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Can now find all 4 frames and correctly orient the rectangles that contain them

This commit is contained in:
Matt McWilliams 2023-02-06 00:13:05 -05:00
parent 2c2604c4b0
commit 1a8491919c
1 changed files with 94 additions and 7 deletions
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101
fourcell/calibrate.py
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@ -6,6 +6,8 @@ from os.path import exists, basename
from common import image_resize, display, normalize_angle
from json import load
DEBUG = True
#clockwise from top left
order = [ 0, 2, 3, 5, 4, 1 ]
matchMethods = ['cv2.TM_CCOEFF', 'cv2.TM_CCOEFF_NORMED', 'cv2.TM_CCORR', 'cv2.TM_CCORR_NORMED', 'cv2.TM_SQDIFF', 'cv2.TM_SQDIFF_NORMED']
@ -93,8 +95,6 @@ def find_in_half (half) :
cv2.rectangle(half, pt, (pt[0] + w, pt[1] + h), (0,0,255), 2)
return list(zip(*loc[::-1]))
ttly = holePunches['0']['y']-round(height*0.05)
ttlx = holePunches['0']['x']
topHalf = img[ttly:holePunches['1']['y']+round(height*0.1), ttlx:holePunches['2']['x']]
@ -118,7 +118,7 @@ for pt in bhpts :
clean = original.copy()
for pt in marks :
print(pt)
#print(pt)
cv2.circle(clean, pt, 50, (0,0,255), -1)
print(f'Found {len(bhpts)} points')
@ -127,10 +127,97 @@ if len(marks) != 16 :
print(f'{len(marks)} != 16 marks')
exit(1)
print(find_closest((0,0,), marks))
print(find_closest((width,0,), marks))
##
# TOP LEFT
##
print(find_closest((0,height,), marks))
print(find_closest((width,height,), marks))
topLeftTR = find_closest((0,0,), marks)
#print(topLeftTR)
topLeftSorted = sorted(marks, key=lambda e: get_distance(e, topLeftTR))
topLeftSorted.remove(topLeftTR)
if abs(topLeftSorted[0][1] - topLeftTR[1]) < abs(topLeftSorted[1][1] - topLeftTR[1]) :
topLeftBR = topLeftSorted[0]
else :
topLeftBR = topLeftSorted[1]
topLeftTL = topLeftSorted[2]
topLeftBL = topLeftSorted[4]
if DEBUG :
cv2.line(clean, topLeftTR, topLeftBR, (0,0,255,), 3)
cv2.line(clean, topLeftTR, topLeftTL, (0,0,255,), 3)
cv2.line(clean, topLeftBR, topLeftBL, (0,0,255,), 3)
cv2.line(clean, topLeftTL, topLeftBL, (0,0,255,), 3)
##
# TOP RIGHT
##
topRightTL = find_closest((width,0,), marks)
#print(topRightTL)
topRightSorted = sorted(topLeftSorted, key=lambda e: get_distance(e, topRightTL))
topRightSorted.remove(topRightTL)
topRightSorted.remove(topLeftBR)
topRightSorted.remove(topLeftTL)
topRightSorted.remove(topLeftBL)
topRightBL = topRightSorted[0]
topRightTR = topRightSorted[1]
if abs(topRightTL[0] - topRightSorted[2][0]) > abs(topRightTL[0] - topRightSorted[3][0]) :
topRightBR = topRightSorted[2]
else :
topRightBR = topRightSorted[3]
if DEBUG :
cv2.line(clean, topRightTR, topRightBR, (0,0,255,), 3)
cv2.line(clean, topRightTR, topRightTL, (0,0,255,), 3)
cv2.line(clean, topRightBR, topRightBL, (0,0,255,), 3)
cv2.line(clean, topRightTL, topRightBL, (0,0,255,), 3)
##
# BOTTOM LEFT
##
bottomLeftTL = find_closest((0,height,), marks)
bottomLeftSorted = sorted(topRightSorted, key=lambda e: get_distance(e, bottomLeftTL))
bottomLeftSorted.remove(bottomLeftTL)
bottomLeftSorted.remove(topRightBR)
bottomLeftSorted.remove(topRightTR)
bottomLeftSorted.remove(topRightBL)
bottomLeftBL = bottomLeftSorted[0]
bottomLeftTR = bottomLeftSorted[2]
bottomLeftBR = bottomLeftSorted[3]
if DEBUG :
cv2.line(clean, bottomLeftTR, bottomLeftBR, (0,0,255,), 3)
cv2.line(clean, bottomLeftTR, bottomLeftTL, (0,0,255,), 3)
cv2.line(clean, bottomLeftBR, bottomLeftBL, (0,0,255,), 3)
cv2.line(clean, bottomLeftTL, bottomLeftBL, (0,0,255,), 3)
##
# BOTTOM RIGHT
##
bottomRightTR = find_closest((width,height,), marks)
bottomRightSorted = sorted(bottomLeftSorted, key=lambda e: get_distance(e, bottomRightTR))
bottomRightSorted.remove(bottomRightTR)
bottomRightSorted.remove(bottomLeftBR)
bottomRightSorted.remove(bottomLeftTR)
bottomRightSorted.remove(bottomLeftBL)
bottomRightBR = bottomRightSorted[0]
bottomRightTL = bottomRightSorted[1]
bottomRightBL = bottomRightSorted[2]
if DEBUG :
cv2.line(clean, bottomRightTR, bottomRightBR, (0,0,255,), 3)
cv2.line(clean, bottomRightTR, bottomRightTL, (0,0,255,), 3)
cv2.line(clean, bottomRightBR, bottomRightBL, (0,0,255,), 3)
cv2.line(clean, bottomRightTL, bottomRightBL, (0,0,255,), 3)
display(clean)