script/imgproc/CameraCalibration.py

@@ -2,6 +2,9 @@ import ch.psi.pshell.device.Camera as Camera
 import ch.psi.pshell.imaging.RendererMode as RendererMode
 import ch.psi.pshell.imaging.Calibration as Calibration
 from ch.psi.pshell.imaging.Overlays import *
+import ch.psi.utils.swing.SwingUtils as SwingUtils
+import javax.swing.SwingUtilities as SwingUtilities
+from swingutils.threads.swing import callSwing
 #SIMULATION = ch.psi.pshell.imaging.FileSource
 """
 img.camera.setColorMode(Camera.ColorMode.Mono)
@@ -15,9 +18,10 @@ img.config.rotationCrop=True
 """
 
 MOVE_HEXIPOSI = True
+ROTATION_OFFSET = 180.0
 
 if MOVE_HEXIPOSI:
-    enable_motion()    
+    release_safety()   #enable_motion()   
 
 sensor_width,sensor_height = img.camera.getSensorSize()
 img.camera.setROI(0, 0,sensor_width, sensor_height)  
@@ -29,11 +33,17 @@ img.camera.start()
 
 
 p = show_panel(img)
+dlg = SwingUtilities.getWindowAncestor(p)
+dlg.setSize(800,800)
+frm=SwingUtils.getFrame(p)
+dlg.setLocationRelativeTo(frm)
+
 p.setMode(RendererMode.Fit)
 ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20))
 ov_text.setFixed(True)
 p.addOverlay(ov_text)
 
+
 try:
     #Find image center and Prosilica ROI
     ov_text.update("Click on the center of the Dewar...")
@@ -130,10 +140,12 @@ try:
 
     print a, sx, sy, roi_w, roi_h 
    
-    img.config.rotation=-a
+    img.config.rotation=-a + ROTATION_OFFSET
     img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = roi_x, roi_y, roi_w, roi_h
     img.config.setCalibration(Calibration(sx, sy, -roi_w/2, -roi_h/2))
     img.config.save()
+
+    set_return ("Success calibrating the camera")
     
 finally: 
     set_led_state(False)

script/imgproc/CoverDetection.py

@@ -6,11 +6,15 @@
 FRAMES_INTEGRATION = 3
 STEP_SIZE = 2
 POSITION_NAMES = [ 'A','B','C','D', 'E', 'F']
-POSITION_ANGLES = [330, 30, 90, 150, 210, 270]
+
+#POSITION_ANGLES = [ 330,  30, 90, 150, 210, 270 ]
+POSITION_ANGLES = [ 0,  60, 120, 180, 240, 300 ]
 POSITION_TOLERANCE = 3
-MINIMUM_CONFIDENCE = 10
+MINIMUM_CONFIDENCE = 3
 DEBUG = cover_detection_debug
-REFERENCE_IMG = "ref2"
+#REFERENCE_IMG = "ref2"
+REFERENCE_IMG = "ref1"
+BORDER = 7
 
 #Load reference image
 ref = load_image(str("{images}/cover/" + REFERENCE_IMG + ".png") , title="Line")
@@ -23,9 +27,16 @@ smooth(ip)
 #bandpass_filter(ip, 30, 1000)
 edges(ip)
 auto_threshold(ip, method = "MaxEntropy")
+#binary_erode(ip, False)
+#binary_dilate(ip, True)
+ip.getProcessor().erode(1, 255)
 cx,cy = int(ip.width/2), int(ip.height/2)
 ip = sub_image(ip, cx-ref.width/2, cy-ref.height/2, ref.width, ref.height)
 
+if BORDER>0:
+    sip = sub_image(ip, BORDER,BORDER,  ref.width-2*BORDER, ref.height-2*BORDER)
+    ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER, fill_color=Color.WHITE)
+    
 #Show ROI of pre-processed image 
 if DEBUG:
     image_panel = show_panel(ip.bufferedImage)
@@ -49,6 +60,14 @@ for i in xdata:
 peaks = estimate_peak_indexes(ydata, xdata,  (min(ydata) + max(ydata))/2,  25.0)
 peaks_x = map(lambda x:xdata[x], peaks)
 peaks_y = map(lambda x:ydata[x], peaks)
+if len(peaks_x) > 1:
+    #remoce close peaks between 350 deg and 10 deg
+    if ((peaks_x[0]<10) and  (peaks_x[1]>350)) or ((peaks_x[1]<10) and  (peaks_x[0]>350)):
+        peaks.pop(1)
+        peaks_x.pop(1)
+        peaks_y.pop(1)
+        
+        
 confidence = None if len(peaks_x)<2 else int(((float(peaks_y[0])/peaks_y[1])-1) * 1000)
 angle = (None if len(peaks_x)==0 else peaks_x[0])
  

script/imgproc/CoverDetectionCalibration.py

@@ -0,0 +1,40 @@
+#Parameters
+FRAMES_INTEGRATION = 3
+MINIMUM_CONFIDENCE = 10
+DEBUG = cover_detection_debug
+REFERENCE_IMG = "ref1"
+ERODE_ITERATIONS = 2
+
+#Load reference image
+SIZE = [128,128]
+BORDER = 7
+
+hexiposi.move("A")
+#Pre-process camera image
+#ip = load_image("{images}/cover/Cover_000" + str(index) + ".png", title="Img")
+ip = integrate_frames(FRAMES_INTEGRATION)
+ip = grayscale(ip, True)
+smooth(ip)
+#bandpass_filter(ip, 30, 1000)
+edges(ip)
+
+auto_threshold(ip, method = "MaxEntropy")
+#binary_dilate(ip, True, 2)
+for i in range(ERODE_ITERATIONS):
+    ip.getProcessor().erode(1, 255)
+
+cx,cy = int(ip.width/2), int(ip.height/2)
+ip = sub_image(ip, cx-SIZE[0]/2, cy-SIZE[1]/2, SIZE[0], SIZE[1])
+
+invert(ip)
+ip = grayscale(ip, True)
+#smooth(ip)
+
+if BORDER > 0:
+    sip = sub_image(ip, BORDER,BORDER, SIZE[0]-2*BORDER, SIZE[1]-2*BORDER)
+    ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER)
+if DEBUG:
+    image_panel = show_panel(ip.bufferedImage)
+
+save_image(ip, str("{images}/cover/" + REFERENCE_IMG + ".png") ,"png")
+