machinevision-toolbox-python 1.0.1__tar.gz → 1.0.3__tar.gz

machinevision_toolbox_python-1.0.3/.gitignore

@@ -0,0 +1,74 @@
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+wheels/
+pip-wheel-metadata/
+*.egg-info/
+*.egg
+MANIFEST
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Sphinx documentation
+docsrc/build/
+docsrc/source/generated
+
+# PyBuilder
+target/
+
+# pyenv
+.python-version
+
+# Pyre type checker
+.pyre/
+
+### VisualStudioCode ###
+.vscode/
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+
+### PyCharm ###
+.idea
+
+.ipynb_checkpoints/
+
+### Figures generated by Python notebooks ###
+*.eps
+
+*.zip
+
+docs/source/stubs/*
+# latex products
+.log
+.aux

machinevision_toolbox_python-1.0.3/CHANGELOG.md

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+
+1.0.2 January 2026
+
+* `Image` class
+
+  - `warp_affine` can now warp an image into a given output image
+  - graphic primitives
+  - create an ArUco marker
+  - save as PDF
+
+  - all the draw_xxx() functions in base now have wrappers as methods of `Image`
+  - draw_xxx() now handle floating point arguments, rounding them to the neares int
+  - improvements in name2color to handle image datatypes and colororder
+
+* FiducialCollection class, represent a generalized calibration board with AR tags
+
+* ArUcoBoard class, represent a generalized ArUco calibration board
+
+* changed to src folder layout, code is in src/machinevisiontoolbox
+* changed from setuptools to hatch
+* works if Open3D is not installed, it's always well behind in Python version support
+* removed numpy < 2.0 constraint, OpenCV now suppports numpy 2.x
+* working with Python 3.12 (except for Open3D)
+* added command line tools:
+  * `imtool` for displaying images, exploring pixels, picking points, showing metadata etc.  Works with your own images or those provided with MVTB 
+  * `tagtool` for highlighting AR tags in images
+
+1.0.1 March 2025
+
+* `Image` class
+  - `.dice` method, chops an image up into tiles, can be overlapping
+  - `.Tile(columns=0)` will arrange the tiles into a roughly square layout
+  - Constant images, previously many of these could only generate square images, this is now generalized
+  - `.Chequerboard` creates a chequerboard pattern
+  - set background color for image warp undefined pixels
+  - single plane images can have a colorplane name
+  - deprecate `colordict()`, use `colororder2dict()` instead
+  - `String` now supports two string formats, can create color images
+  - fixed bug with gamma="sRGB" which always returned a float image, type is now the same as passed
+
+* Blobs
+
+  - new methods for blob aligned box, plot_aligned_box, 
+  - `plot_perimeter` options
+  - `perimeter_hull` convex hull
+  - fixed bug with runt blobs
+
+* Kernels
+
+  - added `Kernel.HGauss` for Hessian of Gaussian
+  - added `Kernel` repr method, `disp` method
+ArUcoBoard class
+
+* Camera models
+  - Fixed errors in some camera projection models
+
+* Point clouds
+
+  - `PointCloud` now has a "constructor" for depth images, `PointCloud.DepthImage()`
+
+* Miscellaneous
+
+  - Lots more code examples and plots
+  - Move decoratores scalar_result and array_result to machinevisiontoolbox.decorators.py
+  - improved unit testing
+
+
+
+1.0.0 January 2025
+
+* `Kernel` methods now return `Kernel` instances rather than NumPy arrays. Methods that
+accept a kernel can accept a `Kernel` instance or a NumPy array.  Methods exist to 
+stringify or print a kernel.
+
+* The indexing order of an `Image` object (using square bracket `__getitem__` access) has
+  changed and is now `img[u,v]` where `u` is the column coordinate and `v` is the row
+  coordinate.  This is consistent with the column-first convention used across the
+  Toolbox and is consistent with the $(u,v)$ coordinate system for images. But, this
+  is the __opposite__ order to that used for NumPy index on the underlying array, and
+  to earlier versions of the Toolbox. 
+
+    - a 2-tuple of integers, select this pixel.  If the image has multiple planes, the
+      result is a vector over planes.
+    - a 3-tuple of integers, for a multiplane image select this pixel from the specified
+      plane.
+    - a 2-tuple of slice objects, select this region. If the image has multiple planes,
+      the result is a 3D array.
+    - a 3-tuple of slice objects, select this region of uv and planes
+    - an int, select this plane
+    - a string, select this named plane or planes
+
+* added `pixel(u,v)` method for faster access to a single pixel value, scalar or vector.
+
+* the children of a `Blob` is now given as a list of `Blob` objects, not their indices
+within the overall list of blobs.  This simplies traversing the blob hierarchy tree.
+Similarly, the parent is a reference to the parent `Blob` object rather than an index,
+and is `None` if the blob has no parent (its parent is the background).
+
+* Documentation overhaul, both in-code docstrings, and the organization of the overall Sphinx document.
+
+* Additional unit tests
+
+* Myriad minor bug fixes, see commit history.

machinevision_toolbox_python-1.0.3/Makefile

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+.FORCE:
+
+BLUE=\033[0;34m
+BLACK=\033[0;30m
+
+help:
+	@echo "$(BLUE) make test - run all unit tests"
+	@echo " make coverage - run unit tests and coverage report"
+	@echo " make docs - build Sphinx documentation"
+	@echo " make view - open Sphinx doco build (uses open for MacOS)"
+	@echo " make dist - build dist files"
+	@echo " make upload - upload to PyPI"
+	@echo " make clean - remove dist and docs build files"
+	@echo " make help - this message$(BLACK)"
+
+test:
+	pytest
+
+coverage:
+	coverage run --source='machinevisiontoolbox' -m pytest
+	coverage report
+	coverage html
+	open htmlcov/index.html
+
+docs: .FORCE
+	(cd docs; make html)
+
+view: .FORCE
+	open docs/build/html/index.html
+
+dist: .FORCE
+	# $(MAKE) test
+	python -m build
+	ls -lh dist/*
+
+upload: .FORCE
+	twine upload dist/*
+
+clean: .FORCE
+	(cd docs; make clean)
+	-rm -r *.egg-info
+	-rm -r dist build
+

machinevision_toolbox_python-1.0.3/NOTES

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+needs to install mvtb, opencv-contrib-python-headless
+ansitable, pgraph, spatialmath
+
+extras for open3d
+extras for data
+
+pip install 
+
+
+---
+
+8/3/2025
+
+unit test for plane, check all argument possibilities
+use random pattern for testing dice
+
+checkin blob
+fixup sphinx build errors
+test __eq__ logic, copy size check to other equality tests

{machinevision_toolbox_python-1.0.1 → machinevision_toolbox_python-1.0.3}/PKG-INFO

@@ -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-1.0.3/camtest.py

@@ -0,0 +1,76 @@
+import machinevisiontoolbox as mvtb
+import matplotlib.pyplot as plt
+import numpy as np
+import scipy
+from spatialmath import SE3
+from spatialmath import base
+
+
+def mkgrid(N, s, pose=None):
+    
+    s = base.getvector(s)
+    if len(s) == 1:
+        sx = s[0]
+        sy = s[0]
+    elif len(s) == 2:
+        sx = s[0]
+        sy = s[1]
+    else:
+        raise ValueError('bad s')
+
+    N = base.getvector(N)
+    if len(N) == 1:
+        nx = N[0]
+        ny = N[0]
+    elif len(N) == 2:
+        nx = N[0]
+        ny = N[1]
+    else:
+        raise ValueError('bad N')
+
+    if N == 2:
+        # special case, we want the points in specific order
+        p = np.array([
+            [-sx, -sy, 0],
+            [-sx,  sy, 0],
+            [ sx,  sy, 0],
+            [ sx, -sy, 0],
+        ]).T / 2
+    else:
+        X, Y = np.meshgrid(np.arange(nx), np.arange(ny), sparse=False, indexing='ij')
+        X = ( X / (nx-1) - 0.5 ) * sx
+        Y = ( Y / (ny-1) - 0.5 ) * sy
+        Z = np.zeros(X.shape)
+        P = np.column_stack((X.flatten(), Y.flatten(), Z.flatten())).T
+    
+    # optionally transform the points
+    if pose is not None:
+        P = pose * P
+
+    return P
+
+
+
+
+cam = mvtb.CentralCamera(imagesize=(1280,1024), f=0.015, rho=10e-6)
+print(cam)
+
+P = [0.3, 0.4, 3]
+print(cam.project(P))
+print(cam.project(P, pose=SE3(0.1,0.2,0.3) * SE3.RPY([0.1,0.2,0.3])))
+print(cam.K)
+print(cam.C)
+
+P = mkgrid([3], [0.2], pose=SE3(0, 0, 1))
+print(P)
+print(cam.project(P))
+
+# C = cam.C
+# f, s, K, R, t = invcamcal(C)
+# print(f, s)
+# print(K)
+# print('pose')
+# print(R, R@t)
+
+# p = cam.project(P.T)
+# print('image plane points\n', p)

machinevision_toolbox_python-1.0.3/examples/README.md

@@ -0,0 +1,26 @@
+# Example files
+
+## Read and display files
+
+* [monalisa.py](monalisa.py) load the included Mona Lisa image and display it
+* [showzip.py](showzip.py) display images within a zip file as an animation
+* [bunny.py](bunny.py) load the Stanford bunny point cloud from a PLY file and display it
+
+
+## Image processing
+
+* [morphdemo.py](morphdemo.py) Visualization of moving window performing morphological operation
+* [randomdots.py](randomdots.py) display random dot pattern and interactively adjust the density
+
+## Feature extraction
+
+* [blobs1.py](blobs1.py) blob/region features
+* [blobs2.py](blobs2.py) nested blob/region features
+* [corners.py](corners.py) SIFT, ORB etc. corner features
+* [matching.py](matching.py) SIFT matching points between images
+
+
+## Miscalleneous
+
+[ransac_line.py](ransac_line.py) demo of RANSAC fitting line to badly corrupted data
+

machinevision_toolbox_python-1.0.3/examples/blobs1.py

@@ -0,0 +1,15 @@
+from machinevisiontoolbox import Image
+import matplotlib.pyplot as plt
+
+mb = Image.Read("shark2.png")
+print(mb)
+mb.disp()
+blobs = mb.blobs()
+print(len(blobs))
+
+blobs.plot_labelbox(color="yellow")
+
+
+print(blobs)
+
+plt.show(block=True)

machinevision_toolbox_python-1.0.3/examples/blobs2.py

@@ -0,0 +1,21 @@
+from machinevisiontoolbox import Image
+import matplotlib.pyplot as plt
+
+
+mb = Image.Read("multiblobs.png")
+mb.disp()
+
+blobs = mb.blobs()
+print(f"there are {len(blobs)} in this image")
+
+print(blobs)
+
+print("we can slice out a single blob")
+b5 = blobs[5]
+print(b5)
+print(f"it has {len(b5.children)} child blobs")
+
+blobs.dotfile(show=True)
+
+labels, n = mb.labels_binary()
+labels.disp(title="label image", colorbar=True, block=True)

machinevision_toolbox_python-1.0.3/examples/bunny.py

@@ -0,0 +1,9 @@
+# display images within a zip file as an animation
+
+from machinevisiontoolbox import PointCloud
+
+# load bunny point cloud from the included data files
+pcd = PointCloud.Read("bunny.ply")
+
+print(pcd)
+pcd.disp(block=True)

machinevision_toolbox_python-1.0.3/examples/color.py

@@ -0,0 +1,27 @@
+from machinevisiontoolbox import Image
+import matplotlib.pyplot as plt
+
+im = Image.Read("flowers1.png")
+im.disp()
+print(im)
+
+red = im.red()
+blue = im.blue()
+print(red)
+
+red.disp(title="red channel of flowers1.png")
+
+grey = im.mono()
+print(grey)
+grey.disp(title="grey scale version of flowers1.png")
+
+f = im.to("float")
+f.disp(title="float version of flowers1.png")
+
+im.stats()
+
+hist = im.hist()
+plt.figure()
+hist.plot(title="histogram of flowers1.png")
+
+plt.show(block=True)

machinevision_toolbox_python-1.0.3/examples/corners.py

@@ -0,0 +1,35 @@
+from machinevisiontoolbox import Image
+import matplotlib.pyplot as plt
+
+# load an image, Fig 14.1a in RVC3e
+im = Image.Read("eiffel-1.png")
+print("Eiffel tower:", im)
+
+## compute SIFT features
+features = im.SIFT()
+
+# print the summary
+print(features)
+
+# print the first 10 features
+for feature in features[:10]:
+    print(feature)
+
+# overlay the 50 largest features on the image, sorted by decreasing strength
+im.disp(title="Eiffel tower + SIFT features", block=False)
+features.sort().filter(minscale=10)[:50].plot(filled=True, color="red", alpha=0.5)
+
+## compute ORB features, these have no scale
+features = im.ORB()
+# print the summary
+print(features)
+
+# print the first 10 features
+for feature in features[:10]:
+    print(feature)
+
+# overlay the 50 largest features on the image, sorted by decreasing strength
+im.disp(title="Eiffel tower + ORB features", block=False)
+features.sort()[:50].plot(color="yellow", alpha=0.3)
+
+plt.show(block=True)

machinevision_toolbox_python-1.0.3/examples/matching.py

@@ -0,0 +1,14 @@
+import matplotlib.pyplot as plt
+from machinevisiontoolbox import *
+
+# load two different views of the Eiffel tower and compute SIFT features
+sf1 = Image.Read("eiffel-1.png").SIFT()
+sf2 = Image.Read("eiffel-2.png").SIFT()
+
+# match the features, the result is a list of matching pairs
+m = sf1.match(sf2)
+print(m[:5])
+
+m[:100].plot("y", width=200, linewidth=0.7)
+
+plt.show(block=True)

machinevision_toolbox_python-1.0.3/examples/monalisa.py

@@ -0,0 +1,7 @@
+from machinevisiontoolbox import Image
+
+mona = Image.Read("monalisa.png")
+mona.disp(title=f"monalisa from file {mona.name}")
+
+mona = Image.Read("http://petercorke.com/files/images/monalisa.png")
+mona.disp(title="monalisa from URL", block=True)

machinevision_toolbox_python-1.0.3/examples/morphdemo.py

@@ -0,0 +1,38 @@
+from machinevisiontoolbox import Image, set_window_title
+import matplotlib.pyplot as plt
+import numpy as np
+
+morph_op = np.min
+# morph_op = np.max
+
+# pause = None
+pause = 0.5
+
+a = Image.Random(10)  # random input image
+b = Image.Zeros(10)  # "empty" output image
+
+# create two adjacent subplots, and display the input image on the left
+fig, ax = plt.subplots(1, 2, figsize=(10, 5))
+set_window_title("Morphological operation demonstration")
+
+wa = a.showpixels(textcolors="blue", ax=ax[0], windowsize=1)
+b.showpixels(ax=ax[1])
+
+# wa is an object that can highlight windows in the corresponding image
+
+# loop over all pixels in the input image, excluding the border
+for v in range(1, a.shape[0] - 1):
+    for u in range(1, a.shape[1] - 1):
+        window = wa.move(u, v, "red")  # highlight the window
+
+        # window is the 3x3 window centered on (u,v)
+        b.image[v, u] = morph_op(window)  # perform the morphological operation
+
+        # update the display of the output image
+        ax[1].cla()
+        b.showpixels(ax=ax[1])
+
+        if pause is None:
+            plt.waitforbuttonpress()
+        else:
+            plt.pause(pause)

machinevision_toolbox_python-1.0.3/examples/mwe.py

@@ -0,0 +1,15 @@
+import matplotlib.pyplot as plt
+from traitlets.config import Config
+
+import IPython
+
+c = Config()
+c.InteractiveShell.confirm_exit = False
+
+code = [
+    "%matplotlib osx",
+    "print('hello')",
+]
+
+c.InteractiveShellApp.exec_lines = code
+IPython.start_ipython(config=c, user_ns=globals())

machinevision_toolbox_python-1.0.3/examples/randomdots.py

@@ -0,0 +1,10 @@
+# create random greyscale pixel pattern and allow interactive threshold
+# to change the dot density
+#
+# could be the basis of texture for stereo calibration
+
+from machinevisiontoolbox import Image
+import matplotlib.pyplot as plt
+
+image = Image.Random(200)
+image.threshold_interactive()