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CCD_Capture/examples/centroids.c

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/*
* This file is part of the CCD_Capture project.
* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* A bit more usefull than ccd_client: get images and calculate their gravity center
*/
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <improclib.h>
#include <usefull_macros.h>
#include "socket.h"
#define STRBUFSZ (256)
typedef struct{
int isun; // command socket is UNIX socket instead of INET
int shmkey; // shared memory (with image data) key
int infty; // run in infinity loop (if not - run by requests)
int nframes; // amount of frames to take
int help; // show this help
double exptime; // time of exposition in seconds
double background; // fixed bg
char *sockname; // UNIX socket name of command socket or port of local socket
char *outfile; // output file name
} glob_pars;
static glob_pars G = {
.shmkey = 7777777,
.nframes = 10,
.background = -1.,
.exptime = -1.
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
myoption cmdlnopts[] = {
{"background",NEED_ARG, NULL, 'b', arg_double, APTR(&G.background),"fixed background level"},
{"sock", NEED_ARG, NULL, 's', arg_string, APTR(&G.sockname), "command socket name or port"},
{"isun", NO_ARGS, NULL, 'U', arg_int, APTR(&G.isun), "use UNIX socket"},
{"shmkey", NEED_ARG, NULL, 'k', arg_int, APTR(&G.shmkey), "shared memory (with image data) key (default: 7777777)"},
{"infty", NO_ARGS, NULL, 'i', arg_int, APTR(&G.infty), "run in infinity capturing loop (else - request each frame)"},
{"nframes", NEED_ARG, NULL, 'n', arg_int, APTR(&G.nframes), "make series of N frames (default: 10)"},
{"exptime", NEED_ARG, NULL, 'x', arg_double, APTR(&G.exptime), "set exposure time to given value (seconds!)"},
{"help", NO_ARGS, NULL, 'h', arg_int, APTR(&G.help), "show this help"},
{"output", NEED_ARG, NULL, 'o', arg_string, APTR(&G.outfile), "output file with T/x/y/w"},
};
static cc_IMG *shimg = NULL, img = {0};
static FILE *out = NULL;
//static double *sq = NULL;
//static int sqsz = 0;
static void calcimg(){
int H = img.h, W = img.w, npix = 0;
/*int m = (H>W) ? H : W;
if(m > sqsz){
sq = realloc(sq, sizeof(double)*m);
for(int i = sqsz; i < m; ++i) sq[i] = (double)i*i;
sqsz = m;
}*/
double Xs = 0., X2s = 0., Ys = 0., Y2s = 0., Is = 0;
double t0 = dtime();
uint8_t *d = (uint8_t*)img.data;
double Timestamp = img.timestamp;
static double bg = -1.;
if(bg < 0.){
if(G.background >= 0.) bg = G.background;
else{
il_Image *ii = il_u82Image(d, W, H);
if(ii){
il_Image_background(ii, &bg);
il_Image_free(&ii);
}else bg = 5.;
}
}
printf("bg=%g\n", bg);
/* SYNC lasts too long!
#pragma omp parallel
{
double Xsp = 0., X2sp = 0., Ysp = 0., Y2sp = 0., Isp = 0;
#pragma omp for nowait
for(int x = 0; x < W; ++x){
for(int y = 0; y < H; ++y){
double val = *d++ - bg;
if(val < DBL_EPSILON) continue;
Xsp += val * x; Ysp += val * y; X2sp += val * x * x; Y2sp += val * y * y;
Isp += val;
}
}
#pragma omp critical
{
Xs += Xsp; Ys += Ysp; X2s += X2sp; Y2s += Y2sp; Is += Isp;
}
}*/
for(int y = 0; y < H; ++y){
for(int x = 0; x < W; ++x){
// *d = (*d > bg) ? *d - bg : 0;
double val = *d++ - bg;
if(val < DBL_EPSILON) continue;
//Xs += val * x; Ys += val * y; X2s += val * sq[x]; Y2s += val * sq[y]; - no time advantage
Xs += val * x; Ys += val * y; X2s += val * x * x; Y2s += val * y * y;
Is += val;
++npix;
}
}
/*char buf[256];
snprintf(buf, 255, "im%06zd.png", img.imnumber);
il_write_png(buf, W, H, 1, img.data);*/
printf("Xs=%g, X2s=%g, Ys=%g, Y2s=%g, Is=%g\n", Xs, X2s, Ys, Y2s, Is);
double xc = Xs/Is, yc = Ys/Is, sX = sqrt(X2s/Is-xc*xc), sY = sqrt(Y2s/Is-yc*yc);
green("Xc = %.2f, Yc=%.2f, Xcs=%.2f, Ycs=%.2f, I=%.1f, T=%gms; npix=%d\n", xc, yc, sX, sY, Is, (dtime() - t0)*1e3, npix);
if(out) fprintf(out, "%.2f\t%.1f\t%.1f\t%.1f\t%.1f\t%.1f\n", Timestamp, xc, yc, Is, sX, sY);
}
static int refresh_img(){
if(!shimg) return FALSE;
static size_t imnumber = 0;
if(shimg->imnumber == imnumber) return FALSE;
double ts = dtime();
if(ts - shimg->timestamp > G.exptime + 1.) return FALSE; // too old image
imnumber = shimg->imnumber;
void *optr = img.data;
memcpy(&img, shimg, sizeof(img));
img.data = realloc(optr, img.bytelen);
memcpy(img.data, (uint8_t*)shimg + sizeof(cc_IMG), img.bytelen);
calcimg();
return TRUE;
}
int main(int argc, char **argv){
initial_setup();
parseargs(&argc, &argv, cmdlnopts);
if(G.help) showhelp(-1, cmdlnopts);
if(argc > 0){
WARNX("%d unused parameters:", argc);
for(int i = 0; i < argc; ++i)
printf("%4d: %s\n", i, argv[i]);
}
if(G.nframes < 1) ERRX("nframes should be > 0");
if(!G.sockname) ERRX("Point socket name or port");
if(G.outfile){
out = fopen(G.outfile, "w");
if(!out) ERR("Can't open %s for writing");
fprintf(out, "# Time\t\tXc\tYc\tI\tsX\tsY\t\n");
}
cc_strbuff *cbuf = cc_strbufnew(BUFSIZ, STRBUFSZ);
int sock = cc_open_socket(FALSE, G.sockname, !G.isun);
if(sock < 0) ERR("Can't open socket %s", G.sockname);
int shmemkey = 0;
if(RESULT_OK == cc_getint(sock, cbuf, CC_CMD_SHMEMKEY, &shmemkey)){
green("Got shm key: %d\n", shmemkey);
}else{
red("Can't read shmkey, try yours\n");
shmemkey = G.shmkey;
}
if(RESULT_OK != cc_setint(sock, cbuf, CC_CMD_8BIT, 1)){
ERRX("Can't set 8 bit mode");
}
if(G.infty){
if(RESULT_OK == cc_setint(sock, cbuf, CC_CMD_INFTY, 1)) green("ask for INFTY\n");
else red("Can't ask for INFTY\n");
}
float xt = 0.f;
if(RESULT_OK == cc_getfloat(sock, cbuf, CC_CMD_EXPOSITION, &xt)){
green("Old exp time: %gs\n", xt);
}
fflush(stdout);
if(G.exptime > 0.){
if(RESULT_OK == cc_setfloat(sock, cbuf, CC_CMD_EXPOSITION, G.exptime)) green("ask for exptime %gs\n", G.exptime);
else red("Can't change exptime to %gs\n", G.exptime);
}else G.exptime = xt;
shimg = cc_getshm(shmemkey, 0);
if(!shimg) ERRX("Can't get shared memory segment");
int i = 0;
time_t oldtime = time(NULL);
double waittime = ((int)G.exptime) + 5.;
do{
if(!G.infty){ // ask new image in non-infty mode
if(RESULT_OK != cc_setint(sock, cbuf, CC_CMD_EXPSTATE, CAMERA_CAPTURE)){
WARNX("Can't ask new image\n");
usleep(1000);
continue;
}
usleep(1000);
}
if(cc_refreshbuf(sock, cbuf)){
while(cc_getline(cbuf)) printf("\t\tServer sent: `%s`\n", cbuf->string);
}
time_t now = time(NULL);
if(now - oldtime > waittime){
WARNX("No new images for %g seconds", waittime);
break;
}
if(!refresh_img()){
usleep(1000);
continue;
}
++i;
oldtime = now;
printf("Got image #%zd, size %dx%d, bitpix %d, time %.2f\n", img.imnumber, img.w, img.h, img.bitpix, img.timestamp);
}while(i < G.nframes);
if(G.infty){
if(RESULT_OK != cc_setint(sock, cbuf, CC_CMD_INFTY, 0)) red("Can't clear INFTY\n");
}
if(xt > 0.){
if(RESULT_OK != cc_setfloat(sock, cbuf, CC_CMD_EXPOSITION, xt)) red("Can't return exptime to %gs\n", xt);
}
cc_strbufdel(&cbuf);
close(sock);
return 0;
}
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