n-fold-edge 1.0.0__tar.gz

n_fold_edge-1.0.0/.github/workflows/docs.yml

@@ -0,0 +1,43 @@
+name: Generate Docs and upload to pages.
+
+on:
+  release:
+    types: [published]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  # Build job
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v7
+      - name: Install the project
+        run: uv sync --locked --all-extras --dev
+      - name: Build docs
+        id: build
+        run: uv run make -C docs html
+      - name: Upload doc build as artifact
+        id: deployment
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build/html
+
+  # Deployment job
+  deploy:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    needs: build
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

n_fold_edge-1.0.0/.github/workflows/publish_pypi.yml

@@ -0,0 +1,156 @@
+name: Publish Python distribution to PyPI and TestPyPI. Create Release and upload docs.
+
+on: push
+
+jobs:
+  build:
+    name: Build distribution
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.x"
+      - name: Install pypa/build
+        run: >-
+          python3 -m
+          pip install
+          build
+          --user
+      - name: Build a binary wheel and a source tarball
+        run: python3 -m build
+      - name: Store the distribution packages
+        uses: actions/upload-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+
+  publish-to-pypi:
+    name: >-
+      Publish Python distribution to PyPI
+    if: startsWith(github.ref, 'refs/tags/') # only publish to PyPI on tag pushes
+    needs:
+      - build
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/CDC # Replace <package-name> with your PyPI project name
+    permissions:
+      id-token: write # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+      - name: Publish distribution to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+
+  github-release:
+    name: >-
+      Sign the Python distribution with Sigstore
+      and upload them to GitHub Release
+    needs:
+      - publish-to-pypi
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write # IMPORTANT: mandatory for making GitHub Releases
+      id-token: write # IMPORTANT: mandatory for sigstore
+
+    steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+      - name: Sign the dists with Sigstore
+        uses: sigstore/gh-action-sigstore-python@v3.0.0
+        with:
+          inputs: >-
+            ./dist/*.tar.gz
+            ./dist/*.whl
+      - name: Create GitHub Release
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        run: >-
+          gh release create
+          "$GITHUB_REF_NAME"
+          --repo "$GITHUB_REPOSITORY"
+          --generate-notes
+      - name: Upload artifact signatures to GitHub Release
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        # Upload to GitHub Release using the `gh` CLI.
+        # `dist/` contains the built packages, and the
+        # sigstore-produced signatures and certificates.
+        run: >-
+          gh release upload
+          "$GITHUB_REF_NAME" dist/**
+          --repo "$GITHUB_REPOSITORY"
+
+  publish-to-testpypi:
+    name: Publish Python distribution to TestPyPI
+    if: startsWith(github.ref, 'refs/tags/') # only publish to PyPI on tag pushes
+    needs:
+      - build
+    runs-on: ubuntu-latest
+
+    environment:
+      name: testpypi
+      url: https://test.pypi.org/p/CDC
+
+    permissions:
+      id-token: write # IMPORTANT: mandatory for trusted publishing
+
+    steps:
+      - name: Download all the dists
+        uses: actions/download-artifact@v4
+        with:
+          name: python-package-distributions
+          path: dist/
+      - name: Publish distribution to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+
+  # Build docs job
+  build_docs:
+    needs: github-release
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Install uv
+        uses: astral-sh/setup-uv@v7
+      - name: Install the project
+        run: uv sync --locked --all-extras --dev
+      - name: Build docs
+        id: build
+        run: uv run make -C docs html
+      - name: Upload doc build as artifact
+        id: deployment
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build/html
+
+  # Deployment job
+  deploy_docs:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    permissions:
+      contents: read
+      pages: write
+      id-token: write
+    runs-on: ubuntu-latest
+    needs: build_docs
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

n_fold_edge-1.0.0/.gitignore

@@ -0,0 +1,62 @@
+patterns/patterns.pdf
+patterns/robolabmarkers.pdf
+test_data/
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# pytest
+test_coverage/
+.coverage
+.pytest_cache
+
+# Sphinx documentation
+docs/_build/
+docs/build/
+docs/source/_autosummary/
+docs/source/reference/
+docs/source/_build/
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# mypy
+.mypy_cache/
+
+# ruff
+.ruff_cache/
+
+# MISC
+*.pyc
+*.bak
+.DS_Store
+.vscode
+output/
+.zed

n_fold_edge-1.0.0/.pre-commit-config.yaml

@@ -0,0 +1,38 @@
+default_stages: [pre-commit, pre-push]
+default_install_hook_types: [pre-commit, pre-push]
+fail_fast: false
+repos:
+    - repo: https://github.com/pre-commit/pre-commit-hooks
+      rev: v6.0.0
+      hooks:
+          - id: check-ast
+            name: Validate Python
+          - id: trailing-whitespace
+          - id: mixed-line-ending
+          - id: end-of-file-fixer
+          - id: check-toml
+            name: Validate pyproject.toml
+
+    - repo: https://github.com/astral-sh/ruff-pre-commit
+      rev: v0.15.9
+      hooks:
+          - id: ruff
+            name: ruff lint
+            types_or: [python, pyi, pyproject]
+            args: [--exit-non-zero-on-fix]
+          - id: ruff-format
+            types: [python, pyi, pyproject]
+
+    - repo: https://github.com/codespell-project/codespell
+      rev: v2.4.2
+      hooks:
+          - id: codespell
+            files: ^.*\.(py|md|rst)$
+            additional_dependencies:
+                - tomli
+
+    - repo: https://github.com/pre-commit/mirrors-mypy
+      rev: v1.20.0
+      hooks:
+          - id: mypy
+            args: [--strict, --ignore-missing-imports]

n_fold_edge-1.0.0/.python-version

@@ -0,0 +1 @@
+3.14

n_fold_edge-1.0.0/LICENSE

@@ -0,0 +1,27 @@
+Copyright 2014 Henrik Skov Midtiby, hemi@mmmi.sdu.du, University of Southern Denmark
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS”
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

n_fold_edge-1.0.0/PKG-INFO

@@ -0,0 +1,52 @@
+Metadata-Version: 2.4
+Name: n-fold-edge
+Version: 1.0.0
+Summary: Marker detector using n-fold-edge on rotational symmetric patterns
+Project-URL: Homepage, https://github.com/SDU-UAS-Center/n-fold-edge
+Project-URL: Issues, https://github.com/SDU-UAS-Center/n-fold-edge/issues
+Author-email: Henrik Skov Midtiby <hemi@mmmi.sdu.dk>
+Maintainer-email: Henrik Skov Midtiby <hemi@mmmi.sdu.dk>, Henrik Dyrberg Egemose <hde@mmmi.sdu.dk>
+License-File: LICENSE
+Requires-Python: >=3.12
+Requires-Dist: opencv-python>=4.13.0.92
+Description-Content-Type: text/markdown
+
+# N-fold-edge Marker locator and tracker
+
+N-fold-edge is a marker locator and tracker. It can locate the following types of markers with high accuracy and speed.
+
+![Image](docs/source/_static/markers.png)
+
+## Table of contents:
+
+- [Installation](#installation)
+- [Usage](#usage)
+- [Documentation](#documentation)
+- [Contributing](#contributing)
+- [License](#license)
+
+## Installation
+
+N-fold-edge is a python package and can be installed with pip, uv etc.
+
+```
+pip install CDC
+```
+
+For more advanced installation, please visit the [Documentation]() for more information.
+
+## Usage
+
+When install n-fold-edge can be used as cli. See [CLI]() for more information.
+
+## Documentation
+
+For a full list of command line arguments see [CLI](). For a reference manual, please visit [Reference Manual]()
+
+## Contributing
+
+For contribution guidelines, please see the [Documentation]().
+
+## License
+
+The software is licensed under the BSD-3-Clause license, see [License](LICENSE).

n_fold_edge-1.0.0/README.md

@@ -0,0 +1,39 @@
+# N-fold-edge Marker locator and tracker
+
+N-fold-edge is a marker locator and tracker. It can locate the following types of markers with high accuracy and speed.
+
+![Image](docs/source/_static/markers.png)
+
+## Table of contents:
+
+- [Installation](#installation)
+- [Usage](#usage)
+- [Documentation](#documentation)
+- [Contributing](#contributing)
+- [License](#license)
+
+## Installation
+
+N-fold-edge is a python package and can be installed with pip, uv etc.
+
+```
+pip install CDC
+```
+
+For more advanced installation, please visit the [Documentation]() for more information.
+
+## Usage
+
+When install n-fold-edge can be used as cli. See [CLI]() for more information.
+
+## Documentation
+
+For a full list of command line arguments see [CLI](). For a reference manual, please visit [Reference Manual]()
+
+## Contributing
+
+For contribution guidelines, please see the [Documentation]().
+
+## License
+
+The software is licensed under the BSD-3-Clause license, see [License](LICENSE).

n_fold_edge-1.0.0/docs/Makefile

@@ -0,0 +1,23 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+cleanall: clean
+	@rm source/reference/*
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

n_fold_edge-1.0.0/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

n_fold_edge-1.0.0/docs/source/CLI.rst

@@ -0,0 +1,18 @@
+CLI
+===
+
+marker-locator
+--------------
+
+.. argparse::
+   :module: n_fold_edge.__main__
+   :func: get_locate_markers_arg_parse
+   :prog: marker-locator
+
+marker-tracker
+--------------
+
+.. argparse::
+    :module: n_fold_edge.__main__
+    :func: get_track_markers_arg_parser
+    :prog: marker-tracker

n_fold_edge-1.0.0/docs/source/_static/notes/pythonpic/markertrackerillustrations.py

@@ -0,0 +1,79 @@
+import cv2
+import numpy as np
+
+from n_fold_edge.marker_locator import MarkerLocator
+
+
+def main() -> None:
+    image_of_real_and_imag_part_of_kernel()
+    image_of_quality_templates()
+    hubsan_image = cv2.imread("input/hubsanwithmarker.jpg")
+    hubsan_image_small = cv2.resize(hubsan_image, None, fx=0.1, fy=0.1)
+    cv2.imwrite("hubsanwithmarker_small.png", hubsan_image_small)
+    tracker = MarkerLocator(order=4, kernel_size=91, scale_factor=0.01)
+    tracker.track_marker_with_missing_black_leg = False
+    gray_scale_image = cv2.cvtColor(hubsan_image_small, cv2.COLOR_BGR2GRAY)
+    marker_location = tracker.locate_marker(gray_scale_image)
+    magnitude = np.sqrt(tracker.frame_sum_squared)
+    argument = np.arctan2(tracker.frame_imag, tracker.frame_real)
+    maximum_magnitude = np.max(magnitude)
+    cv2.imwrite("hubsan_magnitude_response_n4_kernel.png", magnitude / maximum_magnitude * 255)
+    cv2.imwrite("hubsan_magnitude_response_inverted_n4_kernel.png", (1 - magnitude / maximum_magnitude) * 255)
+    cv2.imwrite("hubsan_argument_response_n4_kernel.png", (3.1415 + argument) / 7 * 255)
+
+    hue = (argument + 3.1415) / (np.pi) * 180
+    saturation = 1 + 0 * magnitude / maximum_magnitude
+    value = np.sqrt(magnitude / maximum_magnitude) * 255
+    hsv_image = cv2.merge((hue, saturation, value))
+    rgb_image = cv2.cvtColor(hsv_image, cv2.COLOR_HSV2BGR)
+    cv2.imwrite("hubsan_magnutude_and_argument_as_hsv_n4_kernel.png", rgb_image)
+
+    region_around_detected_marker = tracker.extract_window_around_maker_location(
+        gray_scale_image, (int(marker_location.x), int(marker_location.y))
+    )
+    cv2.imwrite("hubsan_region_around_detected_marker.png", region_around_detected_marker)
+
+    (bright_regions, dark_regions) = tracker.generate_template_for_quality_estimator(marker_location.theta)
+    quality_template = 0.5 + bright_regions - dark_regions
+    cv2.imwrite("hubsan_oriented_quality_template_oriented.png", quality_template * 255)
+
+    merged_input_and_quality_template = cv2.addWeighted(
+        region_around_detected_marker.astype("float64"), 0.5, quality_template * 255, 0.5, 1
+    )
+    cv2.imwrite("hubsan_merged_input_and_oriented_quality_template_oriented.png", merged_input_and_quality_template)
+
+
+def image_of_real_and_imag_part_of_kernel() -> None:
+    tracker = MarkerLocator(order=4, kernel_size=101, scale_factor=1)
+    maximum_value = np.max(tracker.mat_real)
+    real_part_of_kernel = 0.5 * tracker.mat_real / maximum_value + 0.5
+    imaginary_part_of_kernel = 0.5 * tracker.mat_imag / maximum_value + 0.5
+    kernel_magnitude = np.absolute(tracker.kernelComplex) / maximum_value
+    kernel_argument = np.angle(tracker.kernelComplex).astype("float32")
+    kernel_argument_hsv = np.dstack(
+        (kernel_argument * 180 / 3.1415926535 + 180, kernel_argument * 0 + 1, kernel_argument * 0 + 255.0)
+    )
+    kernel_argument_rgb = cv2.cvtColor(kernel_argument_hsv, cv2.COLOR_HSV2BGR)
+    print(np.max(kernel_argument_rgb))
+    cv2.imwrite("kernel_real_part.png", real_part_of_kernel * 255)
+    cv2.imwrite("kernel_imaginary_part.png", imaginary_part_of_kernel * 255)
+    cv2.imwrite("kernel_magnitude.png", kernel_magnitude * 255)
+    cv2.imwrite("kernel_argument.png", kernel_argument_rgb)
+
+
+def image_of_quality_templates() -> None:
+    tracker = MarkerLocator(order=4, kernel_size=101, scale_factor=0.01)
+    # Set orientation of the marker
+    (bright_regions, dark_regions) = tracker.generate_template_for_quality_estimator(0.5)
+    cv2.imwrite("quality_template_oriented_white_regions.png", bright_regions * 255)
+    cv2.imwrite("quality_template_oriented.png", (0.5 + bright_regions - dark_regions) * 255)
+    cv2.imwrite("quality_template_oriented_black_regions.png", dark_regions * 255)
+    # Set orientation of the marker
+    tracker.track_marker_with_missing_black_leg = False
+    (bright_regions, dark_regions) = tracker.generate_template_for_quality_estimator(0.5)
+    cv2.imwrite("quality_template_plain_white_regions.png", bright_regions * 255)
+    cv2.imwrite("quality_template_plain.png", (0.5 + bright_regions - dark_regions) * 255)
+    cv2.imwrite("quality_template_plain_black_regions.png", dark_regions * 255)
+
+
+main()