示例#1
0
文件: centerId.py 项目: easyfox/LUCID
def calculate_center(image,imageMask=None):
    """|

    :param image: treated image with just the loop for finding center
    :type image: IplImage

    :returns: Coordinates from the center in pixels (x,y)
    """
    i=0
    left=-1
    right=-1
    up=-1
    down=-1
    if imageMask is None:
        imageMask = image
    while i<imageMask.width:
        if white_detect(imageMask[:,i])>0:
              left = i
              break
        i=i+1

    while i<imageMask.width:
        if white_detect(imageMask[:,i])==0:
              right = i-1
              break
        i=i+1

    if right == -1:
        return (-1,-1)

    horizoncenter=right-round((right-left)/2.9)
    j=3
    
    while j<image.height:
        if image[j,horizoncenter]>0:
              up = j
              break
        j=j+1

    h=image.height-3
    while h>j:
        if image[h,horizoncenter]>0:
              down = h
              break
        h=h-1
    
    if down == -1:
        return (-2,-2)

    verticalcenter = down - round((down-up)/2)
    
    return (horizoncenter,verticalcenter)
示例#2
0
文件: centerId.py 项目: easyfox/LUCID
def only_robot(image3):
    """|

    :param image3 : B/W Image with which it is used
    :type image3 : IplImage

    """
    xcenter=image3.width
    ycenter=-1
    i=image3.height-1

    firstWhite = -1
    lastWhite = -1
    firstWhite2 = -1
    lastWhite2 = -1

    maxWhite=0
    while i>=0:
        count=white_detect(image3[i,:])
        if count>0:
            if firstWhite<0:
                firstWhite=i
            else:
                if lastWhite>0:
                    if firstWhite2<0:
                        firstWhite2=i
            if count>maxWhite:
                maxWhite=count
        else:
            if firstWhite>0:
                if lastWhite<0:
                    lastWhite=i+1
                else:
                    if firstWhite2>0:
                        if lastWhite2<0:
                            lastWhite2=i+1            
        i=i-1

    if maxWhite < (image3.width*90)//100:
        return (-1,-1)

    if firstWhite2==0 or (firstWhite2>0 and lastWhite2<0):
        lastWhite2=0
    if firstWhite==0 or (firstWhite>0 and lastWhite<0):
        lastWhite=0

    mid = (firstWhite+lastWhite)//2
    mid2 = (firstWhite2+lastWhite2)//2
    if mid2 <0:
        if mid > image3.height//2:
            ycenter = (mid+image3.height)//2
        else:
            ycenter = mid//2
    else:
        ycenter=(mid+mid2)//2

    return (xcenter,ycenter)
示例#3
0
文件: centerId.py 项目: easyfox/LUCID
def find_approx_loop(image):
    """|
    
    :param image : B/W Image with which is used for the approx
    :type image : IplImage
  
    """
    i=image.width-1
    while i>=0:
        if white_detect(image[:,i])>0:
            j=image.height-1
            while j>=0:
                if image[j,i]>0:
                    if white_detect(image[j-6:j+6,i-6:i+6])>17:
                        return i,j
                j=j-1
        i=i-1
    return -1,-1
示例#4
0
文件: centerId.py 项目: easyfox/LUCID
def face_detection(imgInfo,showVisuals=False,zoom=0):
    
    """|
    
    :param imgInfo: Information about the input image. Two types allowed yet : Image path or Numpy array
    :type imgInfo: String or Numpy array
    :param showVisuals: Display for debug
    :type showVisuals: Boolean
    :param zoom: Zoom level
    :type zoom: uint

    :returns: (label,x,y) result from loop_detection function

    """ 

    image=imgInfo2cvImage(imgInfo)

    image2=cv.CloneImage(image)
    if zoom == 0:
        cv.AdaptiveThreshold(image2,image2,255,cv.CV_ADAPTIVE_THRESH_MEAN_C,cv.CV_THRESH_BINARY_INV,45,6)
    else:
        cv.AdaptiveThreshold(image2,image2,255,cv.CV_ADAPTIVE_THRESH_MEAN_C,cv.CV_THRESH_BINARY_INV,121,6)

    image3=cv.CloneImage(image2)
    cv.Zero(image3)

    storage = cv.CreateMemStorage()
    contours = cv.FindContours(cv.CloneImage    
    (image2),storage,cv.CV_RETR_EXTERNAL,cv.CV_CHAIN_APPROX_SIMPLE,(0,0))

    cv.DrawContours(image3,contours,cv.RGB(255,255,255),cv.RGB (255,255,255),2,cv.CV_FILLED)
    cv.Smooth(image3,image3,cv.CV_MEDIAN,11)
    
    image4 = cv.CloneImage(image3)

    if zoom == 0:
        erode(image4,image4,9)
        dilate(image4,image4,9)
    else:
        erode(image4,image4,25)
        dilate(image4,image4,25)


    count = white_detect(image4)

    if showVisuals:  
        displayCv(('Resultat',image),('ErosionDilation',image4),('AdaptiveThresh',image2),('FinalTreatmentVisualisation',image3))
        cv.WaitKey(0)
    return count
示例#5
0
文件: centerId.py 项目: easyfox/LUCID
def clean_the_robot(image,imageMask):
    """|
    
    :param image : The image to modify
    :type image : IplImage
    :param imageMask : Image with morphological mathematic too clear the robot part
    :type imageMask : IplImage

    """
    i=imageMask.width-1
    wbegin=0
    while i>=1:
        if white_detect(imageMask[:,i])>0:
            wbegin = 1
        else:
            if wbegin==1:
                cv.Set(image[:,0:i],0)
                return i
        i=i-1
    cv.Set(image[:,0:1],0)
    return -1
示例#6
0
文件: meshGen.py 项目: mxcube/lucid
def findInternalPoints(image,image2,pointsPerArcs,center=(-1,-1)):
    
    """|
    
    :param image: Image after first treatment
    :type image: Opencv IplImage
    :param image2: Initial image treated
    :type image2: Opencv IplImage
    :param storage: Internal points of the loop
    :type storage: Array[(uint,uint)...(uint,uint)]
    :param storageInfo: Values of constant of line equation foreach internal points. a and b for an equation ax+b.
    :type storageInfo: Array[(float,float)...(float,float)].
    :param center: Coordinate of the center of the image
    :type center: Tuple (uint,uint)

    :returns: With method LUCID_CENTER_PROC and LUCID_RECT_BBOX, return coordinates for a rectangle bounding box (xmin,ymin,xmax,ymax)
    :returns: With method LUCID_POLY_BBOX, return all points of the polygone

    """
    
    #init list for points (storage) and for curve equation information
    storage = []
    storageInfo = []
    if center == (-1,-1):
        center = (image.width//2+50,image.height//2)
    i = center[1]
    while i>=0:
        if image[i,center[0]]>0:
            storage.append((center[0],i))
            storageInfo.append((0,1))
            break;
	else:
            i=i-1
    #print storage[0][0]
    for degrees in np.arange(15,360,15):
    #for degrees in np.arange(5,360,5):
	    x2 = storage[0][0]-center[0]
	    y2 = storage[0][1]-center[1]

	    xrot = x2*math.cos(toRadians(degrees))-y2*math.sin(toRadians(degrees))
	    yrot = y2*math.cos(toRadians(degrees))+x2*math.sin(toRadians(degrees))

	    xrot = round(xrot + center[0])
	    yrot = round(yrot + center[1])
            #cv.Line( image2, (image.width//2,image.height//2), (xrot,yrot),cv.Scalar( 60, 60,60 ),2,4 );
	    #print "inter"
            if center[0]==xrot:
	            m=1
	            p=0
                    i = center[1]
		    while i<image.height:
			if image[i,center[0]]>0:
			    storage.append((center[0],i))
                            storageInfo.append((m,p))
			    break;
			else:
			    i=i+1
                        if i==image.height:
                            storage.append((-1,-1))
            else:
		    m = (yrot - center[1])/(xrot - center[0])
		    p = -(m*xrot)+yrot
		    #print center[0],center[1],xrot,yrot,m,p
		    x = center[0]
		    y = center[1]
		    ok =False

		    while 1:
                        if degrees<190:
			    x=x+1
                        else:
                            x=x-1
			y=m*x+p
			y = int(round(y))
			if x<image.width-2 and x>=2 and y<image.height-2 and y>=2:
			    if white_detect(image[(y-2):(y+2),(x-2):(x+2)])>0:
				storage.append((x,y))
                                storageInfo.append((m,p))
				ok = True
				#cv.Circle( image,storage[0],5,cv.RGB(255,255,255 ),-1,8 )
				break
			else:
			    break
		    if ok == False:
			    x = center[0]
			    y = center[1]
			    while 1:
		                if degrees<90 or degrees>270:
				    y=y-1
		                else:
		                    y=y+1
                                if m==0:
                                   #storage.append((0,0))
                                   break
				x=(y-p)/m
				x = int(round(x))
				if x<image.width-2 and x>=2 and y<image.height-2 and y>=2:
				    if white_detect(image[(y-2):(y+2),(x-2):(x+2)])>0:
					storage.append((x,y))
                                        storageInfo.append((m,p))
					#cv.Circle( image,storage[0],5,cv.RGB(255,255,255 ),-1,8 )
					break
				else:
				    #storage.append((0,0))
				    break
    return storage,storageInfo
示例#7
0
文件: centerId.py 项目: easyfox/LUCID
def loop_detection(imgInfo,showVisuals=False,zoom=0):

    """|

    :param imgInfo: Information about the input image. Two types allowed yet : Image path or Numpy array
    :type imgInfo: String or Numpy array
    :param showVisuals: Display for debug
    :type showVisuals: Boolean
    :param zoom: Zoom level
    :type zoom: uint

    :returns: (label,x,y) result from loop_detection function

    """
    image=imgInfo2cvImage(imgInfo)
    image2=cv.CloneImage(image)

    #if zoom == 0:
    cv.AdaptiveThreshold(image2,image2,255,cv.CV_ADAPTIVE_THRESH_MEAN_C,cv.CV_THRESH_BINARY_INV,45,6)
    #else:
        #cv.Threshold(image2,image2,30,255,cv.CV_THRESH_BINARY)

    image3=cv.CloneImage(image2)
    cv.Zero(image3)
    storage = cv.CreateMemStorage()
    contours = cv.FindContours(cv.CloneImage    
    (image2),storage,cv.CV_RETR_EXTERNAL,cv.CV_CHAIN_APPROX_SIMPLE,(0,0))

    cv.DrawContours(image3,contours,cv.RGB(255,255,255),cv.RGB (255,255,255),2,cv.CV_FILLED)
    cv.Smooth(image3,image3,cv.CV_MEDIAN,11)
    
    image4 = cv.CloneImage(image3)

    #check if the loop is in the image
    count = white_detect(image4[10:image4.height-10,10:image4.width-10])
    if count < 50:
        return ("No loop detected",-1,-1)
    
    #dilation and erosion if there is no zoom
    if zoom == 0:
        erode(image4,image4,11)
        dilate(image4,image4,11)

    count = white_detect(image4[10:image4.height-10,10:image4.width-10])
    if count < 50:
        (xcenter,ycenter) = find_approx_loop(image3)
        if showVisuals==1:
            cv.Line(image,(int(xcenter),int(0)),(int(xcenter),int(image.height)),cv.RGB(120.0,120.0,120.0))
            cv.Line(image,(int(0),int(ycenter)),(int(image.width),int(ycenter)),cv.RGB(120.0,120.0,120.0))
            displayCv(('Resultat',image),('ErosionDilation',image4),('AdaptiveThresh',image2),('FinalTreatmentVisualisation',image3))
            cv.WaitKey(0)
        return ('ApproxCoord',xcenter-15,ycenter)
    if zoom == 0:
        (xcenter,ycenter) = only_robot(image3)
        if xcenter > 0:
            if showVisuals:
                cv.Line(image,(int(xcenter),int(0)),(int(xcenter),int(image.height)),cv.RGB(120.0,120.0,120.0))
    	        cv.Line(image,(int(0),int(ycenter)),(int(image.width),int(ycenter)),cv.RGB(120.0,120.0,120.0))
                displayCv(('Resultat',image),('ErosionDilation',image4),('AdaptiveThresh',image2),('FinalTreatmentVisualisation',image3))
            return ("ArmRobot",xcenter,ycenter)
    clean_the_robot(image3,image4)
    adjust_detection(image3)
    if zoom == 0:
        (xcenter,ycenter) = calculate_center(image3,image3)
    else:
        (xcenter,ycenter) = calculate_center(image3,image3)
    if showVisuals:
        cv.Line(image,(int(xcenter),int(0)),(int(xcenter),int(image.height)),cv.RGB(120.0,120.0,120.0))
        cv.Line(image,(int(0),int(ycenter)),(int(image.width),int(ycenter)),cv.RGB(120.0,120.0,120.0))  
        displayCv(('Resultat',image),('ErosionDilation',image4),('AdaptiveThresh',image2),('FinalTreatmentVisualisation',image3))
        cv.WaitKey(0)
    return ("Coord",xcenter,ycenter)