From 822497e857c5010db073504d96aed9eeafea4511 Mon Sep 17 00:00:00 2001 From: "Casper V. Kristensen" Date: Tue, 16 Apr 2019 23:29:41 +0200 Subject: [PATCH] Increase amount of sense being made. --- ChessAR/.gitignore | 409 ++++++++++++++++++++++++++++ ChessAR/.vs/AR-2/xs/sqlite3/db.lock | 0 adapter.py | 17 +- runner.py | 82 +++--- util.py | 8 +- 5 files changed, 461 insertions(+), 55 deletions(-) create mode 100644 ChessAR/.gitignore delete mode 100644 ChessAR/.vs/AR-2/xs/sqlite3/db.lock diff --git a/ChessAR/.gitignore b/ChessAR/.gitignore new file mode 100644 index 00000000..9fc5c521 --- /dev/null +++ b/ChessAR/.gitignore @@ -0,0 +1,409 @@ + +# Created by https://www.gitignore.io/api/unity,visualstudio,visualstudiocode +# Edit at https://www.gitignore.io/?templates=unity,visualstudio,visualstudiocode + +### Unity ### +[Ll]ibrary/ +[Tt]emp/ +[Oo]bj/ +[Bb]uild/ +[Bb]uilds/ +[Ll]ogs/ + +# Never ignore Asset meta data +![Aa]ssets/**/*.meta + +# Uncomment this line if you wish to ignore the asset store tools plugin +# [Aa]ssets/AssetStoreTools* + +# TextMesh Pro files +[Aa]ssets/TextMesh*Pro/ + +# Visual Studio cache directory +.vs/ + +# Gradle cache directory +.gradle/ + +# Autogenerated VS/MD/Consulo solution and project files +ExportedObj/ +.consulo/ +*.csproj +*.unityproj +*.sln +*.suo +*.tmp +*.user +*.userprefs +*.pidb +*.booproj +*.svd +*.pdb +*.mdb +*.opendb +*.VC.db + +# Unity3D generated meta files +*.pidb.meta +*.pdb.meta +*.mdb.meta + +# Unity3D generated file on crash reports +sysinfo.txt + +# Builds +*.apk +*.unitypackage + +# Crashlytics generated file +crashlytics-build.properties + + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### VisualStudioCode Patch ### +# Ignore all local history of files +.history + +### VisualStudio ### +## Ignore Visual Studio temporary files, build results, and +## files generated by popular Visual Studio add-ons. +## +## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore + +# User-specific files +*.rsuser +*.userosscache +*.sln.docstates + +# User-specific files (MonoDevelop/Xamarin Studio) + +# Mono auto generated files +mono_crash.* + +# Build results +[Dd]ebug/ +[Dd]ebugPublic/ +[Rr]elease/ +[Rr]eleases/ +x64/ +x86/ +[Aa][Rr][Mm]/ +[Aa][Rr][Mm]64/ +bld/ +[Bb]in/ +[Ll]og/ + +# Visual Studio 2015/2017 cache/options directory +# Uncomment if you have tasks that create the project's static files in wwwroot +#wwwroot/ + +# Visual Studio 2017 auto generated files +Generated\ Files/ + +# MSTest test Results +[Tt]est[Rr]esult*/ +[Bb]uild[Ll]og.* + +# NUNIT +*.VisualState.xml +TestResult.xml + +# Build Results of an ATL Project +[Dd]ebugPS/ +[Rr]eleasePS/ +dlldata.c + +# Benchmark Results +BenchmarkDotNet.Artifacts/ + +# .NET Core +project.lock.json +project.fragment.lock.json +artifacts/ + +# StyleCop +StyleCopReport.xml + +# Files built by Visual Studio +*_i.c +*_p.c +*_h.h +*.ilk +*.meta +*.obj +*.iobj +*.pch +*.ipdb +*.pgc +*.pgd +*.rsp +*.sbr +*.tlb +*.tli +*.tlh +*.tmp_proj +*_wpftmp.csproj +*.log +*.vspscc +*.vssscc +.builds +*.svclog +*.scc + +# Chutzpah Test files +_Chutzpah* + +# Visual C++ cache files +ipch/ +*.aps +*.ncb +*.opensdf +*.sdf +*.cachefile +*.VC.VC.opendb + +# Visual Studio profiler +*.psess +*.vsp +*.vspx +*.sap + +# Visual Studio Trace Files +*.e2e + +# TFS 2012 Local Workspace +$tf/ + +# Guidance Automation Toolkit +*.gpState + +# ReSharper is a .NET coding add-in +_ReSharper*/ +*.[Rr]e[Ss]harper +*.DotSettings.user + +# JustCode is a .NET coding add-in +.JustCode + +# TeamCity is a build add-in +_TeamCity* + +# DotCover is a Code Coverage Tool +*.dotCover + +# AxoCover is a Code Coverage Tool +.axoCover/* +!.axoCover/settings.json + +# Visual Studio code coverage results +*.coverage +*.coveragexml + +# NCrunch +_NCrunch_* +.*crunch*.local.xml +nCrunchTemp_* + +# MightyMoose +*.mm.* +AutoTest.Net/ + +# Web workbench (sass) +.sass-cache/ + +# Installshield output folder +[Ee]xpress/ + +# DocProject is a documentation generator add-in +DocProject/buildhelp/ +DocProject/Help/*.HxT +DocProject/Help/*.HxC +DocProject/Help/*.hhc +DocProject/Help/*.hhk +DocProject/Help/*.hhp +DocProject/Help/Html2 +DocProject/Help/html + +# Click-Once directory +publish/ + +# Publish Web Output +*.[Pp]ublish.xml +*.azurePubxml +# Note: Comment the next line if you want to checkin your web deploy settings, +# but database connection strings (with potential passwords) will be unencrypted +*.pubxml +*.publishproj + +# Microsoft Azure Web App publish settings. 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Backup files are not needed, +# because we have git ;-) +_UpgradeReport_Files/ +Backup*/ +UpgradeLog*.XML +UpgradeLog*.htm +ServiceFabricBackup/ +*.rptproj.bak + +# SQL Server files +*.mdf +*.ldf +*.ndf + +# Business Intelligence projects +*.rdl.data +*.bim.layout +*.bim_*.settings +*.rptproj.rsuser +*- Backup*.rdl + +# Microsoft Fakes +FakesAssemblies/ + +# GhostDoc plugin setting file +*.GhostDoc.xml + +# Node.js Tools for Visual Studio +.ntvs_analysis.dat +node_modules/ + +# Visual Studio 6 build log +*.plg + +# Visual Studio 6 workspace options file +*.opt + +# Visual Studio 6 auto-generated workspace file (contains which files were open etc.) +*.vbw + +# Visual Studio LightSwitch build output +**/*.HTMLClient/GeneratedArtifacts +**/*.DesktopClient/GeneratedArtifacts +**/*.DesktopClient/ModelManifest.xml +**/*.Server/GeneratedArtifacts +**/*.Server/ModelManifest.xml +_Pvt_Extensions + +# Paket dependency manager +.paket/paket.exe +paket-files/ + +# FAKE - F# Make +.fake/ + +# CodeRush personal settings +.cr/personal + +# Python Tools for Visual Studio (PTVS) +__pycache__/ +*.pyc + +# Cake - Uncomment if you are using it +# tools/** +# !tools/packages.config + +# Tabs Studio +*.tss + +# Telerik's JustMock configuration file +*.jmconfig + +# BizTalk build output +*.btp.cs +*.btm.cs +*.odx.cs +*.xsd.cs + +# OpenCover UI analysis results +OpenCover/ + +# Azure Stream Analytics local run output +ASALocalRun/ + +# MSBuild Binary and Structured Log +*.binlog + +# NVidia Nsight GPU debugger configuration file +*.nvuser + +# MFractors (Xamarin productivity tool) working folder +.mfractor/ + +# Local History for Visual Studio +.localhistory/ + +# BeatPulse healthcheck temp database +healthchecksdb + +# Backup folder for Package Reference Convert tool in Visual Studio 2017 +MigrationBackup/ + +# End of https://www.gitignore.io/api/unity,visualstudio,visualstudiocode diff --git a/ChessAR/.vs/AR-2/xs/sqlite3/db.lock b/ChessAR/.vs/AR-2/xs/sqlite3/db.lock deleted file mode 100644 index e69de29b..00000000 diff --git a/adapter.py b/adapter.py index a35f14bb..0fb943b8 100644 --- a/adapter.py +++ b/adapter.py @@ -1,12 +1,11 @@ import base64 import json +import sys import cv2 -import sys import numpy as np -from runner import warp_board - +from runner import find_keypoints # Load base64 encoded image from stdin stdin = sys.stdin.readline() @@ -15,17 +14,13 @@ img_array = np.frombuffer(stdin_decoded, dtype=np.uint8) camera_img = cv2.imdecode(img_array, flags=cv2.COLOR_BGR2RGB) camera_img = cv2.cvtColor(camera_img, cv2.COLOR_BGR2RGB) -# Warp board, saving the homography points as well -src_points = dst_points = [] -#cv2.imshow("ppslpsl", camera_img) -#cv2.waitKey(0) - -points1, points2 = warp_board(camera_img, src_points=src_points, dst_points=dst_points, short_circuit=True) +# Find keypoints in image and pass them back to unity +src_points, dst_points = find_keypoints(camera_img) # Finally, output to stdout for unity to read result = { - "src_points": [p.tolist() for p in points1], - "dst_points": [p.tolist() for p in points2], + "src_points": [p.tolist() for p in src_points], + "dst_points": [p.tolist() for p in dst_points], } print(json.dumps(result)) diff --git a/runner.py b/runner.py index 661ef54c..43fd9971 100644 --- a/runner.py +++ b/runner.py @@ -1,18 +1,15 @@ -from os import path -from pathlib import Path - -import cv2 import glob import os from datetime import datetime +from pathlib import Path from typing import Tuple +import cv2 import numpy as np -from sklearn import cluster, metrics, svm +from sklearn import cluster, metrics, svm, neural_network from sklearn.externals import joblib from sklearn.pipeline import make_pipeline from sklearn.preprocessing import StandardScaler -from sklearn import neural_network from util import RANK, POSITION, imwrite, PIECE, COLOR, Squares, OUR_PIECES @@ -136,10 +133,14 @@ def train_pieces_svm_canny() -> None: joblib.dump(classifier, f"classifiers/classifier_empty/white_piece_on_{square_color}_square.pkl") -def warp_board(camera_image, debug_image=None, src_points: list = None, dst_points: list = None, short_circuit=False) -> np.ndarray: - - baseline = cv2.imread(str(here.joinpath("new_baseline_board.png"))) +def find_keypoints(camera_image: np.ndarray, + baseline: np.ndarray = cv2.imread(str(here.joinpath("new_baseline_board.png"))), + debug=False) -> Tuple[np.ndarray, np.ndarray]: + """ + Find keypoints in raw camera image of board. + :return: (src points, dest points) + """ camera_image_gray = cv2.cvtColor(camera_image, cv2.COLOR_BGR2GRAY) baseline_gray = cv2.cvtColor(baseline, cv2.COLOR_BGR2GRAY) @@ -150,16 +151,12 @@ def warp_board(camera_image, debug_image=None, src_points: list = None, dst_poin camera_image_keypoints, des = sift.compute(camera_image_gray, camera_image_keypoints) baseline_keypoints, des2 = sift.compute(baseline_gray, baseline_keypoints) - if debug_image is not None: - cv2.drawKeypoints(camera_image, keypoints=camera_image_keypoints, outImage=debug_image) - cv2.imwrite("keypoints_img.jpg", camera_image) - # FLANN parameters FLANN_INDEX_KDTREE = 0 index_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=8) - search_params = dict(checks=100) # or pass empty dictionary + search_params = dict(checks=100) # or pass empty dictionary - flann = cv2.FlannBasedMatcher(index_params,search_params) + flann = cv2.FlannBasedMatcher(index_params, search_params) matches = flann.knnMatch(des, des2, k=2) # Need to draw only good matches, so create a mask @@ -168,43 +165,48 @@ def warp_board(camera_image, debug_image=None, src_points: list = None, dst_poin # Ratio test as per Lowe's paper good_matches = [] for i, (m, n) in enumerate(matches): - if m.distance < 0.55*n.distance: + if m.distance < 0.55 * n.distance: matchesMask[i] = [1, 0] good_matches.append([m, n]) - img3 = cv2.drawMatchesKnn( - camera_image, - camera_image_keypoints, - baseline, - baseline_keypoints, - matches, - None, - matchColor=(0, 255, 0), - singlePointColor=(255, 0, 0), - matchesMask=matchesMask, - flags=0 - ) - cv2.imwrite("matches.jpg", img3) + if debug: + # Save keypoints + keypoints_image = camera_image.copy() + cv2.drawKeypoints(camera_image, keypoints=camera_image_keypoints, outImage=keypoints_image) + cv2.imwrite("keypoints.png", keypoints_image) + # Save matches + matches_image = cv2.drawMatchesKnn( + camera_image, + camera_image_keypoints, + baseline, + baseline_keypoints, + matches, + None, + matchColor=(0, 255, 0), + singlePointColor=(255, 0, 0), + matchesMask=matchesMask, + flags=0 + ) + cv2.imwrite("matches.png", matches_image) # Extract location of good matches - points1 = np.zeros((len(good_matches), 2), dtype=np.float32) - points2 = np.zeros((len(good_matches), 2), dtype=np.float32) + src_points = np.zeros((len(good_matches), 2), dtype=np.float32) + dst_points = np.zeros((len(good_matches), 2), dtype=np.float32) for i, (m, n) in enumerate(good_matches): - points1[i, :] = camera_image_keypoints[m.queryIdx].pt - points2[i, :] = baseline_keypoints[m.trainIdx].pt + src_points[i, :] = camera_image_keypoints[m.queryIdx].pt + dst_points[i, :] = baseline_keypoints[m.trainIdx].pt - if src_points is not None: - src_points.extend(points1) - if dst_points is not None: - dst_points.extend(points2) + return src_points, dst_points - if short_circuit: - return points1, points2 - h, mask = cv2.findHomography(points1, points2, cv2.RANSAC) +def warp_board(camera_image: np.ndarray, debug=False) -> np.ndarray: + baseline = cv2.imread(str(here.joinpath("new_baseline_board.png"))) + src_points, dst_points = find_keypoints(camera_image, baseline, debug=debug) + h, mask = cv2.findHomography(src_points, dst_points, cv2.RANSAC) height, width, channels = baseline.shape + return cv2.warpPerspective(camera_image, h, (width, height)) diff --git a/util.py b/util.py index 7732d27e..263a2447 100644 --- a/util.py +++ b/util.py @@ -1,11 +1,11 @@ from __future__ import annotations -import cv2 from enum import Enum from functools import lru_cache from pathlib import Path -from typing import NewType, NamedTuple, Dict, Tuple +from typing import NamedTuple, Dict, Tuple +import cv2 import numpy as np from sklearn.externals import joblib @@ -76,10 +76,10 @@ class _Position(NamedTuple): # POSITION.{A8, A7, ..., H1} -POSITION = Enum("POSITION", {str(_Position(f, r)): _Position(f, r) for f in FILE for r in RANK}, type=_Position) +POSITION = Enum("POSITION", {str(_Position(f, r)): _Position(f, r) for f in FILE for r in RANK}, type=_Position) # NOQA # Squares is a dict mapping positions to square images, i.e. a board container during image processing -Squares = NewType("Squares", Dict[POSITION, np.ndarray]) +Squares = Dict[POSITION, np.ndarray] class Board(Dict[POSITION, PIECE]):