script/imgproc/LedDetectionProc.py

@@ -2,77 +2,93 @@
 # Procedure to detect the puck light spots.
 ################################################################################################### 
 
+COVER_PRESENT = True
+ROOM_TEMP = False
 
-room_temp = False
-number_frames = 10
-number_backgrounds = 10
+if get_exec_pars().source == CommandSource.ui:
+    PLOT = None
+    RENDERER = None
+    TEXT = None
+
+if COVER_PRESENT:
+    cover_position =  hexiposi.readback.take()
+    if (cover_position is None) or (cover_position == "Unknown"):    
+        raise Exception("Unknown cover position")
+    else:
+        block_id = cover_position.upper()[0]
+else:
+    block_id = None    
+print "Block id: ", block_id
+
+
+
+number_frames = 5 if ROOM_TEMP else 10
+number_backgrounds = 5 if ROOM_TEMP else 10
 minimum_size = 150
 maximum_size = 1500
 min_circ = 0.2
-threshold_method = "MaxEntropy" if room_temp else "Default" #Apparently good for LN2: Default, Intermodes, IsoData, Otsu
+
+threshold_method = "MaxEntropy" if ROOM_TEMP else "Default" #Apparently good for LN2: Default, Intermodes, IsoData, Otsu
+threshold_method,threshold_range = "Manual",  (0, 215)
+
 exclude_edges = True
+led_latency = 0.5 #0.1
+
 
-set_led_range(room_temp)
 
-img.backgroundEnabled=False
 set_led_state(False)
-time.sleep(0.1)
-img.waitNext(100)
+time.sleep(led_latency)
+img.waitNext(2000)
 
 background = average_frames(number_backgrounds)
 
-#img.backgroundImage=background.bufferedImage
-#img.captureBackground(1,0)
-#show_panel(img.backgroundImage)
-#img.backgroundEnabled = True
-
 set_led_state(True)
-time.sleep(0.1)
-img.waitNext(100)
+time.sleep(led_latency)
+img.waitNext(2000)
 image = average_frames(number_frames)
 
 set_led_state(False)
 
 op_image(image, background, "subtract", float_result=True, in_place=True)
 
-
-renderer = show_panel(image.getBufferedImage())
-renderer.clearOverlays()
+if RENDERER is None:
+    RENDERER = show_panel(image.getBufferedImage())
+else:
+    RENDERER.setImage(None, image.getBufferedImage(), None)
+RENDERER.clearOverlays()
 
 invert(image)
-
-auto_threshold(image, method = threshold_method) #Tested ok:  MaxEntropy, Triangle, Yen
-#renderer = show_panel(image.getBufferedImage())
-#binary_open(aux)
+if threshold_method == "Manual":
+    threshold(image, threshold_range[0], threshold_range[1])
+else:
+    auto_threshold(image, method = threshold_method) #Tested ok:  MaxEntropy, Triangle, Yen
 (r,output) =  analyse_particles(image, minimum_size,maximum_size, 
         fill_holes = True, exclude_edges = exclude_edges, print_table=False,
         output_image = "outlines", minCirc = min_circ
         , maxCirc = 1.0)
 
-points = ""
-npoints = 0
-x=[]
-y=[]
+points = []
 for row in range (r.counter):
     if in_roi(r.getValue("XM",row), r.getValue("YM",row)):
-        #x, y = int(r.getValue("XM", row))+roi[0], int(r.getValue("YM", row))+roi[1]
-        x.append(int(r.getValue("XM", row)))
-        y.append(int(r.getValue("YM", row)))
-        points = points + " (" + str(x[-1]) + ", "  + str(y[-1]) + ")"
-        npoints = npoints + 1
-        renderer.addOverlay(Crosshairs(Pen(java.awt.Color.MAGENTA),  java.awt.Point(x[-1],y[-1]), java.awt.Dimension(15,15)))
-
-print str(npoints) + " - " + points   
-#print r
-
-#print x
-#print y
-
-offset = int(math.sqrt(1000)/2)
-cv = (min(x)-offset, min(y)-offset, max(x)+offset, max(y)+offset)
-renderer.addOverlay(Rect(Pen(java.awt.Color.MAGENTA),  java.awt.Point(cv[0], cv[1]), java.awt.Dimension(cv[2]-cv[0],cv[3]-cv[1])))
-#show_panel(output.getBufferedImage())
-
-#img.backgroundEnabled=False
+        x, y = int(r.getValue("XM", row)), int(r.getValue("YM", row))
+        cx, cy = img.getCalibration().convertToAbsoluteX(x), img.getCalibration().convertToAbsoluteY(y)
+        points.append([cx,cy])
+        RENDERER.addOverlay(Crosshairs(Pen(java.awt.Color.MAGENTA),  java.awt.Point(x,y), java.awt.Dimension(15,15)))
 
 
+
+#RENDERER.addOverlays(ovs)
+
+clear_detection(block_id)
+detect_pucks(points, block_id)
+plot_base_plate(points, p=PLOT)    
+
+ret = get_puck_detection_dict(block_id)
+
+
+if TEXT is not None:
+    TEXT.setText(str(ret)) 
+
+
+set_return(ret)
+