def affineToText(self, affineresult):
return openCVcaller.affineToText(affineresult)
def affineToText(self, affineresult): return openCVcaller.affineToText(affineresult)
def trackStage(self, image0, tilt0, tilt, tilt0targets):
#import pprint
#print "SETTINGS:"
#pprint.pprint(self.settings)
self.logger.info('Running trackStage')
self.logger.info('Returning to state of image0')
presetname = image0['preset']['name']
emtarget = image0['emtarget']
pausetime = self.settings['pause']
self.presetsclient.toScope(presetname, emtarget)
### reset the tilt, just in case user changed it while picking targets
self.instrument.tem.StagePosition = {'a': tilt0}
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' %(pausetime,))
time.sleep(pausetime)
### calculate tilt steps
maxstepsize = radians(self.settings['stepsize'])
tilts = self.calculateTiltSteps(tilt0, tilt, maxstepsize)
self.logger.info('Tilts: %s' % ([("%.1f"%degrees(t)) for t in tilts],))
## filter image
medfilt = int(self.settings['medfilt'])
lowfilt = float(self.settings['lowfilt'])
imageold = image0
arrayold = numpy.asarray(imageold['image'], dtype=numpy.float32)
if medfilt > 1:
arrayold = ndimage.median_filter(arrayold, size=medfilt)
if lowfilt > 0:
arrayold = ndimage.gaussian_filter(arrayold, lowfilt)
self.setImage(arrayold, 'Image')
runningresult = numpy.identity(3, numpy.float32)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
retries = 0
#for tilt in tilts:
### use while loop so we can backtrack
i = 0
while i < len(tilts)-1:
i+=1
tilt = float("%.3f"%tilts[i])
self.logger.info('Going to tilt angle: %.2f' % (degrees(tilt),))
self.instrument.tem.StagePosition = {'a': tilt}
is_small_tilt_diff = self.isSmallTiltDifference(tilts,i,tilt0)
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' %(pausetime,))
time.sleep(pausetime)
self.logger.info('Acquire intermediate tilted parent image')
#print 'acquire intertilt'
imagenew = self.acquireCorrectedCameraImageData()
arraynew = numpy.asarray(imagenew['image'], dtype=numpy.float32)
## if is_small_tilt_diff:
## # Don't filter if phase correlation will be used
## medfilt = 0
## lowfilt = 0
## if medfilt > 1:
## arraynew = ndimage.median_filter(arraynew, size=medfilt)
## if lowfilt > 0:
## arraynew = ndimage.gaussian_filter(arraynew, lowfilt)
self.setImage(arraynew, 'Image')
if is_small_tilt_diff:
self.logger.info('Use phase correlation on small tilt')
result = numpy.array(self.shiftmatrix_maker.register(arrayold, arraynew))
else:
self.logger.info('Peter\'s openCV stuff')
print 'tilt', tilts[i]*180/3.14159
try:
result = openCVcaller.matchImages(arrayold, arraynew)
self.logger.info("result matrix= "+str(numpy.asarray(result*100, dtype=numpy.int8).ravel()))
except:
self.logger.error('openCV MatchImages failed')
return None,None
## REWRITE THIS PART LATER?
check = openCVcaller.checkOpenCVResult(self, result)
if check is False:
self.logger.warning("openCV failed: redoing tilt %.2f"%(tilt,))
### redo this tilt; becomes an infinite loop if the image goes black
retries += 1
if retries <= 2:
if i == len(tilts)-1:
### maybe the tilt angle is too high, reduce max angle by 5 percent
tilts[len(tilts)-1] *= 0.95
i -= 1
else:
retries = 0
print "Tilt openCV FAILED"
self.logger.error("openCV failed: giving up")
return None, None
continue
else:
retries = 0
self.logger.info("result matrix= "+str(numpy.asarray(result*100, dtype=numpy.int8).ravel()))
self.logger.info( "Inter Matrix: "+openCVcaller.affineToText(result) )
runningresult = numpy.dot(runningresult, result)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
self.logger.info( "Running Matrix: "+openCVcaller.affineToText(runningresult) )
self.logger.info("running result matrix= "+str(numpy.asarray(runningresult*100, dtype=numpy.int8).ravel()))
imageold = imagenew
arrayold = arraynew
### copied from Acquisition.acquire:
## store EMData to DB to prevent referencing errors
self.publish(imageold['scope'], database=True)
self.publish(imageold['camera'], database=True)
## convert CameraImageData to AcquisitionImageData
dim = image0['camera']['dimension']
pixels = dim['x'] * dim['y']
pixeltype = str(image0['image'].dtype)
imagedata = leginondata.AcquisitionImageData(initializer=imageold, preset=image0['preset'], label=self.name,
target=image0['target'], list=None, emtarget=image0['emtarget'],
version=0, tiltnumber=self.tiltnumber, pixels=pixels, pixeltype=pixeltype)
self.setTargets([], 'Peak')
self.publishDisplayWait(imagedata)
self.logger.info( "FINAL Matrix: "+openCVcaller.affineToText(runningresult) )
#self.logger.info('Final Matrix: %s' % (runningresult,))
return (runningresult, imagedata)
def trackStage(self, image0, tilt0, tilt, tilt0targets):
#import pprint
#print "SETTINGS:"
#pprint.pprint(self.settings)
self.logger.info('Running trackStage')
self.logger.info('Returning to state of image0')
presetname = image0['preset']['name']
emtarget = image0['emtarget']
pausetime = self.settings['pause']
self.presetsclient.toScope(presetname, emtarget)
### reset the tilt, just in case user changed it while picking targets
self.instrument.tem.StagePosition = {'a': tilt0}
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' % (pausetime, ))
time.sleep(pausetime)
### calculate tilt steps
maxstepsize = radians(self.settings['stepsize'])
tilts = self.calculateTiltSteps(tilt0, tilt, maxstepsize)
self.logger.info('Tilts: %s' % ([("%.1f" % degrees(t))
for t in tilts], ))
## filter image
medfilt = int(self.settings['medfilt'])
lowfilt = float(self.settings['lowfilt'])
imageold = image0
arrayold = numpy.asarray(imageold['image'], dtype=numpy.float32)
if medfilt > 1:
arrayold = ndimage.median_filter(arrayold, size=medfilt)
if lowfilt > 0:
arrayold = ndimage.gaussian_filter(arrayold, lowfilt)
self.setImage(arrayold, 'Image')
runningresult = numpy.identity(3, numpy.float32)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
retries = 0
#for tilt in tilts:
### use while loop so we can backtrack
i = 0
while i < len(tilts) - 1:
i += 1
tilt = float("%.3f" % tilts[i])
self.logger.info('Going to tilt angle: %.2f' % (degrees(tilt), ))
self.instrument.tem.StagePosition = {'a': tilt}
is_small_tilt_diff = self.isSmallTiltDifference(tilts, i, tilt0)
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' % (pausetime, ))
time.sleep(pausetime)
self.logger.info('Acquire intermediate tilted parent image')
#print 'acquire intertilt'
imagenew = self.acquireCorrectedCameraImageData()
arraynew = numpy.asarray(imagenew['image'], dtype=numpy.float32)
## if is_small_tilt_diff:
## # Don't filter if phase correlation will be used
## medfilt = 0
## lowfilt = 0
## if medfilt > 1:
## arraynew = ndimage.median_filter(arraynew, size=medfilt)
## if lowfilt > 0:
## arraynew = ndimage.gaussian_filter(arraynew, lowfilt)
self.setImage(arraynew, 'Image')
if is_small_tilt_diff:
self.logger.info('Use phase correlation on small tilt')
result = numpy.array(
self.shiftmatrix_maker.register(arrayold, arraynew))
else:
self.logger.info('Peter\'s openCV stuff')
print 'tilt', tilts[i] * 180 / 3.14159
try:
result = openCVcaller.matchImages(arrayold, arraynew)
self.logger.info("result matrix= " + str(
numpy.asarray(result * 100, dtype=numpy.int8).ravel()))
except:
self.logger.error('openCV MatchImages failed')
return None, None
## REWRITE THIS PART LATER?
check = openCVcaller.checkOpenCVResult(self, result)
if check is False:
self.logger.warning("openCV failed: redoing tilt %.2f" %
(tilt, ))
### redo this tilt; becomes an infinite loop if the image goes black
retries += 1
if retries <= 2:
if i == len(tilts) - 1:
### maybe the tilt angle is too high, reduce max angle by 5 percent
tilts[len(tilts) - 1] *= 0.95
i -= 1
else:
retries = 0
print "Tilt openCV FAILED"
self.logger.error("openCV failed: giving up")
return None, None
continue
else:
retries = 0
self.logger.info(
"result matrix= " +
str(numpy.asarray(result * 100, dtype=numpy.int8).ravel()))
self.logger.info("Inter Matrix: " +
openCVcaller.affineToText(result))
runningresult = numpy.dot(runningresult, result)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
self.logger.info("Running Matrix: " +
openCVcaller.affineToText(runningresult))
self.logger.info("running result matrix= " + str(
numpy.asarray(runningresult * 100, dtype=numpy.int8).ravel()))
imageold = imagenew
arrayold = arraynew
### copied from Acquisition.acquire:
## store EMData to DB to prevent referencing errors
self.publish(imageold['scope'], database=True)
self.publish(imageold['camera'], database=True)
## convert CameraImageData to AcquisitionImageData
dim = image0['camera']['dimension']
pixels = dim['x'] * dim['y']
pixeltype = str(image0['image'].dtype)
imagedata = leginondata.AcquisitionImageData(
initializer=imageold,
preset=image0['preset'],
label=self.name,
target=image0['target'],
list=None,
emtarget=image0['emtarget'],
version=0,
tiltnumber=self.tiltnumber,
pixels=pixels,
pixeltype=pixeltype)
self.setTargets([], 'Peak')
self.publishDisplayWait(imagedata)
self.logger.info("FINAL Matrix: " +
openCVcaller.affineToText(runningresult))
#self.logger.info('Final Matrix: %s' % (runningresult,))
return (runningresult, imagedata)
def trackStage(self, image0, tilt0, tilt, tilt0targets):
self.logger.info('Running trackStage')
retriesmax = 15
retries = retriesmax
blur = 3
thresh = 0
self.logger.info('Returning to state of image0')
presetname = image0['preset']['name']
emtarget = image0['emtarget']
pausetime = self.settings['pause']
self.presetsclient.toScope(presetname, emtarget)
### reset the tilt, just in case user changed it while picking targets
self.instrument.tem.StagePosition = {'a': tilt0}
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' % (pausetime, ))
time.sleep(pausetime)
### calculate tilt steps
maxstepsize = radians(self.settings['stepsize'])
tilts = self.calculateTiltSteps(tilt0, tilt, maxstepsize)
self.logger.info('Tilts: %s' % ([("%.1f" % degrees(t))
for t in tilts], ))
imageold = image0
arrayold = numpy.asarray(imageold['image'], dtype=numpy.float32)
self.setImage(arrayold, 'Image')
runningresult = numpy.identity(3, numpy.float32)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
#for tilt in tilts:
### use while loop so we can backtrack
i = 0
while i < len(tilts) - 1:
i += 1
tilt = float("%.3f" % tilts[i])
self.logger.info('Going to tilt angle: %.2f' % (degrees(tilt), ))
self.instrument.tem.StagePosition = {'a': tilt}
is_small_tilt_diff = self.isSmallTiltDifference(tilts, i, tilt0)
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' % (pausetime, ))
time.sleep(pausetime)
self.logger.info('Acquire intermediate tilted parent image')
imagenew = self.acquireCorrectedCameraImageData()
arraynew = numpy.asarray(imagenew['image'], dtype=numpy.float32)
self.setImage(arraynew, 'Image')
if is_small_tilt_diff:
self.logger.info('Use phase correlation on small tilt')
result = numpy.array(
self.shiftmatrix_maker.register(arrayold, arraynew))
else:
print '============ openCV stuff ============'
self.logger.info('openCV stuff')
minsize = self.settings['minsize']
maxsize = self.settings['maxsize']
openCVcaller.checkArrayMinMax(self, arrayold, arraynew)
print 'tilt', tilts[i] * 180 / 3.14159
result = openCVcaller.MatchImages(arrayold, arraynew, blur,
thresh)
self.logger.info(
"result matrix= " +
str(numpy.asarray(result * 100, dtype=numpy.int8).ravel()))
print "RESULT", result
check = openCVcaller.checkOpenCVResult(self, result,
is_small_tilt_diff)
if check is False:
self.logger.warning("openCV failed: redoing tilt %.2f" %
(tilt, ))
if retries:
i -= 1
retries -= 1
if retries <= retriesmax / 2:
thresh = 1
print "THRESH = 1"
print "retries =", retries, "out of", retriesmax
else:
print "Tilt openCV FAILED"
self.logger.error("openCV failed: giving up")
self.instrument.tem.StagePosition = {'a': tilt0}
return None, None
continue
else:
retries = 0
print '============ openCV stuff done ============'
self.logger.info(
"result matrix= " +
str(numpy.asarray(result * 100, dtype=numpy.int8).ravel()))
self.logger.info("Inter Matrix: " +
openCVcaller.affineToText(result))
runningresult = numpy.dot(runningresult, result)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
self.logger.info("Running Matrix: " +
openCVcaller.affineToText(runningresult))
self.logger.info("running result matrix= " + str(
numpy.asarray(runningresult * 100, dtype=numpy.int8).ravel()))
imageold = imagenew
arrayold = arraynew
### copied from Acquisition.acquire:
## store EMData to DB to prevent referencing errors
self.publish(imageold['scope'], database=True)
self.publish(imageold['camera'], database=True)
## convert CameraImageData to AcquisitionImageData
dim = image0['camera']['dimension']
pixels = dim['x'] * dim['y']
pixeltype = str(image0['image'].dtype)
imagedata = leginondata.AcquisitionImageData(
initializer=imageold,
preset=image0['preset'],
label=self.name,
target=image0['target'],
list=None,
emtarget=image0['emtarget'],
version=0,
tiltnumber=self.tiltnumber,
pixels=pixels,
pixeltype=pixeltype)
self.setTargets([], 'Peak')
self.publishDisplayWait(imagedata)
self.logger.info("FINAL Matrix: " +
openCVcaller.affineToText(runningresult))
return (runningresult, imagedata)
def trackStage(self, image0, tilt0, tilt, tilt0targets):
self.logger.info('Running trackStage')
retriesmax = 15
retries = retriesmax
blur = 3
thresh = 0
self.logger.info('Returning to state of image0')
presetname = image0['preset']['name']
emtarget = image0['emtarget']
pausetime = self.settings['pause']
self.presetsclient.toScope(presetname, emtarget)
### reset the tilt, just in case user changed it while picking targets
self.instrument.tem.StagePosition = {'a': tilt0}
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' %(pausetime,))
time.sleep(pausetime)
### calculate tilt steps
maxstepsize = radians(self.settings['stepsize'])
tilts = self.calculateTiltSteps(tilt0, tilt, maxstepsize)
self.logger.info('Tilts: %s' % ([("%.1f"%degrees(t)) for t in tilts],))
imageold = image0
arrayold = numpy.asarray(imageold['image'], dtype=numpy.float32)
self.setImage(arrayold, 'Image')
runningresult = numpy.identity(3, numpy.float32)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
#for tilt in tilts:
### use while loop so we can backtrack
i = 0
while i < len(tilts)-1:
i+=1
tilt = float("%.3f"%tilts[i])
self.logger.info('Going to tilt angle: %.2f' % (degrees(tilt),))
self.instrument.tem.StagePosition = {'a': tilt}
is_small_tilt_diff = self.isSmallTiltDifference(tilts,i,tilt0)
if pausetime > 0.1:
self.logger.info('Pausing %.1f seconds' %(pausetime,))
time.sleep(pausetime)
self.logger.info('Acquire intermediate tilted parent image')
imagenew = self.acquireCorrectedCameraImageData()
arraynew = numpy.asarray(imagenew['image'], dtype=numpy.float32)
self.setImage(arraynew, 'Image')
if is_small_tilt_diff:
self.logger.info('Use phase correlation on small tilt')
result = numpy.array(self.shiftmatrix_maker.register(arrayold, arraynew))
else:
print '============ openCV stuff ============'
self.logger.info('openCV stuff')
minsize = self.settings['minsize']
maxsize = self.settings['maxsize']
openCVcaller.checkArrayMinMax(self, arrayold, arraynew)
print 'tilt', tilts[i]*180/3.14159
result = openCVcaller.MatchImages(arrayold, arraynew, blur, thresh)
self.logger.info("result matrix= "+str(numpy.asarray(result*100, dtype=numpy.int8).ravel()))
print "RESULT", result
check = openCVcaller.checkOpenCVResult(self, result, is_small_tilt_diff)
if check is False:
self.logger.warning("openCV failed: redoing tilt %.2f"%(tilt,))
if retries:
i -= 1
retries -= 1
if retries <= retriesmax/2:
thresh = 1
print "THRESH = 1"
print "retries =", retries, "out of", retriesmax
else:
print "Tilt openCV FAILED"
self.logger.error("openCV failed: giving up")
self.instrument.tem.StagePosition = {'a': tilt0}
return None, None
continue
else:
retries = 0
print '============ openCV stuff done ============'
self.logger.info("result matrix= "+str(numpy.asarray(result*100, dtype=numpy.int8).ravel()))
self.logger.info( "Inter Matrix: "+openCVcaller.affineToText(result) )
runningresult = numpy.dot(runningresult, result)
# transformTargets for display purposes only
self.transformTargets(runningresult, tilt0targets)
self.logger.info( "Running Matrix: "+openCVcaller.affineToText(runningresult) )
self.logger.info("running result matrix= "+str(numpy.asarray(runningresult*100, dtype=numpy.int8).ravel()))
imageold = imagenew
arrayold = arraynew
### copied from Acquisition.acquire:
## store EMData to DB to prevent referencing errors
self.publish(imageold['scope'], database=True)
self.publish(imageold['camera'], database=True)
## convert CameraImageData to AcquisitionImageData
dim = image0['camera']['dimension']
pixels = dim['x'] * dim['y']
pixeltype = str(image0['image'].dtype)
imagedata = leginondata.AcquisitionImageData(initializer=imageold, preset=image0['preset'], label=self.name,
target=image0['target'], list=None, emtarget=image0['emtarget'],
version=0, tiltnumber=self.tiltnumber, pixels=pixels, pixeltype=pixeltype)
self.setTargets([], 'Peak')
self.publishDisplayWait(imagedata)
self.logger.info( "FINAL Matrix: "+openCVcaller.affineToText(runningresult) )
return (runningresult, imagedata)