def _retake_photos_until_valid_mode(self, target_number_cluster, mode_is_invalid=lambda m: m is None) -> None:
"""
Take 0 or more extra photos at the average location of the target numbers to do what we can to ensure a
valid modal numeric value exists.
Args:
target_number_cluster (GlobalNumberCluster):
The different representations of a single real life number to be recognised. This is extended to
include all extra photos taken during this method.
mode_is_invalid:
A function which accepts a given mode (int) and returns true if it is invalid. By default this simply
returns True if a unique mode does not exist.
"""
average_location = target_number_cluster.average_dot_location_yx
numeric_value = target_number_cluster.modal_numeric_value
jitters = np.array([[0, 0],
[10, 0],
[0, 10],
[-10, 0],
[0, -10]])
retry_number = -1
while mode_is_invalid(numeric_value) and retry_number + 1 < len(jitters):
retry_number += 1
# Take a new photo
print('Could not determine number at location ({0[0]:.0f},{0[1]:.0f}), current value {1}\n'
'Retrying...'.format(average_location, numeric_value))
processing_job = self._take_photo_and_extract_numbers(average_location + jitters[retry_number])
self._processing_station.join()
new_global_numbers = processing_job.return_value
new_global_numbers = [n for n in new_global_numbers
if np.linalg.norm(
n.dot_location_yx_mm - average_location) < self._min_millimetres_between_distinct_spots]
number_recognition.print_recognised_global_numbers(new_global_numbers)
target_number_cluster.extend(new_global_numbers)
# Try again to get the mode values
numeric_value = _try_compute_mode([n.numeric_value for n in target_number_cluster])
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