def __recognizeMarkerAreas(self):
'''
Recognizes marker area
'''
self.__markers = []
if self._img == None:
self._gui.status( "No image!", self._gui.msgTypes['debug'] )
return
# get data
self.__markers = []
blocksize = int( str(self._gui.getObj("txtMarkerAreaBlockSize").text()) )
epsilon = float( str(self._gui.getObj("txtMarkerAreaEpsilon").text()) )
areaMin = float( str(self._gui.getObj("txtMarkerAreaMin").text()) )/100.0
areaMax = float( str(self._gui.getObj("txtMarkerAreaMax").text()) )/100.0
blur = int( str(self._gui.getObj("txtMarkerAreaBlur").text()) )
# check correct blocksize
if blocksize%2 == 0:
blocksize -= 1
# get current image and convert
self.__imgRegArea = copy(self._img)
gray = cvtColor(self.__imgRegArea, COLOR_RGB2GRAY)
imgArea = gray.shape[0]*gray.shape[1]
# threshold and canny
try:
gray = medianBlur( gray, blur )
gray = adaptiveThreshold( gray, 255, ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY, blocksize, 0 )
except:
return
colorImg = cvtColor(gray, COLOR_GRAY2RGB)
colorImg2 = cvtColor(gray, COLOR_GRAY2RGB)
# get contours
contours = getContours( gray, epsilon, retr=RETR_LIST, enConvexHull=False)
# add contours with correct area size
for cnt in contours:
cntArea = contourArea( cnt )
cnt = getBoundingRect(cnt)
# if len(cnt) == 4 and cntArea > imgArea*areaMin and cntArea < imgArea*areaMax:
if cntArea > imgArea*areaMin and cntArea < imgArea*areaMax:
self.__markers.append( cnt )
drawContours( colorImg2, [cnt], -1, (0,255,0), -1 )
self._gui.getObj("lblFoundMarker").setText( "Found marker: " + str(len(self.__markers)) )
# draw contours
drawContours( colorImg, self.__markers, -1, (255,0,0), -1 )
self.__imgArea = colorImg
self.__imgAreaDetails = colorImg2
def __recorgnizeMarker(self, gray, marker, contourPadding=0, th=30, th2=155, epsilon=0.01, cannyDown=30, cannyUp=255):
'''
recognize one marker
'''
# get minmax of marker and calculate center4
minX, maxX, minY, maxY = minMax(marker)
dx = (maxX-minX)*0.1
dy = (maxY-minY)*0.1
minX -= dx
maxX += 3*dx
minY -= dy
maxY += 3*dy
markerCenter = ( minX+(maxX-minX), minY+(maxY-minY) )
# slice and resize marker
try:
sliceImg = gray[minY:maxY, minX:maxX]
sliceImg = resize( sliceImg, self.__markerSize )
except:
return None
# threshold and canny
imgTh = threshold( sliceImg, th, 255, THRESH_BINARY_INV )[1]
canny = Canny( imgTh, cannyDown, cannyUp )
# set threshold image
# self.__imgID = imgTh
# bild = Image.fromarray(imgTh)
# bild.show()
# get contours again
contours = getContours( canny, epsilon, enConvexHull=False)
# self.__imgID = cvtColor(imgTh, COLOR_GRAY2RGB)
# drawContours(self.__imgID, contours, -1, (255,0,0))
# get first big contour
imgArea = sliceImg.shape[0]*sliceImg.shape[1]
imgAreaMin = imgArea*0.1
imgAreaMax = imgArea*0.8
contour = None
for cnt in contours:
cntArea = contourArea(cnt)
# print "contour", cntArea, "min", imgAreaMin, "max", imgAreaMax, "imgArea", imgArea, "ratio", cntArea/imgArea
if cntArea > imgAreaMin and cntArea < imgAreaMax:
contour = cnt
break;
if contour == None:
# print "\tno contour found"
return None
# get bounding rectangle
bb = getBoundingRect(contour)
# get marker vectors
v0 = bb[0]
v3 = bb[3]
v = (v3[0]-v0[0], v3[1]-v0[1])
if v[0] == 0 and v[1] == 0:
print "\tzero devision"
return None
# get marker rotation
angle = round( getAngleOfVector(v), 2 )
center = ( imgTh.shape[1]*0.5, imgTh.shape[0]*0.5 )
# transformate bounding box to center of image
bb[0] = getTranslateVector(bb[0], center)
bb[1] = getTranslateVector(bb[1], center)
bb[2] = getTranslateVector(bb[2], center)
bb[3] = getTranslateVector(bb[3], center)
# rotate marker
rot = getRotationMatrix2D( center, angle, 1.0 )
sliceImg = warpAffine( sliceImg, rot, sliceImg.shape, borderValue=0 )
# rotate bounding box
angle *= -1
bb[0] = rotateVector(bb[0], getAngleOfVector(bb[0])+angle)
bb[1] = rotateVector(bb[1], getAngleOfVector(bb[1])+angle)
bb[2] = rotateVector(bb[2], getAngleOfVector(bb[2])+angle)
bb[3] = rotateVector(bb[3], getAngleOfVector(bb[3])+angle)
# transformate bounding box to origin of image
bb[0] = getTranslateVector(center, bb[0], False)
bb[1] = getTranslateVector(center, bb[1], False)
bb[2] = getTranslateVector(center, bb[2], False)
bb[3] = getTranslateVector(center, bb[3], False)
# get marker id
minX, maxX, minY, maxY = minMax(bb)
sliceImg = sliceImg[minY:maxY, minX:maxX]
markerID = detectMarkerID(sliceImg, minMax(bb), th2, self.__referenceMarker)
# set angle and center of morker
angle *= -1
markerID['center'] = markerCenter
markerID['angle'] -= (90+angle)
if markerID['angle'] > 180:
markerID['angle'] -= 360
print "markerID:", markerID
# set image
sliceImg = cvtColor(sliceImg, COLOR_GRAY2RGB)
# drawContours( sliceImg, [bb], -1, (0,255,0) )
# self.__imgIDDetails = sliceImg
return markerID
def __recorgnizeMarker(self,
gray,
marker,
contourPadding=0,
th=30,
th2=155,
epsilon=0.01,
cannyDown=30,
cannyUp=255):
'''
recognize one marker
'''
# get minmax of marker and calculate center4
minX, maxX, minY, maxY = minMax(marker)
dx = (maxX - minX) * 0.1
dy = (maxY - minY) * 0.1
minX -= dx
maxX += 3 * dx
minY -= dy
maxY += 3 * dy
markerCenter = (minX + (maxX - minX), minY + (maxY - minY))
# slice and resize marker
try:
sliceImg = gray[minY:maxY, minX:maxX]
sliceImg = resize(sliceImg, self.__markerSize)
except:
return None
# threshold and canny
imgTh = threshold(sliceImg, th, 255, THRESH_BINARY_INV)[1]
canny = Canny(imgTh, cannyDown, cannyUp)
# set threshold image
# self.__imgID = imgTh
# bild = Image.fromarray(imgTh)
# bild.show()
# get contours again
contours = getContours(canny, epsilon, enConvexHull=False)
# self.__imgID = cvtColor(imgTh, COLOR_GRAY2RGB)
# drawContours(self.__imgID, contours, -1, (255,0,0))
# get first big contour
imgArea = sliceImg.shape[0] * sliceImg.shape[1]
imgAreaMin = imgArea * 0.1
imgAreaMax = imgArea * 0.8
contour = None
for cnt in contours:
cntArea = contourArea(cnt)
# print "contour", cntArea, "min", imgAreaMin, "max", imgAreaMax, "imgArea", imgArea, "ratio", cntArea/imgArea
if cntArea > imgAreaMin and cntArea < imgAreaMax:
contour = cnt
break
if contour == None:
# print "\tno contour found"
return None
# get bounding rectangle
bb = getBoundingRect(contour)
# get marker vectors
v0 = bb[0]
v3 = bb[3]
v = (v3[0] - v0[0], v3[1] - v0[1])
if v[0] == 0 and v[1] == 0:
print "\tzero devision"
return None
# get marker rotation
angle = round(getAngleOfVector(v), 2)
center = (imgTh.shape[1] * 0.5, imgTh.shape[0] * 0.5)
# transformate bounding box to center of image
bb[0] = getTranslateVector(bb[0], center)
bb[1] = getTranslateVector(bb[1], center)
bb[2] = getTranslateVector(bb[2], center)
bb[3] = getTranslateVector(bb[3], center)
# rotate marker
rot = getRotationMatrix2D(center, angle, 1.0)
sliceImg = warpAffine(sliceImg, rot, sliceImg.shape, borderValue=0)
# rotate bounding box
angle *= -1
bb[0] = rotateVector(bb[0], getAngleOfVector(bb[0]) + angle)
bb[1] = rotateVector(bb[1], getAngleOfVector(bb[1]) + angle)
bb[2] = rotateVector(bb[2], getAngleOfVector(bb[2]) + angle)
bb[3] = rotateVector(bb[3], getAngleOfVector(bb[3]) + angle)
# transformate bounding box to origin of image
bb[0] = getTranslateVector(center, bb[0], False)
bb[1] = getTranslateVector(center, bb[1], False)
bb[2] = getTranslateVector(center, bb[2], False)
bb[3] = getTranslateVector(center, bb[3], False)
# get marker id
minX, maxX, minY, maxY = minMax(bb)
sliceImg = sliceImg[minY:maxY, minX:maxX]
markerID = detectMarkerID(sliceImg, minMax(bb), th2,
self.__referenceMarker)
# set angle and center of morker
angle *= -1
markerID['center'] = markerCenter
markerID['angle'] -= (90 + angle)
if markerID['angle'] > 180:
markerID['angle'] -= 360
print "markerID:", markerID
# set image
sliceImg = cvtColor(sliceImg, COLOR_GRAY2RGB)
# drawContours( sliceImg, [bb], -1, (0,255,0) )
# self.__imgIDDetails = sliceImg
return markerID
def __recognizeMarkerAreas(self):
'''
Recognizes marker area
'''
self.__markers = []
if self._img == None:
self._gui.status("No image!", self._gui.msgTypes['debug'])
return
# get data
self.__markers = []
blocksize = int(str(self._gui.getObj("txtMarkerAreaBlockSize").text()))
epsilon = float(str(self._gui.getObj("txtMarkerAreaEpsilon").text()))
areaMin = float(str(
self._gui.getObj("txtMarkerAreaMin").text())) / 100.0
areaMax = float(str(
self._gui.getObj("txtMarkerAreaMax").text())) / 100.0
blur = int(str(self._gui.getObj("txtMarkerAreaBlur").text()))
# check correct blocksize
if blocksize % 2 == 0:
blocksize -= 1
# get current image and convert
self.__imgRegArea = copy(self._img)
gray = cvtColor(self.__imgRegArea, COLOR_RGB2GRAY)
imgArea = gray.shape[0] * gray.shape[1]
# threshold and canny
try:
gray = medianBlur(gray, blur)
gray = adaptiveThreshold(gray, 255, ADAPTIVE_THRESH_MEAN_C,
THRESH_BINARY, blocksize, 0)
except:
return
colorImg = cvtColor(gray, COLOR_GRAY2RGB)
colorImg2 = cvtColor(gray, COLOR_GRAY2RGB)
# get contours
contours = getContours(gray,
epsilon,
retr=RETR_LIST,
enConvexHull=False)
# add contours with correct area size
for cnt in contours:
cntArea = contourArea(cnt)
cnt = getBoundingRect(cnt)
# if len(cnt) == 4 and cntArea > imgArea*areaMin and cntArea < imgArea*areaMax:
if cntArea > imgArea * areaMin and cntArea < imgArea * areaMax:
self.__markers.append(cnt)
drawContours(colorImg2, [cnt], -1, (0, 255, 0), -1)
self._gui.getObj("lblFoundMarker").setText("Found marker: " +
str(len(self.__markers)))
# draw contours
drawContours(colorImg, self.__markers, -1, (255, 0, 0), -1)
self.__imgArea = colorImg
self.__imgAreaDetails = colorImg2
