machinevision-toolbox-python 1.0.1__py3-none-any.whl → 1.0.3__py3-none-any.whl

{machinevision_toolbox_python-1.0.1.dist-info → machinevision_toolbox_python-1.0.3.dist-info}/METADATA

@@ -1,51 +1,51 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: machinevision-toolbox-python
-Version: 1.0.1
+Version: 1.0.3
 Summary: Python tools for machine vision - education and research
-Author: Dorian Tsai
-Author-email: Peter Corke <rvc@petercorke.com>
 Project-URL: Homepage, https://github.com/petercorke/machinevision-toolbox-python
 Project-URL: Bug Tracker, https://github.com/pypa/sampleproject/issues
 Project-URL: Documentation, https://petercorke.github.io/machinevision-toolbox-python
 Project-URL: GitHub Source, https://github.com/petercorke/machinevision-toolbox-python
 Project-URL: Changelog, https://github.com/petercorke/machinevision-toolbox-python/blob/master/CHANGELOG.md
-Keywords: machine vision,computer vision,multiview geometry,stereo vision,bundle adjustment,visual servoing,image features,color,blobs,morphology,image segmentation,opencv,open3d
+Author: Dorian Tsai
+Author-email: Peter Corke <rvc@petercorke.com>
+License-File: LICENSE
+Keywords: blobs,bundle adjustment,color,computer vision,image features,image segmentation,machine vision,morphology,multiview geometry,open3d,opencv,stereo vision,visual servoing
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
-Classifier: Programming Language :: Python :: 3.9
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Operating System :: OS Independent
-Requires-Python: >=3.7
-Description-Content-Type: text/markdown
-License-File: LICENSE
-Requires-Dist: numpy<2.0.0,>=1.17.4
-Requires-Dist: scipy
+Requires-Python: >=3.10
+Requires-Dist: ansitable
 Requires-Dist: matplotlib
-Requires-Dist: opencv-python
-Requires-Dist: open3d
+Requires-Dist: mvtb-data
+Requires-Dist: numpy
 Requires-Dist: opencv-contrib-python
-Requires-Dist: spatialmath-python
+Requires-Dist: opencv-python
 Requires-Dist: pgraph-python
-Requires-Dist: ansitable
-Requires-Dist: mvtb-data
+Requires-Dist: scipy
+Requires-Dist: spatialmath-python
 Provides-Extra: dev
-Requires-Dist: pytest; extra == "dev"
-Requires-Dist: coverage; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
+Requires-Dist: coverage; extra == 'dev'
+Requires-Dist: flake8; extra == 'dev'
+Requires-Dist: pytest; extra == 'dev'
 Provides-Extra: docs
-Requires-Dist: sphinx; extra == "docs"
-Requires-Dist: recommonmark; extra == "docs"
-Requires-Dist: sphinx-rtd-theme; extra == "docs"
-Requires-Dist: sphinx-autorun; extra == "docs"
-Requires-Dist: sphinxcontrib-jsmath; extra == "docs"
-Requires-Dist: sphinx-markdown-tables; extra == "docs"
-Requires-Dist: sphinx-favicon; extra == "docs"
+Requires-Dist: recommonmark; extra == 'docs'
+Requires-Dist: sphinx; extra == 'docs'
+Requires-Dist: sphinx-autorun; extra == 'docs'
+Requires-Dist: sphinx-favicon; extra == 'docs'
+Requires-Dist: sphinx-markdown-tables; extra == 'docs'
+Requires-Dist: sphinx-rtd-theme; extra == 'docs'
+Requires-Dist: sphinxcontrib-jsmath; extra == 'docs'
 Provides-Extra: jupyter
-Requires-Dist: ipywidgets; extra == "jupyter"
-Requires-Dist: ipympl; extra == "jupyter"
+Requires-Dist: ipympl; extra == 'jupyter'
+Requires-Dist: ipywidgets; extra == 'jupyter'
+Provides-Extra: open3d
+Requires-Dist: open3d-python; extra == 'open3d'
+Description-Content-Type: text/markdown
 
 # Machine Vision Toolbox for Python
 

{machinevision_toolbox_python-1.0.1.dist-info → machinevision_toolbox_python-1.0.3.dist-info}/RECORD

@@ -1,47 +1,58 @@
 machinevisiontoolbox/BagOfWords.py,sha256=kHAt6P5Tz5iWpP9N-fcdL3KTwimBqxu9QQ1WRs04Lzc,19680
 machinevisiontoolbox/BundleAdjust.py,sha256=syBFkXwJcRWpNr0k6gu-J3shzH0ozbgOgwaZp844fqk,36081
 machinevisiontoolbox/Camera.py,sha256=Sz6MLiVpLEKX_EtBNcd3AhTjI3Qe_4E9JuB9ERgiugA,136424
-machinevisiontoolbox/ImageBlobs.py,sha256=O6ASg_gdiJ7f3HtogzsfDplCNSBTRyaB-8Xat_8Gc0Y,68961
+machinevisiontoolbox/ImageBlobs.py,sha256=Fv2-R53MK3TXMSNHNbNaNfoIqgVNNnaNog6Nq5G_h5g,72749
 machinevisiontoolbox/ImageColor.py,sha256=V4T_fs0EvFJegAQrNr-3pR7rg7Dye00g2V3JVEK4oOA,17111
 machinevisiontoolbox/ImageConstants.py,sha256=a9eCbfUFUiQj0HsEH291MjYYmXGJjYSIl6Lg7idDppw,20629
-machinevisiontoolbox/ImageCore.py,sha256=WHbd9L36bQFifzn89-IvDv3RH8i2TClK_KCYRgVyZlQ,92320
-machinevisiontoolbox/ImageFiducials.py,sha256=h0t5NJYr9M_wLRHifZeU2EStb3QllE7BsmRUXCq6vSk,16207
-machinevisiontoolbox/ImageIO.py,sha256=UbTzycJOE2Gf9pkya57-5Kzg3aEvNU4G0M_xFoApYo0,21843
+machinevisiontoolbox/ImageCore.py,sha256=rTGHVYw9ayXmDKAXDaLAMuEKVk65aFQqeSUBxt_4qJ8,98404
+machinevisiontoolbox/ImageFiducials.py,sha256=8QwHUrMclP3rLMr2swO44nORo6AJVuIZT777-1QSB44,22341
+machinevisiontoolbox/ImageIO.py,sha256=9MOUSrM1xnkoHYk2W77G0IVPcVjX_YTCLfNg2ZbEFZ4,21935
 machinevisiontoolbox/ImageLineFeatures.py,sha256=IlWSZOrvLnzvLx1vf4GuXb4Icpj214jz9FCDleguV9s,9104
 machinevisiontoolbox/ImageMorph.py,sha256=1xn29MyEkrYRbw-Dg8X6qFKTf4_MDTQ5ddi7y8D-arw,23759
 machinevisiontoolbox/ImageMultiview.py,sha256=wQWcq2Er-EzNNQ7_0mZRuID9VFh4rCjXPxZ-yMiQ-W4,14703
-machinevisiontoolbox/ImagePointFeatures.py,sha256=mqG3ddncU_s4b_GiPh2EFgS-glBGa--PLjVivtCTyfk,75219
+machinevisiontoolbox/ImagePointFeatures.py,sha256=Ran5vzBC3-_brg_X3b-qdXjpX0boEnzznhnkKD8J-wg,75269
 machinevisiontoolbox/ImageProcessing.py,sha256=pZuaVRlpskO2L3JCDh6BOVEfpTUhqKXwPh4usfcTKBM,38123
 machinevisiontoolbox/ImageRegionFeatures.py,sha256=MpqavHwkpevg_dD3zia0wMZMuOmatR2ndZ_TBQ_AbqE,14455
-machinevisiontoolbox/ImageReshape.py,sha256=mYxqVLMmDUMYsUSf70tZqpEXoUA_65HFcovv2Esg-Bk,45905
+machinevisiontoolbox/ImageReshape.py,sha256=3DAlTBpUdljzJwxyCswRoNiTbGBBP8nTWNpsHoPn03I,47470
 machinevisiontoolbox/ImageSpatial.py,sha256=dxTiml3DLp3UXV5x4auo3IuQQJVXRKrjduOpogIeklE,71856
 machinevisiontoolbox/ImageWholeFeatures.py,sha256=OBGZ_elQ6LlOxN1Hgr4dGf4AOUdgxfAD2qkgAaA7uuU,34874
-machinevisiontoolbox/PointCloud.py,sha256=jTiqcOUe8MlpENHZJs_y9CurK3bwyVv8VIUP6BQ2ybk,23451
-machinevisiontoolbox/Sources.py,sha256=Z-cwsn8fuKzwVAPTx8h6Hr4axBhXi5i7NtcrlJKVWHI,28624
+machinevisiontoolbox/PointCloud.py,sha256=AMQSXsgVneoEtecUVsvcup009Ja13NcsMZ2kMddyN-E,23455
+machinevisiontoolbox/Sources.py,sha256=mcBYA9ccvqXjPK9npwt9zAnuP18sw-q2zhwem4xW_to,28572
 machinevisiontoolbox/VisualServo.py,sha256=PlHCz_jbvV1JFfDrePQQ7cP94Wr5nliulHtYEMGwJtw,59294
 machinevisiontoolbox/__init__.py,sha256=UcoSG7Cr9Qot3mg2q748jBbo3TUB2lch4VWzOydKe8U,1363
+machinevisiontoolbox/aruco0.pdf,sha256=a_JZT-TfVv7tQNOvlHSZPf9QCNiOScm_q30jMF8T2ME,75233
+machinevisiontoolbox/aruco50.pdf,sha256=wUwqNaDmZ5EFNl1GNF_O3YRztWOZBhTq7DdMdMTskQw,77285
 machinevisiontoolbox/camera_derivatives.py,sha256=uChdvsXC-25Cg7-xH7tIbxe3tcxxJGQ_nslSiCvnL88,17557
 machinevisiontoolbox/decorators.py,sha256=hBZzLFQDhVOS3mj5Rs4GHbIIf30g_C2LO5m2xyLzH7s,2281
 machinevisiontoolbox/fiducial.py,sha256=syC7iIz95nYBTr_njo4ZzLXOyAdAIqoAZq_wRVhyUHQ,1374
+machinevisiontoolbox/machinevision-toolbox-python.code-workspace,sha256=pQBvdNW9qEbMp3qYKhvOgd3NYoO7vqnnbPMh4H8op_Y,44
 machinevisiontoolbox/mvtb_types.py,sha256=66Oa8-J0UyBTtZQ0hH1B9qPqqw7i7dTCYe3CvgnGpXg,434
 machinevisiontoolbox/newcameras.py,sha256=iQ8Fduiub4Clh1JIEVvQTXZVqXrmgzf0Y5iMPGTOW-w,1225
 machinevisiontoolbox/base/__init__.py,sha256=nQTxEyan6bOvovQKUWjag-VZzfM6P20CwUv7sbCrJEs,1547
-machinevisiontoolbox/base/color.py,sha256=0O_yyfOg2KV6Xk4gks728bc737rcRH_037MFSQUfYEQ,54329
+machinevisiontoolbox/base/color.py,sha256=GQSQIHUKrKWxuBJ4a6kfTy05RQKUhFKA4q4JyjIU358,55067
 machinevisiontoolbox/base/data.py,sha256=tDwUOHzpvGnkzlUaA3p5jQr1rlv9WIr6taRBv3gnmeU,5988
 machinevisiontoolbox/base/esttheta.py,sha256=pYFguhXwo9FoaH0sRAXxrcEkECYttDPnHWBi1YMfISY,2323
 machinevisiontoolbox/base/findpeaks.py,sha256=e0dcG6ZqHMwpzRFQrZH9-OITzhspi6Lq1TZoS37IPQY,10377
-machinevisiontoolbox/base/graphics.py,sha256=WkqJPLKzZvSIJE5tFQ07Fa5dK8gBmJxGEvCwmxkVtrU,24663
-machinevisiontoolbox/base/imageio.py,sha256=mWYqjTEC1sGLR0HL1fwWw0J6EzdeaWRvmnhY2gTAdXM,37418
+machinevisiontoolbox/base/graphics.py,sha256=L0YuIi-HHOhogtmfwMSy9SD5tG0zdxWAYojbhCrRYCc,28956
+machinevisiontoolbox/base/imageio.py,sha256=qUZL7xz-S3o9Xh8vLVQAWqsL7HQQNtSUROERWsUimSo,40393
 machinevisiontoolbox/base/meshgrid.py,sha256=82u1ijws1zoXl5NLzTAMJjry9VEZuWqb_Akz6f1JJ8k,2937
 machinevisiontoolbox/base/shapes.py,sha256=2FmjeuDnehNF5ZmssFDawmblDpKhuVUI3CmXCcILJxg,9926
 machinevisiontoolbox/base/types.py,sha256=3znb81yTFb7sLrgjgt0P5q5wZa9_iRZGw_hWbINhCxc,4716
 machinevisiontoolbox/base/version.py,sha256=Wf76g7w1Ikff-3e-hlExYVRxvV92p04K1m_PZLH9T_I,875
+machinevisiontoolbox/bin/ce.py,sha256=012zsKMT58WZxIsLq8nzDO6b-YK04kduaTwZLSwTdrI,846
+machinevisiontoolbox/bin/imtool.py,sha256=7nHNMuoI0-5y4EdWWPkWlwKdgKVqDDbYPw2bozICLQk,4920
+machinevisiontoolbox/bin/mvtbtool.py,sha256=ehzLW6mwkNsQJVW599NFZ3k5W3ANm9UHBnAP_wLCnsg,5740
+machinevisiontoolbox/bin/tagtool.py,sha256=Gfre8skzAwZystfGFv18W6rNcnIykvtBoCvik80TWzw,7224
 machinevisiontoolbox/blocks/__init__.py,sha256=EsdfK2WxYLSo0SA5HSmlgsivLT1kDnoH9v-RTBDnWwc,142
 machinevisiontoolbox/blocks/camera.py,sha256=qWT_LoDFcZkCAlRqQkRDzX0fr4EvkEgdtGo0QPoO_8s,9776
 machinevisiontoolbox/blocks/test_blocks.py,sha256=ZKsDG_nG9g1t_OIFR6vX823yJojEAi5mtqj9PxKoDrg,1701
-machinevision_toolbox_python-1.0.1.dist-info/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
-machinevision_toolbox_python-1.0.1.dist-info/METADATA,sha256=ZNSpL78lcKjOUrPmTmKiy6el3djAvjMZj1dHhtt3rrk,19866
-machinevision_toolbox_python-1.0.1.dist-info/WHEEL,sha256=beeZ86-EfXScwlR_HKu4SllMC9wUEj_8Z_4FJ3egI2w,91
-machinevision_toolbox_python-1.0.1.dist-info/entry_points.txt,sha256=WkGwGZcQb334xVPQLt1cktOcWL3wXljzp1LkMO1PS30,114
-machinevision_toolbox_python-1.0.1.dist-info/top_level.txt,sha256=HC0K-k55L-H_l8QzNMmP1_vLgBkdTrsM0Kj_rjRrulo,21
-machinevision_toolbox_python-1.0.1.dist-info/RECORD,,
+machinevisiontoolbox/blocks/Icons/camera.png,sha256=CGcTB_llMoucN-rfnP6ZP_7AfE_92z6JnCdam-hDLgs,1642
+machinevisiontoolbox/blocks/Icons/estpose_p.png,sha256=1XrwL4OkotGWMwKmhnar3tt8cQWUdZiO7PxXD354T-E,4320
+machinevisiontoolbox/blocks/Icons/icons.sh,sha256=teezrmF3es8c3-MvwG1lDCt9SKWEqA0eVHOKFeBugig,115
+machinevisiontoolbox/blocks/Icons/imageplane.png,sha256=34FYQMzkq6foxvRU8pn0KkcHxpHRvsJRJSYKfNu13Eg,3902
+machinevisiontoolbox/blocks/Icons/visjac_p.png,sha256=8X023l-C9Y5DfAN8wCdWYjSjq6wp1vRzuZ85sUbwxv8,3819
+machinevision_toolbox_python-1.0.3.dist-info/METADATA,sha256=Uf9vtJz_jlpAtYMG46K416pz_70ka4ywAK1ggX_B4B4,19851
+machinevision_toolbox_python-1.0.3.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+machinevision_toolbox_python-1.0.3.dist-info/entry_points.txt,sha256=ZX7Ox5l4VcwNurmTuD85Um5NpAipiKthfVe16cccWU8,162
+machinevision_toolbox_python-1.0.3.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
+machinevision_toolbox_python-1.0.3.dist-info/RECORD,,

{machinevision_toolbox_python-1.0.1.dist-info → machinevision_toolbox_python-1.0.3.dist-info}/WHEEL

@@ -1,5 +1,4 @@
 Wheel-Version: 1.0
-Generator: setuptools (76.1.0)
+Generator: hatchling 1.28.0
 Root-Is-Purelib: true
 Tag: py3-none-any
-

{machinevision_toolbox_python-1.0.1.dist-info → machinevision_toolbox_python-1.0.3.dist-info}/entry_points.txt

@@ -1,3 +1,4 @@
 [console_scripts]
 imtool = machinevisiontoolbox.bin.imtool:main
 mvtbtool = machinevisiontoolbox.bin.mvtbtool:main
+tagtool = machinevisiontoolbox.bin.tagtool:main

machinevisiontoolbox/ImageBlobs.py

@@ -17,7 +17,7 @@ import matplotlib.pyplot as plt
 
 import cv2 as cv
 from ansitable import ANSITable, Column
-from machinevisiontoolbox.base import color_bgr, plot_labelbox
+from machinevisiontoolbox.base import plot_labelbox
 from spatialmath.base import plot_box, plot_point, isscalar
 from spatialmath import SE2, base
 from machinevisiontoolbox.decorators import scalar_result, array_result
@@ -36,37 +36,6 @@ Defines two key classes:
 """
 
 
-_moment_tuple = namedtuple(
-    "moments",
-    [
-        "m00",
-        "m10",
-        "m01",
-        "m20",
-        "m11",
-        "m02",
-        "m30",
-        "m21",
-        "m12",
-        "m03",
-        "mu20",
-        "mu11",
-        "mu02",
-        "mu30",
-        "mu21",
-        "mu12",
-        "mu03",
-        "nu20",
-        "nu11",
-        "nu02",
-        "nu30",
-        "nu21",
-        "nu12",
-        "nu03",
-    ],
-)
-
-
 class Blob:
     id = None
     bbox = None
@@ -99,7 +68,7 @@ class Blob:
         :return: compact string representation
         :rtype: str
         """
-        return f"Blob[{self.id}](area={self._moments.m00:.2g}, color={self.color}, parent={self.parent.id if self.parent else None}"
+        return f"Blob[{self.id}](area={self.moments.m00:.2g}, color={self.color}, parent={self.parent.id if self.parent else None}"
 
     def __repr__(self):
         return str(self)
@@ -289,11 +258,6 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
             pp = contour[0, :]
             blob.color = image.A[pp[1], pp[0]]
 
-            ## moments
-
-            # get moments as a dictionary for each contour
-            blob._moments = cv.moments(contour)
-
             ## perimeter, the contour is not closed
 
             blob.perimeter = contour.T
@@ -301,17 +265,82 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
             blob.contourpoint = blob.perimeter[:, 0]
 
-            ## For a single set pixel OpenCV returns all moments as zero, skip such blobs
-            ## TODO handle this situation by setting m00=1, m10=x, m01=y etc.
-            if blob._moments["m00"] == 0:
+            ## moments
+
+            # get moments as a dictionary for each contour
+            moments = cv.moments(contour)
+
+            ## For a single set pixel OpenCV returns all moments as zero, let's fix it
+            if moments["m00"] == 0:
                 runts += 1
-            else:
-                self.data.append(blob)
-            allblobs.append(blob)
+
+                # Raw moments
+                for uv in contour:
+                    for p, q in [
+                        (0, 0),
+                        (1, 0),
+                        (0, 1),
+                        (2, 0),
+                        (1, 1),
+                        (0, 2),
+                        (3, 0),
+                        (2, 1),
+                        (1, 2),
+                        (0, 3),
+                    ]:
+                        u = uv[0]
+                        v = uv[1]
+                        moments[f"m{p}{q}"] += u**p * v**q
+
+                # Central moments
+                moments["mu10"] = moments["mu01"] = 0
+                moments["mu20"] = moments["m20"] - moments["m10"] ** 2 / moments["m00"]
+                moments["mu02"] = moments["m02"] - moments["m01"] ** 2 / moments["m00"]
+                moments["mu11"] = (
+                    moments["m11"] - moments["m10"] * moments["m01"] / moments["m00"]
+                )
+
+                # Third-order central moments
+                moments["mu30"] = (
+                    moments["m30"]
+                    - 3 * moments["m20"] * moments["m10"] / moments["m00"]
+                    + 2 * (moments["m10"] ** 3) / (moments["m00"] ** 2)
+                )
+                moments["mu03"] = (
+                    moments["m03"]
+                    - 3 * moments["m02"] * moments["m01"] / moments["m00"]
+                    + 2 * (moments["m01"] ** 3) / (moments["m00"] ** 2)
+                )
+                moments["mu21"] = (
+                    moments["m21"]
+                    - 2 * moments["m11"] * moments["m10"] / moments["m00"]
+                    - moments["m20"] * moments["m01"] / moments["m00"]
+                    + 2 * (moments["m10"] ** 2 * moments["m01"]) / (moments["m00"] ** 2)
+                )
+                moments["mu12"] = (
+                    moments["m12"]
+                    - 2 * moments["m11"] * moments["m01"] / moments["m00"]
+                    - moments["m02"] * moments["m10"] / moments["m00"]
+                    + 2 * (moments["m01"] ** 2 * moments["m10"]) / (moments["m00"] ** 2)
+                )
+
+                # Normalised central moments
+                moments["nu20"] = moments["mu20"] / (moments["m00"] ** (1 + (2 / 2)))
+                moments["nu02"] = moments["mu02"] / (moments["m00"] ** (1 + (2 / 2)))
+                moments["nu11"] = moments["mu11"] / (moments["m00"] ** (1 + (2 / 2)))
+
+                # Third-order normalised moments
+                moments["nu30"] = moments["mu30"] / (moments["m00"] ** (1 + (3 / 2)))
+                moments["nu03"] = moments["mu03"] / (moments["m00"] ** (1 + (3 / 2)))
+                moments["nu21"] = moments["mu21"] / (moments["m00"] ** (1 + (3 / 2)))
+                moments["nu12"] = moments["mu12"] / (moments["m00"] ** (1 + (3 / 2)))
+
+            blob.moments = moments
+            allblobs.append(blob)  # append to the list of all blobs
 
         ## second pass: equivalent ellipse
 
-        for blob, contour in zip(self.data, contours):
+        for blob, contour in zip(allblobs, contours):
             ## moment hierarchy
 
             # for moments in a hierarchy, for any pq moment of a blob ignoring its
@@ -320,25 +349,24 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
             # use to compute area, centroid etc. for each contour
 
             # TODO: this should recurse all the way down
-            M = blob._moments
+            M = blob.moments
             for child in blob.children:
                 # subtract moments of the child
-                M = {key: M[key] - allblobs[child]._moments[key] for key in M}
-
-            # convert dict to named tuple, easier to access using dot notation
-            M = _moment_tuple._make([M[field] for field in _moment_tuple._fields])
-            blob._moments = M
+                M = {key: M[key] - allblobs[child].moments[key] for key in M}
+            blob.moments = M
 
             ## centroid
-            blob.uc = M.m10 / M.m00
-            blob.vc = M.m01 / M.m00
+            if M["m00"] == 0:
+                continue
 
+            blob.uc = M["m10"] / M["m00"]
+            blob.vc = M["m01"] / M["m00"]
             ## equivalent ellipse
-            J = np.array([[M.mu20, M.mu11], [M.mu11, M.mu02]])
+            J = np.array([[M["mu20"], M["mu11"]], [M["mu11"], M["mu02"]]])
             e, X = np.linalg.eig(J)
 
-            blob.a = 2.0 * np.sqrt(e.max() / M.m00)
-            blob.b = 2.0 * np.sqrt(e.min() / M.m00)
+            blob.a = 2.0 * np.sqrt(e.max() / M["m00"])
+            blob.b = 2.0 * np.sqrt(e.min() / M["m00"])
 
             # find eigenvector for largest eigenvalue
             k = np.argmax(e)
@@ -361,13 +389,19 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
                 kfactor = kulpa
             else:
                 kfactor = 1.0
-            blob.circularity = (4.0 * np.pi * M.m00) / (
+            blob.circularity = (4.0 * np.pi * M["m00"]) / (
                 blob.perimeter_length * kfactor
             ) ** 2
 
+        for blob in allblobs:
+            M = blob.moments
+            # convert moments dict to named tuple, easier to access using dot notation
+            blob.moments = namedtuple("moment_tuple", M.keys())(*M.values())
+
         ## third pass, region tree coloring to determine vertex depth
-        while any([b.level is None for b in self.data]):  # while some uncolored
-            for blob in self.data:
+        # level 0 is a parent, level > 0 is a child
+        while any([b.level is None for b in allblobs]):  # while some uncolored
+            for blob in allblobs:
                 if blob.level is None:
                     if blob.parent == -1:
                         blob.level = 0  # root level
@@ -377,17 +411,18 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
         self.filter(**kwargs)
 
-        for blob in self.data:
+        for blob in allblobs:
             if blob.parent != -1:
                 blob.parent = allblobs[blob.parent]
             else:
                 blob.parent = None
             if len(blob.children) > 0:
                 blob.children = [allblobs[i] for i in blob.children]  ##
-
         if runts > 0:
             print(f"blobs: found {runts} runt blob{'s' if runts > 1 else ''}")
 
+        self.data = allblobs
+
         return
 
     def filter(self, area=None, circularity=None, color=None, touch=None, aspect=None):
@@ -582,7 +617,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
                 b.id,
                 b.parent.id if b.parent else -1,
                 f"{b.uc:.1f}, {b.vc:.1f}",
-                b._moments.m00,
+                b.moments.m00,
                 b.touch,
                 b.perimeter_length,
                 b.circularity,
@@ -611,7 +646,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
             >>> blobs[0].area
             >>> blobs.area
         """
-        return [b._moments.m00 for b in self.data]
+        return [b.moments.m00 for b in self.data]
 
     @property
     @scalar_result
@@ -890,7 +925,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
         :seealso: :meth:`bbox`
         """
-        return [b._moments.m00 / (b.bbox[2] * b.bbox[3]) for b in self.data]
+        return [b.moments.m00 / (b.bbox[2] * b.bbox[3]) for b in self.data]
 
     @property
     @scalar_result
@@ -1089,9 +1124,34 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
         A parent of -1 is the image background.
 
-        :seealso: :meth:`children` :meth:`level` :meth:`dotfile`
+        :seealso: :meth:`id` :meth:`children` :meth:`level` :meth:`dotfile`
+        """
+        return [b.parent.id if b.parent is not None else -1 for b in self.data]
+
+    @property
+    @scalar_result
+    def id(self):
+        """
+        Blob id number
+
+        :return: index of this blob
+        :rtype: int
+
+        Example:
+
+        .. runblock:: pycon
+
+            >>> from machinevisiontoolbox import Image
+            >>> im = Image.Read('multiblobs.png')
+            >>> blobs = im.blobs()
+            >>> print(blobs)
+            >>> blobs[5].id
+            >>> blobs[6].id
+
+
+        :seealso: :meth:`parent` :meth:`children` :meth:`level` :meth:`dotfile`
         """
-        return [b.parent for b in self.data]
+        return [b.id for b in self.data]
 
     @property
     @array_result
@@ -1099,8 +1159,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
         """
         Child blobs
 
-        :return: list of indices of this blob's children
-        :rtype: list of int
+        :return: list of indices of this blob's children        :rtype: list of int
 
         Example:
 
@@ -1113,7 +1172,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
         :seealso: :meth:`parent` :meth:`level` :meth:`dotfile`
         """
-        return [b.children for b in self.data]
+        return [[c.id for c in b.children] for b in self.data]
 
     @property
     @array_result
@@ -1147,7 +1206,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
         :seealso: :meth:`centroid` :meth:`humoments`
         """
-        return [b._moments for b in self.data]
+        return [b.moments for b in self.data]
 
     @array_result
     def humoments(self):
@@ -1175,7 +1234,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
         """
 
         def hu(b):
-            m = b._moments
+            m = b.moments
             phi = np.empty((7,))
             phi[0] = m.nu20 + m.nu02
             phi[1] = (m.nu20 - m.nu02) ** 2 + 4 * m.nu11**2
@@ -1607,10 +1666,12 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
         :seealso: :meth:`plot_box` :meth:`plot_centroid` :meth:`plot_perimeter` :func:`~machinevisiontoolbox.base.graphics.plot_labelbox`
         """
 
-        for blob in enumerate(self):
+        for blob in self:
             if label is None:
-                label = f"{blob.id}"
-            plot_labelbox(text=label, lrbt=blob.bbox, **kwargs)
+                text = f"{blob.id}"
+            else:
+                text = label
+            plot_labelbox(text=text, lrbt=blob.bbox, **kwargs)
 
     def plot_centroid(self, label=False, **kwargs):
         """
@@ -1736,7 +1797,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
         :seealso: :meth:`plot_axes` :meth:`plot_box` :meth:`plot_centroid` :func:`~spatialmath.base.plot_ellipse`
         """
         for blob in self:
-            m = blob._moments
+            m = blob.moments
             # fmt: off
             J = np.array([
                 [m.mu20, m.mu11], 
@@ -2012,7 +2073,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
         for id, blob in enumerate(self):
             print('  "{:d}"'.format(id), file=f)
             print(
-                '  "{:d}" -> "{:d}"'.format(blob.parent.id if blob.parent else -1, id),
+                '  "{:d}" -> "{:d}"'.format(blob.parent if blob.parent else -1, id),
                 file=f,
             )
 
@@ -2068,15 +2129,37 @@ if __name__ == "__main__":
     from machinevisiontoolbox import Image
     import matplotlib.pyplot as plt
 
-    im = Image.Read("sharks.png")
+    im = Image.String(
+        r"""
+                ..........
+                ..###.....
+                ..###.....
+                ..###.....
+                ..........
+                ....####..
+                ....####..
+                ....####..
+                ....####..
+                ..........
+                """,
+        binary=True,
+    )
     blobs = im.blobs()
-    # frames = SE2.Empty()
-    # for blob in blobs:
-    #     frames.append(SE2(*blob.centroid, blob.orientation))
-    frames = blobs.blob_frame()
-    print(frames)
-    print(blobs[1].moments.m00)
-    print(blobs.humoments())
+    print(blobs)
+    pass
+
+    # im = Image.Read("sharks.png")
+    # blobs = im.blobs()
+    # im.disp()
+    # blobs.plot_labelbox(color="yellow")
+    # plt.show(block=True)
+    # # frames = SE2.Empty()
+    # # for blob in blobs:
+    # #     frames.append(SE2(*blob.centroid, blob.orientation))
+    # frames = blobs.blob_frame()
+    # print(frames)
+    # print(blobs[1].moments.m00)
+    # print(blobs.humoments())
 
     # im.disp()
     # blobs = im.blobs()
@@ -2097,10 +2180,10 @@ if __name__ == "__main__":
     #     fillstyle="full",
     # )
 
-    # im = Image.Read("multiblobs.png")
+    im = Image.Read("multiblobs.png")
 
-    # f = im.blobs()
-    # # z = f.label_image()
+    f = im.blobs()
+    # z = f.label_image()
 
     # labels = f.label_image()
     # labels.disp(
@@ -2109,6 +2192,13 @@ if __name__ == "__main__":
     #     colorbar=dict(shrink=0.8, aspect=20 * 0.8),
     #     block=True,
     # )
+    print(f)
+    f2 = f[2]
+
+    print(f2.parent)
+    f1 = f[1]
+    print(f1.children)
+    f.dotfile(show=True)
     # pass
 
     # im = Image.Read('sharks.png')