def findretroreflectors():
if not startupdone:
return "Not online"
pair = cam_control.prs.queue[0]
shift = rd.getshift(pair[0].img, pair[1].img)
out_img = rd.getblockmaxedimage(pair[1].img)
done = rd.alignandsubtract(out_img, shift, pair[0].img)
p = np.unravel_index(done.argmax(), done.shape)
return "Location: %d %d" % p
def analyse_image_pair(self,pair,save=True):
searchbox = 100
starttime = time.time()
msg = ""
msg += "Processing Images\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
filename = "/home/pi/"+time.strftime("%Y%m%d_%H%M%S",time.gmtime(pair[0].time))+("%0.4f" % (pair[0].time%1))[1:]
if save: np.save(filename,pair[0].img,allow_pickle=False)
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Computing Shift\n"
shift = rd.getshift(pair[0].img,pair[1].img,step=self.stepsize,searchbox=searchbox)
msg += " shift: %d %d\n" % (shift[0], shift[1])
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Computing output non-flash blocked image\n"
if not self.skipcalc:
out_img = rd.getblockmaxedimage(pair[1].img,self.blocksize,self.offset)
else:
out_img = pair[1].img
msg += "time: %0.4f\n" % (time.time()-starttime)
if not self.skipcalc:
msg+="Aligning and subtracting\n"
done = rd.alignandsubtract(out_img,shift,pair[0].img)
msg += "time: %0.4f\n" % (time.time()-starttime)
maxvals = []
for it in range(1):
print(".")
argmax = done.argmax()
p = np.array(np.unravel_index(argmax, done.shape))
maxval = done[p[0],p[1]]
peak_sample_img = erase_around(done,p[0],p[1])
score = score_img(peak_sample_img)
p += searchbox
if (p[0]>=done.shape[0]) or (p[1]>=done.shape[1]):
print("error (out of range) location")
msg+=" [error (out of range) location]\n"
continue #can't use this one
maxvals.append({'val':maxval, 'location':p.copy(), 'sample_img':peak_sample_img,'score':score})
msg += " - Preparing stats"
msg += "peak at [%d, %d] = %d [score=%0.5f]\n" % (p[0],p[1],maxval,score)
msg += ascii_draw(peak_sample_img)
msg += "\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "time: %0.4f\n" % (time.time()-starttime)
lowresimages = []
#print("Generating low res images")
msg += " - Generating low res images\n"
for img in [0,1]:
#print("Image %d" % img)
#lowresimages.append(pair[img].img[::10,::10].copy())
if img==0:
lowresimages.append(pair[img].img[::10,::10].copy())
#lowresimages.append(rd.getblockmaxedimage(pair[img].img,10,1)[::10,::10])
else:
#lowresimages.append(out_img[::10,::10].copy())
#lowresimages.append(None)
lowresimages.append(rd.shiftimg(out_img,shift,cval=255)[::10,::10].copy())
#lowresimages.append(rd.getblockmaxedimage(pair[img].img)[::10,::10])
msg += "time: %0.4f\n" % (time.time()-starttime)
else:
print("Skipping compute")
maxvals = []
lowresimages = []
shift = [np.nan,np.nan]
msg += "Computation Complete, recording\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
print("Computation Complete, saving")
highresimages = []
for img in [0,1]:
im = pair[img].img
if img == 1:
im = rd.shiftimg(im,shift,cval=255)
s = im.shape
highresimages.append(im[int(s[0]/2-100):int(s[0]/2+100),int(s[1]/2-100):int(s[1]/2+100)].copy())
#self.tracking_results.append({'lowresimages':lowresimages,'highresimages':highresimages,'maxvals':maxvals,'shift':shift})
self.tracking_results.append({'lowresimages':lowresimages,'highresimages':highresimages,'maxvals':maxvals,'shift':shift})
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Recording Complete\n Returning Buffers\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Buffers returned\n"
self.tracking_results[-1]['msg'] = msg
def worker(self):
import os
os.nice(20) #these shouldn't be priorities
searchbox = 100
while True:
#Awaiting image for processing [blocking]
print("Waiting for image from camera control...(skipcalc=%d)" % self.skipcalc.value)
pair = self.camera_queue.get()
starttime = time.time()
msg = ""
msg += "Saving data:\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
print(pair[0]['raw'])
timestr = time.strftime("%Y%m%d_%H:%M:%S")
np.save(open('raw_%s_0.np' % timestr,'wb'),pair[0]['raw'].astype(np.byte))
msg += "time: %0.4f\n" % (time.time()-starttime)
np.save(open('raw_%s_1.np' % timestr,'wb'),pair[1]['raw'].astype(np.byte))
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Done\n"
msg += "Processing Images\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Computing Shift (stepsize=%d)\n" % self.stepsize.value
shift = rd.getshift(pair[0]['raw'],pair[1]['raw'],step=self.stepsize.value,searchbox=searchbox)
msg += " shift: %d %d\n" % (shift[0], shift[1])
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "Computing output non-flash blocked image\n"
if not self.skipcalc.value:
out_img = rd.getblockmaxedimage(pair[1]['raw'],self.blocksize.value,self.offset.value)
else:
out_img = pair[1]['raw']
msg += "time: %0.4f\n" % (time.time()-starttime)
if not self.skipcalc.value:
msg+="Aligning and subtracting\n"
start = np.array([self.startx.value,self.starty.value])
end = np.array(out_img.shape)-np.array([self.endx.value,self.endy.value])
done = rd.alignandsubtract(out_img,shift,pair[0]['raw'])#,start=start,end=end)
msg += "time: %0.4f\n" % (time.time()-starttime)
maxvals = []
for it in range(self.searchcount.value):
#print(".")
argmax = done[start[0]-searchbox:end[0]-searchbox,start[1]-searchbox:end[1]-searchbox].argmax()
p = np.array(np.unravel_index(argmax, done.shape))
p+=start-searchbox
maxval = done[p[0],p[1]]
peak_sample_img = erase_around(done,p[0],p[1])
score = score_img(peak_sample_img)
p += searchbox
if (p[0]>=done.shape[0]) or (p[1]>=done.shape[1]):
#print("error (out of range) location")
msg+=" [error (out of range) location]\n"
continue #can't use this one
maxvals.append({'val':maxval, 'location':p.copy(), 'sample_img':peak_sample_img,'score':score})
msg += " - Preparing stats"
msg += "peak at [%d, %d] = %d [score=%0.5f]\n" % (p[0],p[1],maxval,score)
msg += ascii_draw(peak_sample_img)
msg += "\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "time: %0.4f\n" % (time.time()-starttime)
lowresimages = []
#print("Generating low res images")
msg += " - Generating low res images\n"
for img in [0,1]:
#print("Image %d" % img)
#lowresimages.append(pair[img][::10,::10].copy())
if img==0:
im = pair[img]['raw'][::10,::10].copy()
scalestart = (start/10).astype(int)
scaleend = (end/10).astype(int)
im[scalestart[0],scalestart[1]:scaleend[1]] = 255
im[scaleend[0],scalestart[1]:scaleend[1]] = 255
lowresimages.append(im)
else:
im = rd.shiftimg(out_img,shift,cval=255)[::10,::10].copy()
lowresimages.append(im)
msg += "time: %0.4f\n" % (time.time()-starttime)
else:
maxvals = []
lowresimages = []
shift = [np.nan,np.nan]
msg += "Computation Complete, recording\n"
msg += "time: %0.4f\n" % (time.time()-starttime)
highresimages = []
for img in [0,1]:
im = pair[img]['raw']
if img == 1:
im = rd.shiftimg(im,shift,cval=255)
s = im.shape
highresimages.append(im[int(s[0]/2-100):int(s[0]/2+100),int(s[1]/2-100):int(s[1]/2+100)].copy())
msg += "time: %0.4f\n" % (time.time()-starttime)
msg += "datetime0: %s\n" % pair[0]['datetime'].strftime("%Y-%m-%dT%H:%M:%S.%f")
msg += "datetime1: %s\n" % pair[1]['datetime'].strftime("%Y-%m-%dT%H:%M:%S.%f")
#self.tracking_results.append({'lowresimages':lowresimages,'highresimages':highresimages,'maxvals':maxvals,'shift':shift})
self.tracking_results_queue.put({'lowresimages':lowresimages,'highresimages':highresimages,'maxvals':maxvals,'shift':shift,'msg':msg,'dt0':pair[0]['datetime'].strftime("%Y-%m-%dT%H:%M:%S.%f"),'dt1':pair[1]['datetime'].strftime("%Y-%m-%dT%H:%M:%S.%f")})
#msg += "time: %0.4f\n" % (time.time()-starttime)
#
#msg += "Recording Complete\n Returning Buffers\n"
#pair = None #erase
# pair[0].returnbuffer()
# pair[1].returnbuffer()
pair = None
#msg += "time: %0.4f\n" % (time.time()-starttime)
#msg += "Buffers returned\n"
#self.tracking_results[-1]['msg'] = msg
print("Processing Complete")