.channels = size[2]
else:
self.channels = 1
# All draw requests will be offset by this amount
self.draw_offset = Point(0, 0)
def _draw_finder_pattern(image, transform, fp):
center = Point(transform.x, transform.y)
angle = transform.rot
rotated = image.rotate(transform.rot, center)
c1 = _rotate_around_point(fp.c1, -angle, center)
c2 = _rotate_around_point(fp.c2, -angle, center)
c3 = _rotate_around_point(fp.c3, -angle, center)
img = rotated.to_alpha()
img.draw_line(c1, c2, Color.Green(), 1)
img.draw_line(c1, c3, Color.Green(), 1)
return img
def _get_finder_pattern(edges):
"""Return information about the "main" corner from a set of edges.
This function finds the corner between the longest two edges, which should
be spatially adjacent (it is up to the caller to make sure of this). It
returns the position of the corner, and vectors corresponding to the said
two edges, pointing away from the corner. These two vectors are returned in
an order such that their cross product is positive, i.e. (see diagram) the
base vector (a) comes before the side vector (b).
^side
|
| base
X--->
corner
This provides a convenient way to refer to the position of a datamatrix.
"""
self = ContourLocator
i, j = self._longest_pair_indices(edges)
pair_longest_edges = [edges[x] for x in (i, j)]
x_corner = self._get_shared_vertex(*pair_longest_edges)
c, d = map(partial(self._get_other_vertex, x_corner),
pair_longest_edges)
vec_c, vec_d = map(partial(np.add, -x_corner), (c, d))
# FIXME: There seems to be a sign error here...
if vec_c[0] * vec_d[1] - vec_c[1] * vec_d[0] < 0:
vec_base, vec_side = vec_c, vec_d
else:
vec_base, vec_side = vec_d, vec_c
x_corner = Point(x_corner[0], x_corner[1]).intify()
vec_base = Point(vec_base[0], vec_base[1]).intify()
vec_side = Point(vec_side[0], vec_side[1]).intify()
return FinderPattern(x_corner, vec_base, vec_side)
def test_draw_circle_centre_is_kept(self):
img = Image.blank(40, 40)
circle = Circle(Point(20, 20), 1)
img.draw_circle(circle, Color(200, 200, 200), 1)
self.assertEquals(img.img[18][20][1], 0)
self.assertEquals(img.img[19][20][1], 200)
self.assertEquals(img.img[20][20][1], 0)
self.assertEquals(img.img[21][20][1], 200)
self.assertEquals(img.img[22][20][1], 0)
self.assertEquals(img.img[20][18][1], 0)
self.assertEquals(img.img[20][19][1], 200)
self.assertEquals(img.img[20][20][1], 0)
self.assertEquals(img.img[20][21][1], 200)
self.assertEquals(img.img[20][22][1], 0)
def test_sub_image_is_square_with_side_length_2_radius_if_enough_space_to_cut_from(
self):
image = Image.blank(10, 10, 3, 0)
x_center = 5
y_center = 5
radius = 2
sub_image, roi = image.sub_image(Point(
x_center, y_center), radius) #sub_image returns a raw cv image
height = sub_image.height
width = sub_image.width
self.assertEquals(width, 2 * radius)
self.assertEquals(height, 2 * radius)
self.assertEquals(width, height)
def _center_minimiser(center, layers):
""" Used as the cost function in an optimisation routine. The puck consists of 2 layers of slots.
Within a given layer, each slot is the same distance from the center point of the puck. Therefore
for a trial center point, we calculate an error that is the sum of the squares of the deviation
of the distance of each slot from the mean distance of all the slots in the layer.
"""
errors = []
center = Point.from_array(center)
for layer in layers:
distances = [p.distance_to_sq(center) for p in layer]
mean = np.mean(distances)
layer_errors = [(d-mean)**2 for d in distances]
errors.extend(layer_errors)
return sum(errors)
def _locate_finder_in_square(image, transform, size):
""" For the located barcode in the image, identify which of the sides make
up the finder pattern.
"""
radius = int(round(size/2))
center = transform.trans
angle = transform.rot
rotated = image.rotate(angle, center)
sx1, sy1 = center.x-radius, center.y-radius
sx2, sy2 = center.x+radius, center.y+radius
thick = int(round(size / 14))
# Top
x1, y1 = sx1, sy1
x2, y2 = sx2, sy1 + thick
top = np.sum(rotated.img[y1:y2, x1:x2]) / (size * thick)
# Left
x1, y1 = sx1, sy1
x2, y2 = sx1 + thick, sy2
left = np.sum(rotated.img[y1:y2, x1:x2]) / (size * thick)
# Bottom
x1, y1 = sx1, sy2 - thick
x2, y2 = sx2, sy2
bottom = np.sum(rotated.img[y1:y2, x1:x2]) / (size * thick)
# Right
x1, y1 = sx2 - thick, sy1
x2, y2 = sx2, sy2
right = np.sum(rotated.img[y1:y2, x1:x2]) / (size * thick)
# Identify finder edges
if top < bottom and left < right:
c1 = [sx1, sy1]
c2 = [sx1, sy2]
c3 = [sx2, sy1]
elif top < bottom and right < left:
c1 = [sx2, sy1]
c2 = [sx1, sy1]
c3 = [sx2, sy2]
elif bottom < top and left < right:
c1 = [sx1, sy2]
c2 = [sx2, sy2]
c3 = [sx1, sy1]
elif bottom < top and right < left:
c1 = [sx2, sy2]
c2 = [sx2, sy1]
c3 = [sx1, sy2]
else:
return None
# rotate points around center of square
c1 = _rotate_around_point(Point.from_array(c1), angle, center)
c2 = _rotate_around_point(Point.from_array(c2), angle, center)
c3 = _rotate_around_point(Point.from_array(c3), angle, center)
# Create finder pattern
c1 = c1.intify()
side1 = (c2 - c1).intify()
side2 = (c3 - c1).intify()
fp = FinderPattern(c1, side1, side2)
return fp