stable version, tells you coordinates, direction

stable.ipynb

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     "text": [
      "724.5 357.5 296.992\n",
      "742.5 375.5 292.623\n",
      "722.5 375.5 309.714\n",
      "1273.5 624.5\n",
      "(1919, 6406) (0, -10754)\n",
      "[-0.11119268] [ 0.99379885]\n",
      "[[ 353.61593628]]\n",
      "1273.5 624.5\n",
      "(1919, 6406) (0, -10754)\n",
      "[-0.11119268] [ 0.99379885]\n",
      "[[ 353.61593628]]\n"
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   "source": [
    "import cv2\n",
    "import numpy as np\n",
    "from matplotlib import pyplot as plt\n",
    "from numpy.linalg import norm\n",
    "\n",
    "img_rgb = cv2.imread('mapa.jpg')\n",
    "\n",
    "for x in range(0,420):\n",
    "    for y in range(0,1080):\n",
    "            img_rgb[y,x] = (0,0,0)\n",
    "            img_rgb[y,1919-x] = (0,0,0)\n",
    "            \n",
    "res = cv2.bilateralFilter(img_rgb,9,80,80)\n",
    "\n",
    "res = cv2.GaussianBlur(res,(5,5),0)\n",
    "\n",
    "res = cv2.bilateralFilter(res,9,80,80)\n",
    "\n",
    "res = cv2.GaussianBlur(res,(5,5),0)\n",
    "\n",
    "cv2.imwrite('res34.png',res)\n",
    "\n",
    "#%run ./mul.py\n",
    "\n",
    "#'''\n",
    "gray = cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)\n",
    "\n",
    "\n",
    "result = cv2.Canny(gray, 200, 20)\n",
    "#result = cv2.Laplacian(res,cv2.CV_64F)\n",
    "\n",
    "img_none = cv2.imread('empty.png')\n",
    "\n",
    "#print(type(result))\n",
    "\n",
    "for x in range(0,1920):\n",
    "    for y in range(0,1080):\n",
    "        #y,x\n",
    "        if all(result[y,x] == (255,255,255)) and all(img_none[y,x] == (255,255,255)):\n",
    "            result[y,x] -=  result[y,x]\n",
    "        \n",
    "\n",
    "cv2.imwrite('res33.png',result)\n",
    "\n",
    "result1 = cv2.imread('res33.png')\n",
    "result = cv2.cvtColor(result1, cv2.COLOR_BGR2GRAY)\n",
    "param2_t = 120\n",
    "flag = False\n",
    "circles = None\n",
    "while not flag :\n",
    "    param2_t -= 5\n",
    "    circles = cv2.HoughCircles(result, cv2.HOUGH_GRADIENT, dp=1, minDist=10, param1=80, param2=param2_t)\n",
    "    \n",
    "    try:\n",
    "        for (x,y,r) in circles[0]:\n",
    "            if r > 330 :\n",
    "                pass\n",
    "            elif r < 250 :\n",
    "                pass\n",
    "            else :\n",
    "                flag = True\n",
    "    except TypeError :\n",
    "        pass\n",
    "#circles\n",
    "output = result1.copy()\n",
    "for (x,y,r) in circles[0]:\n",
    "    \n",
    "    if r > 330 :\n",
    "        pass\n",
    "    elif r < 250 :\n",
    "        pass\n",
    "    \n",
    "    #f 0 :\n",
    "    #   pass\n",
    "    else :\n",
    "        cv2.circle(output, (x,y), r, (0, 255, 0), 2)\n",
    "        print (x,y,r)\n",
    "cv2.imwrite('res666.png',output)\n",
    "\n",
    "hist = cv2.imread('res33.png')\n",
    "timg = cv2.cvtColor(hist, cv2.COLOR_BGR2GRAY)\n",
    "\n",
    "ret, contours, hierarchy = cv2.findContours(timg.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE )\n",
    "\n",
    "def dist(p1,p2,p3):\n",
    "    return norm(np.cross(p2-p1, p1-p3))/norm(p2-p1)\n",
    "\n",
    "for _ in contours:\n",
    "    (x,y),radius = cv2.minEnclosingCircle(_)\n",
    "    if  radius > 12 and radius < 16:\n",
    "        #cv2.drawContours(hist, _, -1,(  0,255,  0),1)\n",
    "        #(x,y),radius = cv2.minEnclosingCircle(_)\n",
    "        #print(x,y)\n",
    "        flag = False\n",
    "        for k in contours:\n",
    "            if k is not _ :\n",
    "                (x1,y1),radius1 = cv2.minEnclosingCircle(k)\n",
    "                if (x1-x)**2 + (y1-y)**2 < radius**2 and radius1 > 6 and radius1 < 7  :\n",
    "                    flag = True\n",
    "                    \n",
    "                    print(x1,y1)\n",
    "                    \n",
    "                    hull = cv2.convexHull(k)\n",
    "                    xx = (hull[0][0][0] + hull[-1][0][0]) / 2\n",
    "                    yy = (hull[0][0][1] + hull[-1][0][1]) / 2\n",
    "                    pt1 = (int(xx),int(yy))\n",
    "                    pt0 = (int(x1), int(y1))\n",
    "                    \n",
    "                    #cv2.drawContours(hist, [hull], -1, (0, 0, 255), 1)\n",
    "                    cv2.arrowedLine(hist, pt0, pt1, (255,0,0), 1)\n",
    "                    \n",
    "                    \n",
    "                    rows,cols = hist.shape[:2]\n",
    "                    [vx,vy,x,y] = cv2.fitLine(k, cv2.DIST_L2,0,0.01,0.01)\n",
    "                    lefty = int((-x*vy/vx) + y)\n",
    "                    righty = int(((cols-x)*vy/vx)+y)\n",
    "                    print((cols-1,righty),(0,lefty))\n",
    "                    #hist = cv2.line(hist,(cols-1,righty),(0,lefty),(0,255,0),2)\n",
    "                    \n",
    "                    #y = yy - y1\n",
    "                    #x = xx - x1\n",
    "                    \n",
    "                    angle = np.arctan2([y],[x])/np.pi*180\n",
    "                    dlist = [dist(np.array([cols-1,righty]),np.array([0,lefty]),np.array(i)) for i in hull]\n",
    "                    dindex = (dlist.index(max(dlist)))\n",
    "                    dirvec = np.array(hull[dindex]) - np.array([x1,y1])\n",
    "                    linevec = np.array([cols-1,righty]) - np.array([0,lefty])\n",
    "                    if np.dot(linevec.copy(), dirvec[0]) < 0:\n",
    "                        linevec = -linevec\n",
    "                        vx = -vx\n",
    "                    print(vx,vy)    \n",
    "                    lefty = int((-x*vy/vx) + y)\n",
    "                    righty = int(((cols-x)*vy/vx)+y)\n",
    "                    hist = cv2.arrowedLine(hist,(cols-1,righty),(0,lefty),(0,255,0),3)\n",
    "                    angle = np.arctan2([vy],[vx])/np.pi*180\n",
    "                    angle = 90 - angle\n",
    "                    angle += 360\n",
    "                    if angle >= 360 :\n",
    "                        angle -= 360\n",
    "                    print(angle)\n",
    "                    \n",
    "                    \n",
    "        if flag:\n",
    "            cv2.drawContours(hist, _, -1,(  0,255,  0),1)\n",
    "            \n",
    "cv2.imwrite('res1234.png',hist)"
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