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astrovideoguide_v3/LocCorr_new/improc.c

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/*
* This file is part of the loccorr project.
* Copyright 2021 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/>.
*/
#include <math.h>
#include <stb/stb_image_write.h>
#include <stdbool.h>
#include <string.h>
#include <time.h>
#include "basler.h"
#include "binmorph.h"
#include "cameracapture.h"
#include "cmdlnopts.h"
#include "config.h"
#include "debug.h"
#include "draw.h"
#include "grasshopper.h"
#include "hikrobot.h"
#include "imagefile.h"
#include "improc.h"
#include "inotify.h"
#include "steppers.h"
volatile atomic_ullong ImNumber = 0; // GLOBAL: counter of processed images
volatile atomic_bool stopwork = FALSE; // GLOBAL: suicide
// GLOBAL: get image information
char *(*imagedata)(const char *messageid, char *buf, int buflen) = NULL;
static FILE *fXYlog = NULL;
static double tstart = 0.; // time of logging start
static double FPS = 0.; // frames per second
static float xc = -1., yc = -1.; // center coordinates
typedef struct{
uint32_t area; // object area in pixels
double Isum; // total object's intensity over background
double WdivH; // width of object's box divided by height
double xc; // centroid coordinates
double yc;
double xsigma; // STD by horizontal and vertical axes
double ysigma;
} object;
// functions for Qsort
static int compIntens(const void *a, const void *b){ // compare by intensity
const object *oa = (const object*)a;
const object *ob = (const object*)b;
double idiff = (oa->Isum - ob->Isum)/(oa->Isum + ob->Isum);
if(fabs(idiff) > theconf.intensthres) return (idiff > 0) ? -1:1;
double r2a = oa->xc * oa->xc + oa->yc * oa->yc;
double r2b = ob->xc * ob->xc + ob->yc * ob->yc;
return (r2a < r2b) ? -1 : 1;
}
static int compDist(const void *a, const void *b){ // compare by distanse from target
const object *oa = (const object*)a;
const object *ob = (const object*)b;
double xtg = theconf.xtarget - theconf.xoff, ytg = theconf.ytarget - theconf.yoff;
double xa = oa->xc - xtg, xb = ob->xc - xtg,
ya = oa->yc - ytg, yb = ob->yc - ytg;
double r2a = xa*xa + ya*ya;
double r2b = xb*xb + yb*yb;
return (r2a < r2b) ? -1 : 1;
}
static void XYnewline(){
if(!fXYlog) return;
fprintf(fXYlog, "\n");
fflush(fXYlog);
}
// add comment string to XY log; @return FALSE if failed (file not exists)
int XYcomment(char *cmnt){
if(!fXYlog || !cmnt) return FALSE;
if(*cmnt == '"'){
++cmnt;
char *e = strrchr(cmnt, '"');
if(e) *e = 0;
}
char *n = strrchr(cmnt, '\n');
if(n) *n = 0;
fprintf(fXYlog, "# %s\n", cmnt);
fflush(fXYlog);
return TRUE;
}
static void getDeviation(object *curobj){
int averflag = 0;
static double Xc[NAVER_MAX+1], Yc[NAVER_MAX+1];
double xx = curobj->xc, yy = curobj->yc, xsum2 = 0., ysum2 = 0.;
double Sx = 0., Sy = 0.;
static int counter = 0;
Xc[counter] = curobj->xc; Yc[counter] = curobj->yc;
if(fXYlog){ // make log record
fprintf(fXYlog, "%-14.2f\t%.1f\t%.1f\t%.1f\t%.1f\t%.1f\t",
sl_dtime() - tstart, curobj->xc, curobj->yc,
curobj->xsigma, curobj->ysigma, curobj->WdivH);
}
//DBG("counter = %d", counter);
if(++counter < theconf.naverage){
goto process_corrections;
}
// it's time to calculate average deviations
xx = 0.; yy = 0.;
for(int i = 0; i < counter; ++i){
double x = Xc[i], y = Yc[i];
xx += x; yy += y;
xsum2 += x*x; ysum2 += y*y;
}
xx /= counter; yy /= counter;
Sx = sqrt(xsum2/counter - xx*xx);
Sy = sqrt(ysum2/counter - yy*yy);
counter = 0;
#ifdef EBUG
green("\n Average centroid: X=%.1f (+-%.1f), Y=%.1f (+-%.1f)\n", xx, Sx, yy, Sy);
#endif
LOGDBG("getDeviation(): Average centroid: X=%.1f (+-%.1f), Y=%.1f (+-%.1f)", xx, Sx, yy, Sy);
averflag = 1;
if(fXYlog) fprintf(fXYlog, "%.1f\t%.1f\t%.1f\t%.1f", xx, yy, Sx, Sy);
process_corrections:
//LOGDBG("here");
if(theSteppers){
DBG("Process corrections");
if(theSteppers->proc_corr && averflag){
if(Sx > XY_TOLERANCE || Sy > XY_TOLERANCE){
LOGDBG("Bad value - not process"); // don't run processing for bad data
}else
theSteppers->proc_corr(xx, yy);
}
}else{
LOGERR("Lost connection with stepper server");
WARNX("Lost connection with stepper server");
}
//LOGDBG("And there");
XYnewline();
}
/**
* @brief sumAndStat - calculate statistics in region of interest
* @param I - image (with background calculated)
* @param mask - labeled mask for objects (or NULL)
* @param idx - index on labeled mask
* @param roi - region of interest
* @param stat - (region - bacground) statistics
* @return total intensity sum
*/
static float sumAndStat(const Image *I, const size_t *mask, size_t idx, const il_Box *roi, ptstat_t *stat){
if(!I || !roi) return -1.;
//FNAME();
float xc = 0., yc = 0.;
float x2c = 0., y2c = 0., Isum = 0.;
int W = I->width;
//DBG("imw=%d, roi=%d:%d:%d:%d", W, roi->xmin, roi->xmax, roi->ymin, roi->ymax);
// dumb calculation as paralleling could be much slower
for(int y = roi->ymin; y <= roi->ymax; ++y){
size_t istart = y*W + roi->xmin;
//DBG("istart=%zd", istart);
const size_t *maskptr = (mask) ? &mask[istart] : NULL;
//DBG("mask %s NULL", mask ? "!=":"==");
Imtype *Iptr = &I->data[istart];
for(int x = roi->xmin; x <= roi->xmax; ++x, ++Iptr){
if(maskptr){if(*maskptr++ != idx) continue;}
if(*Iptr <= I->background) continue;
float intens = (float)(*Iptr - I->background);
float xw = x * intens, yw = y * intens;
xc += xw;
yc += yw;
x2c += xw * x;
y2c += yw * y;
Isum += intens;
}
}
if(stat && Isum > 0.){
stat->xc = xc / Isum;
stat->yc = yc / Isum;
stat->xsigma = x2c/Isum - stat->xc*stat->xc;
stat->ysigma = y2c/Isum - stat->yc*stat->yc;
}
//DBG("xc=%g, yc=%g, xs=%g, ys=%g", stat->xc, stat->yc, stat->xsigma, stat->ysigma);
return Isum;
}
#define MAX(a, b) ((a) > (b) ? (a) : (b))
#define MIN(a, b) ((a) < (b) ? (a) : (b))
void process_file(Image *I){
static double lastTproc = 0.;
static int prev_x = -1, prev_y = -1;
static object *Objects = NULL;
static size_t Nallocated = 0;
il_ConnComps *cc = NULL;
size_t *S = NULL;
#ifdef EBUG
double t0 = sl_dtime(), tlast = t0;
#define DELTA(p) do{double t = sl_dtime(); DBG("---> %s @ %gms (delta: %gms)", p, (t-t0)*1e3, (t-tlast)*1e3); tlast = t;}while(0)
#else
#define DELTA(x)
#endif
// I - original image
// mean - local mean
// std - local STD
/**** read original image ****/
DELTA("Imread");
if(!I){
WARNX("No image");
return;
}
int W = I->width, H = I->height;
//save_fits(I, "fitsout.fits");
//DELTA("Save original");
if(calc_background(I)){
DBG("backgr = %d", I->background);
DELTA("Got background");
int objctr = 0;
if(prev_x > 0 && prev_y > 0){
// Define ROI bounds
il_Box roi = {.xmin = MAX(prev_x - ROI_SIZE/2, 0),
.xmax = MIN(prev_x + ROI_SIZE/2, W-1),
.ymin = MAX(prev_y - ROI_SIZE/2, 0),
.ymax = MIN(prev_y + ROI_SIZE/2, H-1)};
ptstat_t stat;
// Calculate centroid within ROI
DBG("Get sum and stat for simplest centroid");
double sum = sumAndStat(I, NULL, 0, &roi, &stat);
if(sum > 0.){
I->stat = stat;
if( fabsf(stat.xc - prev_x) > XY_TOLERANCE ||
fabsf(stat.yc - prev_y) > XY_TOLERANCE){
DBG("Bad: was x=%d, y=%d; become x=%g, y=%g ==> need fine calculations", prev_x, prev_y, xc, yc);
}else{
double WdH = stat.xsigma/stat.ysigma;
// wery approximate area inside sigmax*sigmay
double area = .4 * stat.xsigma * stat.ysigma;
I->stat.area = (int)area;
if(!isnan(WdH) && !isinf(WdH) && // if W/H is a number
WdH > theconf.minwh && WdH < theconf.maxwh && // if W/H near circle
area > theconf.minarea && area < theconf.maxarea){ // if star area is in range
prev_x = (int)stat.xc;
prev_y = (int)stat.yc;
DBG("Simplest centroid, Xc=%g, Yc=%g", stat.xc, stat.yc);
objctr = 1;
if(!Objects){
Objects = (object*)malloc(sizeof(object));
Nallocated = 1;
}
Objects[0] = (object){
.area = area, .Isum = sum,
.WdivH = WdH, .xc = stat.xc, .yc = stat.yc,
.xsigma = stat.xsigma, .ysigma = stat.ysigma
};
goto SKIP_FULL_PROCESS; // Skip full image processing
}else{
DBG("BAD image: WdH=%g, area=%g, xsigma=%g, ysigma=%g", WdH, area, stat.xsigma, stat.ysigma);
}
}
}
}
uint8_t *ibin = Im2bin(I, I->background);
DELTA("Made binary");
if(ibin){
Image *Itmp = bin2Im(ibin, I->width, I->height);
Image_write_jpg(Itmp, "binary.jpg", 1);
Image_free(&Itmp);
DELTA("save binary");
uint8_t *er = il_erosionN(ibin, W, H, theconf.Nerosions);
FREE(ibin);
DELTA("Erosion");
Itmp = bin2Im(er, I->width, I->height);
Image_write_jpg(Itmp, "erosion.jpg", 1);
Image_free(&Itmp);
DELTA("Save erosion");
uint8_t *opn = il_dilationN(er, W, H, theconf.Ndilations);
FREE(er);
DELTA("Opening");
Itmp = bin2Im(opn, I->width, I->height);
Image_write_jpg(Itmp, "opening.jpg", 1);
Image_free(&Itmp);
DELTA("Save opening");
S = il_cclabel4(opn, W, H, &cc);
FREE(opn);
if(S && cc) DBG("Nobj=%zd", cc->Nobj-1);
if(S && cc && cc->Nobj > 1){ // Nobj = amount of objects + 1
DBGLOG("Nobj=%zd", cc->Nobj-1);
if(Nallocated < cc->Nobj-1){
Nallocated = cc->Nobj-1;
Objects = realloc(Objects, Nallocated*sizeof(object));
}
I->stat.area = cc->boxes[1].area;
for(size_t i = 1; i < cc->Nobj; ++i){
il_Box *b = &cc->boxes[i];
double wh = ((double)b->xmax - b->xmin)/(b->ymax - b->ymin);
DBG("Obj# %zd: wh=%g, area=%d", i, wh, b->area);
if(wh < theconf.minwh || wh > theconf.maxwh) continue;
if((int)b->area < theconf.minarea || (int)b->area > theconf.maxarea) continue;
ptstat_t stat;
DBG("Get sum and stat");
double sum = sumAndStat(I, &S[i], i, b, &stat);
if(sum > 0.){
if(cc->Nobj == 2){
prev_x = (int)stat.xc, prev_y = (int)stat.yc;
}
Objects[objctr++] = (object){
.area = b->area, .Isum = sum,
.WdivH = wh, .xc = stat.xc, .yc = stat.yc,
.xsigma = stat.xsigma, .ysigma = stat.ysigma
};
}
}
DELTA("Labeling");
if(objctr > 1){
prev_x = -1, prev_y = -1; // don't allow simple gravcenter for a lots of objects
if(theconf.starssort)
qsort(Objects, objctr, sizeof(object), compIntens);
else
qsort(Objects, objctr, sizeof(object), compDist);
}
SKIP_FULL_PROCESS:
DBGLOG("T%.2f, N=%d\n", sl_dtime(), objctr);
DELTA("Calculate deviations");
if(objctr){
#ifdef EBUG
object *o = Objects;
green("%6s\t%6s\t%6s\t%6s\t%6s\t%6s\t%6s\t%6s\t%8s\n",
"N", "Area", "Mv", "W/H", "Xc", "Yc", "Sx", "Sy", "Area/r^2");
for(int i = 0; i < objctr; ++i, ++o){
// 1.0857 = 2.5/ln(10)
printf("%6d\t%6d\t%6.1f\t%6.1f\t%6.1f\t%6.1f\t%6.1f\t%6.1f\t%8.1f\n",
i, o->area, 20.-1.0857*log(o->Isum), o->WdivH, o->xc, o->yc,
o->xsigma, o->ysigma, o->area/o->xsigma/o->ysigma);
}
#endif
getDeviation(Objects); // calculate dX/dY and process corrections
}
DELTA("prepare image");
{ // prepare image and save jpeg
uint8_t *outp = NULL;
if(theconf.equalize)
outp = equalize(I, 3, theconf.throwpart);
else
outp = linear(I, 3);
static il_Pattern *cross = NULL, *crossL = NULL;
if(!cross) cross = il_Pattern_xcross(33, 33);
if(!crossL) crossL = il_Pattern_xcross(51, 51);
il_Img3 i3 = {.data = outp, .w = I->width, .h = H};
DELTA("Draw crosses");
// draw fiber center position
il_Pattern_draw3(&i3, crossL, theconf.xtarget-theconf.xoff, H-(theconf.ytarget-theconf.yoff), C_R);
if(objctr){ // draw crosses @ objects' centers
int H = I->height;
// draw current star centroid
il_Pattern_draw3(&i3, cross, Objects[0].xc, H-Objects[0].yc, C_G);
// add offset to show in target system
xc = Objects[0].xc + theconf.xoff;
yc = Objects[0].yc + theconf.yoff;
// draw other centroids
for(int i = 1; i < objctr; ++i)
il_Pattern_draw3(&i3, cross, Objects[i].xc, H-Objects[i].yc, C_B);
}else{xc = -1.; yc = -1.;}
char tmpnm[FILENAME_MAX+5];
sprintf(tmpnm, "%s-tmp", GP->outputjpg);
if(stbi_write_jpg(tmpnm, I->width, I->height, 3, outp, 95)){
if(rename(tmpnm, GP->outputjpg)){
WARN("rename()");
LOGWARN("can't save %s", GP->outputjpg);
}
}
DELTA("Written");
FREE(outp);
}
}else{
xc = -1.; yc = -1.;
Image_write_jpg(I, GP->outputjpg, theconf.equalize);
}
DBGLOG("Image saved");
FREE(S);
FREE(cc);
}
}else Image_write_jpg(I, GP->outputjpg, theconf.equalize);
++ImNumber;
if(lastTproc > 1.) FPS = 1. / (sl_dtime() - lastTproc);
lastTproc = sl_dtime();
DELTA("End");
}
static char *localimages(const char *messageid, int isdir, char *buf, int buflen){
static char *impath = NULL;
if(!impath){
if(!realpath(GP->outputjpg, impath)) impath = strdup(GP->outputjpg);
}
snprintf(buf, buflen, "{ \"%s\": \"%s\", \"camstatus\": \"watch %s\", \"impath\": \"%s\", \"xcenter\": %.1f, \"ycenter\": %.1f }",
MESSAGEID, messageid, isdir ? "directory" : "file", impath, xc, yc);
return buf;
}
static char *watchdr(const char *messageid, char *buf, int buflen){
return localimages(messageid, 1, buf, buflen);
}
static char *watchfl(const char *messageid, char *buf, int buflen){
return localimages(messageid, 0, buf, buflen);
}
int process_input(InputType tp, char *name){
LOGDBG("process_input(%d, %s)", tp, name);
if(tp == T_DIRECTORY){
imagedata = watchdr;
return watch_directory(name, process_file);
}else if(tp == T_CAPT_GRASSHOPPER || tp == T_CAPT_BASLER || tp == T_CAPT_HIKROBOT){
camera *cam = NULL;
switch(tp){
case T_CAPT_GRASSHOPPER:
#ifdef FLYCAP_FOUND
cam = &GrassHopper;
#endif
break;
case T_CAPT_BASLER:
#ifdef BASLER_FOUND
cam = &Basler;
#endif
break;
case T_CAPT_HIKROBOT:
#ifdef MVS_FOUND
cam = &Hikrobot;
#endif
break;
default: return FALSE;
}
if(!setCamera(cam)){
WARNX("The camera disconnected");
LOGWARN("The camera disconnected");
}
imagedata = camstatus;
return camcapture(process_file);
}
imagedata = watchfl;
return watch_file(name, process_file);
}
/**
* @brief openXYlog - open file to log XY values
* @param name - filename
*/
void openXYlog(const char *name){
closeXYlog();
fXYlog = fopen(name, "a");
if(!fXYlog){
char *e = strerror(errno);
WARNX("Can't create file %s: %s", name, e);
LOGERR("Can't create file %s: %s", name, e);
return;
}
time_t t = time(NULL);
fprintf(fXYlog, "# Start at: %s", ctime(&t));
fprintf(fXYlog, "# time\t\tXc\tYc\tSx\tSy\tW/H\taverX\taverY\tSX\tSY\n");
fflush(fXYlog);
tstart = sl_dtime();
}
void closeXYlog(){
if(!fXYlog) return;
fclose(fXYlog);
fXYlog = NULL;
}
double getFramesPerS(){ return FPS; }
void getcenter(float *x, float *y){
if(x) *x = xc;
if(y) *y = yc;
}
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