示例#1
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 def draw_rectangle(self, img, colour=(255,0,0), linewidth=2, offset=2):
         '''draw a rectange around the region in an image'''
         (x1,y1,x2,y2) = self.tuple()
         (wview,hview) = cuav_util.image_shape(img)
         (w,h) = cuav_util.image_shape(img)
         x1 = x1*wview//w
         x2 = x2*wview//w
         y1 = y1*hview//h
         y2 = y2*hview//h
         cv.Rectangle(img, (max(x1-offset,0),max(y1-offset,0)), (x2+offset,y2+offset), colour, linewidth) 
示例#2
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 def draw_rectangle(self, img, colour=(255, 0, 0), linewidth=2, offset=2):
     '''draw a rectange around the region in an image'''
     (x1, y1, x2, y2) = self.tuple()
     (wview, hview) = cuav_util.image_shape(img)
     (w, h) = cuav_util.image_shape(img)
     x1 = x1 * wview // w
     x2 = x2 * wview // w
     y1 = y1 * hview // h
     y2 = y2 * hview // h
     cv.Rectangle(img, (max(x1 - offset, 0), max(y1 - offset, 0)),
                  (x2 + offset, y2 + offset), colour, linewidth)
示例#3
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 def view_imagefile(self, filename):
     '''view an image in a zoomable window'''
     img = cuav_util.LoadImage(filename)
     (w,h) = cuav_util.image_shape(img)
     for r in self.regions:
         if r.filename == filename:
             r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
     if self.view_image is None or not self.view_image.is_alive():
         import wx
         self.view_image = mp_image.MPImage(title='View',
                                            mouse_events=True,
                                            key_events=True,
                                            can_zoom=True,
                                            can_drag=True)
         vmenu = MPMenuSubMenu('View',
                               items=[
             MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
             MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
             MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
             MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
             MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
             MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness')])
         self.view_menu = MPMenuTop([vmenu])
         self.view_image.set_menu(self.view_menu)
         self.view_image.set_popup_menu(vmenu)
     self.view_filename = filename
     self.view_image.set_image(img, bgr=True)
     self.view_image.set_title('View: ' + os.path.basename(filename))
示例#4
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 def view_imagefile(self, filename):
     '''view an image in a zoomable window'''
     img = cuav_util.LoadImage(filename, rotate180=self.camera_settings.rotate180)
     (w,h) = cuav_util.image_shape(img)
     for i in range(len(self.images)):
         if filename == self.images[i].filename:
             self.current_view = i
             self.images[i].shape = (w,h)
     for r in self.regions:
         if r.filename == filename:
             r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
     if self.view_image is None or not self.view_image.is_alive():
         import wx
         self.view_image = mp_image.MPImage(title='View',
                                            mouse_events=True,
                                            key_events=True,
                                            can_zoom=True,
                                            can_drag=True)
         vmenu = MPMenuSubMenu('View',
                               items=[
             MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
             MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
             MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
             MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
             MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
             MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness')])
         self.view_menu = MPMenuTop([vmenu])
         self.view_image.set_menu(self.view_menu)
         self.view_image.set_popup_menu(vmenu)
     self.view_filename = filename
     self.view_image.set_image(img, bgr=True)
     self.view_image.set_title('View: ' + os.path.basename(filename))
示例#5
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def score_region(img, r, filter_type='simple'):
    '''filter a list of regions using HSV values'''
    (x1, y1, x2, y2) = r.tuple()
    (w, h) = cuav_util.image_shape(img)
    x = (x1 + x2) / 2
    y = (y1 + y2) / 2
    x1 = max(x - 10, 0)
    x2 = min(x + 10, w)
    y1 = max(y - 10, 0)
    y2 = min(y + 10, h)
    rimg = img[y1:y2, x1:x2]
    r.score = rgb_score(rimg)
示例#6
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 def view_imagefile(self, filename, focus_region=None):
     '''view an image in a zoomable window'''
     img = cv2.imread(filename)
     img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
     (w,h) = cuav_util.image_shape(img)
     for i in range(len(self.images)):
         if filename == self.images[i].filename:
             self.current_view = i
             self.last_view_latlon = None
             self.images[i].shape = (w,h)
     for r in self.regions:
         if r.filename == filename:
             r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
     if self.view_image is None or not self.view_image.is_alive():
         import wx
         viewwidth = w
         viewheight = h
         if self.image_view_width is not None:
             if viewwidth > self.image_view_width:
                 viewwidth = self.image_view_width
             viewheight = (h*viewwidth)/w
         self.view_image = mp_image.MPImage(title='View',
                                            mouse_events=True,
                                            key_events=True,
                                            can_zoom=True,
                                            can_drag=True,
                                            width=viewwidth,
                                            height=viewheight)
         vmenu = MPMenuSubMenu('View',
                               items=[
             MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
             MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
             MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
             MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
             MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
             MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness'),
             MPMenuItem('Refresh Image\tCtrl+R', 'Refresh Image', 'refreshImage'),
             MPMenuItem('Place Marker\tCtrl+M', 'Place Marker', 'placeMarker')])
         self.view_menu = MPMenuTop([vmenu])
         self.view_image.set_menu(self.view_menu)
         self.view_image.set_popup_menu(vmenu)
     self.view_filename = filename
     self.view_image.set_image(img)
     if focus_region is not None:
         try:
             self.view_image.center(focus_region.center())
         except Exception:
             pass
     self.view_image.set_title('View: ' + os.path.basename(filename))
     self.view_image.fit_to_window()
示例#7
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def score_region(img, r, min_score=4):
	'''filter a list of regions using HSV values'''
	(x1, y1, x2, y2) = r.tuple()
	if True:
		(w,h) = cuav_util.image_shape(img)
		x = (x1+x2)/2
		y = (y1+y2)/2
		x1 = max(x-10,0)
		x2 = min(x+10,w)
		y1 = max(y-10,0)
		y2 = min(y+10,h)
	cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1))
	hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3)
	cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
	cv.ResetImageROI(img)
	r.score = hsv_score(hsv)
示例#8
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def score_region(img, r, filter_type='simple'):
	'''filter a list of regions using HSV values'''
	(x1, y1, x2, y2) = r.tuple()
	if True:
		(w,h) = cuav_util.image_shape(img)
		x = (x1+x2)/2
		y = (y1+y2)/2
		x1 = max(x-10,0)
		x2 = min(x+10,w)
		y1 = max(y-10,0)
		y2 = min(y+10,h)
	cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1))
	hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3)
	cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
	cv.ResetImageROI(img)
        if filter_type == 'compactness':
                use_compactness = True
        else:
                use_compactness = False
        hsv_score(r, hsv, use_compactness)
示例#9
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def score_region(img, r, filter_type='simple'):
    '''filter a list of regions using HSV values'''
    (x1, y1, x2, y2) = r.tuple()
    if True:
        (w,h) = cuav_util.image_shape(img)
        x = (x1+x2)/2
        y = (y1+y2)/2
        x1 = int(max(x-10,0))
        x2 = int(min(x+10,w))
        y1 = int(max(y-10,0))
        y2 = int(min(y+10,h))
    cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1))
    hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3)
    cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
    cv.ResetImageROI(img)
    if filter_type == 'compactness':
        use_compactness = True
    else:
        use_compactness = False
    hsv_score(r, hsv, use_compactness)
示例#10
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def score_region(img, r, filter_type="simple"):
    """filter a list of regions using HSV values"""
    (x1, y1, x2, y2) = r.tuple()
    if True:
        (w, h) = cuav_util.image_shape(img)
        x = (x1 + x2) / 2
        y = (y1 + y2) / 2
        x1 = max(x - 10, 0)
        x2 = min(x + 10, w)
        y1 = max(y - 10, 0)
        y2 = min(y + 10, h)
    cv.SetImageROI(img, (x1, y1, x2 - x1, y2 - y1))
    hsv = cv.CreateImage((x2 - x1, y2 - y1), 8, 3)
    cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
    cv.ResetImageROI(img)
    if filter_type == "compactness":
        use_compactness = True
    else:
        use_compactness = False
    r.score = hsv_score(hsv, use_compactness)
示例#11
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def score_region(img, r, filter_type='simple', target_hue=0):
    '''filter a list of regions using HSV values'''
    (x1, y1, x2, y2) = r.tuple()
    (w,h) = cuav_util.image_shape(img)
    x = (x1+x2)/2
    y = (y1+y2)/2
    x1 = max(x-10,0)
    x2 = min(x+10,w)
    y1 = max(y-10,0)
    y2 = min(y+10,h)
    hsv = cv2.cvtColor(img[y1:y2, x1:x2], cv2.COLOR_BGR2HSV)
    hsv_score(r, hsv)
    
    #set score to 0 if outside hue range
    if target_hue != 0:
        hue, saturation, lightness = cv2.split(hsv)
        (height,width,d) = shape(hsv)
        retb, dest = cv2.threshold(hue, max(target_hue-3, 0), 255, cv2.THRESH_TOZERO)
        retb, dest = cv2.threshold(dest, min(target_hue+3, 180), 255, cv2.THRESH_TOZERO_INV)
        ret, dest = cv2.threshold(dest, 0, 255, cv2.THRESH_BINARY)
        #if less than 5% of the pixels are in hue range, then reject
        if (cv2.countNonZero(dest)*100/(width*height)) < 5:
            r.score = 0
示例#12
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 def view_imagefile(self, filename):
     '''view an image in a zoomable window'''
     img = cuav_util.LoadImage(filename, rotate180=self.camera_settings.rotate180)
     (w,h) = cuav_util.image_shape(img)
     for i in range(len(self.images)):
         if filename == self.images[i].filename:
             self.current_view = i
             self.last_view_latlon = None
             self.images[i].shape = (w,h)
     for r in self.regions:
         if r.filename == filename:
             r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
     if self.view_image is None or not self.view_image.is_alive():
         import wx
         self.view_image = mp_image.MPImage(title='View',
                                            mouse_events=True,
                                            key_events=True,
                                            can_zoom=True,
                                            can_drag=True)
         vmenu = MPMenuSubMenu('View',
                               items=[
             MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
             MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
             MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
             MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
             MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
             MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness'),
             MPMenuItem('Refresh Image\tCtrl+R', 'Refresh Image', 'refreshImage'),
             MPMenuItem('Download Full\tCtrl+D', 'Download Full', 'downloadFull'),
             MPMenuItem('Place Marker\tCtrl+M', 'Place Marker', 'placeMarker')])
         self.view_menu = MPMenuTop([vmenu])
         self.view_image.set_menu(self.view_menu)
         self.view_image.set_popup_menu(vmenu)
     self.view_filename = filename
     self.view_image.set_image(img, bgr=True)
     self.view_image.set_title('View: ' + os.path.basename(filename))
示例#13
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 def tag_image_available(self, color=(0,255,255)):
     '''tag the small thumbnail image with a marker making it clear the
     full image is available'''
     (w,h) = cuav_util.image_shape(self.small_thumbnail)
     cv.Rectangle(self.small_thumbnail, (w-3,0), (w-1,2), color, 2) 
示例#14
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文件: scantest.py 项目: BeauJoh/cuav
def process(args):
  '''process a set of files'''

  global slipmap, mosaic
  scan_count = 0
  files = []
  for a in args:
    if os.path.isdir(a):
      files.extend(glob.glob(os.path.join(a, '*.pgm')))
    else:
      files.append(a)
  files.sort()
  num_files = len(files)
  print("num_files=%u" % num_files)
  region_count = 0
  joes = []

  if opts.mavlog:
    mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
    mpos.set_logfile(opts.mavlog)
  else:
    mpos = None

  if opts.boundary:
    boundary = cuav_util.polygon_load(opts.boundary)
  else:
    boundary = None

  if opts.mosaic:
    slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
    icon = slipmap.icon('planetracker.png')
    slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
                                           follow=True,
                                           trail=mp_slipmap.SlipTrail()))
    C_params = cam_params.CameraParams(lens=opts.lens)
    path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..',
                        'cuav', 'data', 'chameleon1_arecont0.json')
    C_params.load(path)
    mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
    if boundary is not None:
      mosaic.set_boundary(boundary)

  if opts.joe:
    joes = cuav_util.polygon_load(opts.joe)
    if boundary:
      for i in range(len(joes)):
        joe = joes[i]
        if cuav_util.polygon_outside(joe, boundary):
          print("Error: joe outside boundary", joe)
          return
        icon = slipmap.icon('flag.png')
        slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))

  joelog = cuav_joe.JoeLog('joe.log')      

  if opts.view:
    viewer = mp_image.MPImage(title='Image')

  frame_time = 0

  for f in files:
    if mpos:
      frame_time = cuav_util.parse_frame_time(f)
      try:
        if opts.roll_stabilised:
          roll = 0
        else:
          roll = None
        pos = mpos.position(frame_time, opts.max_deltat,roll=roll)
        slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
      except mav_position.MavInterpolatorException as e:
        print e
        pos = None
    else:
      pos = None

    # check for any events from the map
    if opts.mosaic:
      slipmap.check_events()
      mosaic.check_events()

    if f.endswith('.pgm'):
      pgm = cuav_util.PGM(f)
      im = pgm.array
      if pgm.eightbit:
        im_8bit = im
      else:
        im_8bit = numpy.zeros((960,1280,1),dtype='uint8')
        if opts.gamma != 0:
          scanner.gamma_correct(im, im_8bit, opts.gamma)
        else:
          scanner.reduce_depth(im, im_8bit)
      im_full = numpy.zeros((960,1280,3),dtype='uint8')
      scanner.debayer_full(im_8bit, im_full)
      im_640 = numpy.zeros((480,640,3),dtype='uint8')
      scanner.downsample(im_full, im_640)
    else:
      im_orig = cv.LoadImage(f)
      (w,h) = cuav_util.image_shape(im_orig)
      if (w,h) != (1280,960):
        im_full = cv.CreateImage((1280, 960), 8, 3)
        cv.Resize(im_orig, im_full)
        cv.ConvertScale(im_full, im_full, scale=0.3)
      else:
        im_full = im_orig
      im_640 = cv.CreateImage((640, 480), 8, 3)
      cv.Resize(im_full, im_640, cv.CV_INTER_NN)
      im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
      im_full = numpy.ascontiguousarray(cv.GetMat(im_full))

    count = 0
    total_time = 0
    img_scan = im_640

    t0=time.time()
    for i in range(opts.repeat):
      if opts.fullres:
        regions = scanner.scan_full(im_full)
      else:
        regions = scanner.scan(img_scan)
      count += 1
    regions = cuav_region.RegionsConvert(regions)
    t1=time.time()

    if opts.filter:
      regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)

    scan_count += 1

    # optionally link all the images with joe into a separate directory
    # for faster re-running of the test with just joe images
    if pos and opts.linkjoe and len(regions) > 0:
      cuav_util.mkdir_p(opts.linkjoe)
      if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
        joepath = os.path.join(opts.linkjoe, os.path.basename(f))
        if os.path.exists(joepath):
          os.unlink(joepath)
        os.symlink(f, joepath)

    if pos and len(regions) > 0:
      joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)

      if boundary:
        regions = cuav_region.filter_boundary(regions, boundary, pos)

    region_count += len(regions)

    if opts.mosaic and len(regions) > 0:
      composite = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)), regions, quality=opts.quality)
      chameleon.save_file('composite.jpg', composite)
      thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage('composite.jpg'), len(regions))
      mosaic.add_regions(regions, thumbs, f, pos)

    if opts.compress:
      jpeg = scanner.jpeg_compress(im_full, opts.quality)
      jpeg_filename = f[:-4] + '.jpg'
      if os.path.exists(jpeg_filename):
        print('jpeg %s already exists' % jpeg_filename)
        continue
      chameleon.save_file(jpeg_filename, jpeg)

    if opts.view:
      if opts.fullres:
        img_view = im_full
      else:
        img_view = img_scan
      mat = cv.fromarray(img_view)
      for r in regions:
        (x1,y1,x2,y2) = r.tuple()
        (w,h) = cuav_util.image_shape(img_view)
        x1 = x1*w//1280
        x2 = x2*w//1280
        y1 = y1*h//960
        y2 = y2*h//960
        cv.Rectangle(mat, (max(x1-2,0),max(y1-2,0)), (x2+2,y2+2), (255,0,0), 2)
      cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
      viewer.set_image(mat)

    total_time += (t1-t0)
    if t1 != t0:
      print('%s scan %.1f fps  %u regions [%u/%u]' % (
        f, count/total_time, region_count, scan_count, num_files))
示例#15
0
 def view_imagefile(self, filename, focus_region=None):
     '''view an image in a zoomable window'''
     img = cv2.imread(filename)
     img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
     (w, h) = cuav_util.image_shape(img)
     for i in range(len(self.images)):
         if filename == self.images[i].filename:
             self.current_view = i
             self.last_view_latlon = None
             self.images[i].shape = (w, h)
     for r in self.regions:
         if r.filename == filename:
             r.region.draw_rectangle(img,
                                     colour=(255, 0, 0),
                                     linewidth=min(max(w / 600, 1), 3),
                                     offset=max(w / 200, 1))
     if self.view_image is None or not self.view_image.is_alive():
         import wx
         viewwidth = w
         viewheight = h
         if self.image_view_width is not None:
             if viewwidth > self.image_view_width:
                 viewwidth = self.image_view_width
             viewheight = (h * viewwidth) / w
         self.view_image = mp_image.MPImage(title='View',
                                            mouse_events=True,
                                            key_events=True,
                                            can_zoom=True,
                                            can_drag=True,
                                            width=viewwidth,
                                            height=viewheight)
         vmenu = MPMenuSubMenu('View',
                               items=[
                                   MPMenuItem('Next Image\tCtrl+N',
                                              'Next Image', 'nextImage'),
                                   MPMenuItem('Previous Image\tCtrl+P',
                                              'Previous Image',
                                              'previousImage'),
                                   MPMenuItem('Fit Window\tCtrl+F',
                                              'Fit Window', 'fitWindow'),
                                   MPMenuItem('Full Zoom\tCtrl+Z',
                                              'Full Zoom', 'fullSize'),
                                   MPMenuItem('Brightness +\tCtrl+B',
                                              'Increase Brightness',
                                              'increaseBrightness'),
                                   MPMenuItem('Brightness -\tCtrl+Shift+B',
                                              'Decrease Brightness',
                                              'decreaseBrightness'),
                                   MPMenuItem('Refresh Image\tCtrl+R',
                                              'Refresh Image',
                                              'refreshImage'),
                                   MPMenuItem('Place Marker\tCtrl+M',
                                              'Place Marker', 'placeMarker')
                               ])
         self.view_menu = MPMenuTop([vmenu])
         self.view_image.set_menu(self.view_menu)
         self.view_image.set_popup_menu(vmenu)
     self.view_filename = filename
     self.view_image.set_image(img)
     if focus_region is not None:
         try:
             self.view_image.center(focus_region.center())
         except Exception:
             pass
     self.view_image.set_title('View: ' + os.path.basename(filename))
     self.view_image.fit_to_window()