/**
* \brief Dark image construction function for arbitrary image sequences
*/
ImagePtr DarkFrameFactory::operator()(const ImageSequence& images) const {
debug(LOG_DEBUG, DEBUG_LOG, 0, "processing %d images into dark frame",
images.size());
// make sure we have at least one image
if (images.size() == 0) {
debug(LOG_ERR, DEBUG_LOG, 0, "cannot create dark from no images");
throw std::runtime_error("no images in sequence");
}
// find out whether these are Bayer images, by looking at the first
// image
ImagePtr firstimage = *images.begin();
bool gridded = firstimage->getMosaicType().isMosaic();
debug(LOG_DEBUG, DEBUG_LOG, 0, "first image is %sgridded",
(gridded) ? "" : "not ");
// based on the bit size of the first image, decide whether to work
// with floats or with doubles
unsigned int floatlimit = std::numeric_limits<float>::digits;
debug(LOG_DEBUG, DEBUG_LOG, 0, "float limit is %u", floatlimit);
ImagePtr result;
if (firstimage->bitsPerPlane() <= floatlimit) {
result = dark<float>(images, gridded);
} else {
result = dark<double>(images, gridded);
}
if (firstimage->hasMetadata("INSTRUME")) {
result->setMetadata(firstimage->getMetadata("INSTRUME"));
}
if (firstimage->hasMetadata("PROJECT")) {
result->setMetadata(firstimage->getMetadata("PROJECT"));
}
result->setMosaicType(firstimage->getMosaicType());
return result;
}
void ImageMean<T>::setup_pv(const ImageSequence& images) {
// the image sequence must be consistent, or we cannot do
// anything about it
if (!consistent(images)) {
throw std::runtime_error("images not consistent");
}
// we need access to the pixels, but we want to avoid all the
// time consuming dynamic casts, so we create a vector of
// PixelValue objects, which already do the dynamic casts
// in the constructor
ImageSequence::const_iterator i;
for (i = images.begin(); i != images.end(); i++) {
pvs.push_back(PV(*i));
}
}
/**
* \brief Main method for the stacker program
*/
int main(int argc, char *argv[]) {
int c;
int longindex;
const char *outfilename = NULL;
while (EOF != (c = getopt_long(argc, argv, "dh?o:", longopts,
&longindex))) {
switch (c) {
case 'd':
debuglevel = LOG_DEBUG;
break;
case 'o':
outfilename = optarg;
break;
case 'h':
case '?':
usage(argv[0]);
return EXIT_SUCCESS;
}
}
// read all the images
ImageSequence images;
for (; optind < argc; optind++) {
FITSin in(argv[optind]);
ImagePtr image = in.read();
images.push_back(image);
}
debug(LOG_DEBUG, DEBUG_LOG, 0, "found %d images for sequence",
images.size());
// now do the stacking
astro::image::stacking::Stacker stacker;
ImagePtr stackedimage = stacker(images);
// write the result image
if(NULL != outfilename) {
FITSout out(outfilename);
out.write(stackedimage);
} else {
std::cerr << "no output filename, not writing result image"
<< std::endl;
}
// that's it
return EXIT_SUCCESS;
}
/**
* \brief Check that the image sequence is consistent
*
* Only a if all the images are of the same size we can actually compute
* a calibration image.
* \param images
*/
bool consistent(const ImageSequence& images) {
// make sure all images in the sequence are of the same size
ImageSequence::const_iterator i = images.begin();
for (i++; i != images.end(); i++) {
if ((*images.begin())->size() != (*i)->size()) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "image size mismatch");
return false;
}
}
// make sure all the images are monochrome images. There is now way
// to calibrate color image,
for (i = images.begin(); i != images.end(); i++) {
if (isColorImage(*i)) {
return false;
}
}
return true;
}
void ImageMean<T>::setup_images(const ImageSequence& images) {
// create an image of appropriate size
size = (*images.begin())->size();
image = new Image<T>(size);
if (enableVariance) {
// prepare the variance image
var = new Image<T>(size);
} else {
var = NULL;
}
}
int main(int argc, char* argv[]){
fuseSingleImg();
return 0;
ImageSequence* imgCapture = new ImageSequence();
imgCapture->init("C:/Logs/PCL/data/depth", ".png", "img_depth_");
imgCapture->open();
imgCapture->captureStart();
PoseTracker* pose_tracker = new PoseTracker(480,640);
DeviceArray2D<unsigned short> depth_raw;
IplImage* depthImg = 0;
DeviceArray2D<PixelRGB> view_device_;
vector<PixelRGB> viewer_host_;
pcl::visualization::ImageViewer image_viewer_;
//READ FILE
vector<Matrix3frm> rot_vec;
vector<Vector3f> tran_vec;
//pose_tracker->readPoseToMemory("Pose.txt", rot_vec, tran_vec);
pose_tracker->readPoseToMemory("C:/Logs/PCL/beingthere/resources/ExtrinsicPose.txt", rot_vec, tran_vec);
//for(int i=0; i<10; ++i){
// cout << rot_vec.at(i) << endl;
// cout << tran_vec.at(i) << endl;
//}
//getchar();
int count = 0;
while(true){
++count;
imgCapture->captureNext();
depthImg = imgCapture->image();
//if(count % 5 != 0) continue; cout << count << endl;
//cout << imgCapture->currentFile() << endl;
depth_raw.upload(depthImg->imageData, 640*2, 480, 640);
(*pose_tracker)(depth_raw, rot_vec[count], tran_vec[count]);
//Eigen::Affine3f pose = pose_tracker->getCameraPose();
//cout << pose.linear() << endl;
//cout << pose.translation() << endl;
pose_tracker->getImage(view_device_);
int cols;
view_device_.download(viewer_host_, cols);
image_viewer_.showRGBImage ((unsigned char*)&viewer_host_[0], view_device_.cols (), view_device_.rows ());
image_viewer_.spinOnce();
if(count >= 198) getchar();
getchar();
}
//pose_tracker->writePoseToFile("Pose.txt");
getchar();
return 0;
}
BinaryCube Binarizer::Binarize(const ImageSequence &is) {
CHECK(!is.empty());
int width = is[0].cols;
int height = is[0].rows;
BinaryCube cube(width, height, is.size());
for (int z = 0; z < (int)is.size(); ++z) {
const cv::Mat &image = is[z];
CHECK_EQ(2, image.dims);
CHECK_EQ(1, image.channels());
CHECK_EQ(width, image.cols);
CHECK_EQ(height, image.rows);
cv::Mat bin;
// newval = maxval if val > thresh else 0
cv::threshold(image, bin, /* thresh = */ 127, /* maxval = */ 255,
cv::THRESH_BINARY);
for (int x = 0; x < width; ++x) {
for (int y = 0; y < height; ++y) {
cube[x][y][z] = bin.at<uint8_t>(y, x);
}
}
}
return cube;
}
void uvctest::testExposure() {
debug(LOG_DEBUG, DEBUG_LOG, 0, "get the first camera device");
CameraPtr camera = locator->getCamera(0);
int ccdindex = default_ccdid;
debug(LOG_DEBUG, DEBUG_LOG, 0, "get the CCD no %d", ccdindex);
CcdPtr ccd = camera->getCcd(ccdindex);
Exposure exposure(ccd->getInfo().getFrame(),
default_exposuretime);
debug(LOG_DEBUG, DEBUG_LOG, 0, "start an exposure: %s",
exposure.toString().c_str());
ccd->startExposure(exposure);
ccd->exposureStatus();
debug(LOG_DEBUG, DEBUG_LOG, 0, "retrieve an image");
ImageSequence imgseq = ccd->getImageSequence(2);
ImagePtr image = imgseq[imgseq.size() - 1];
debug(LOG_DEBUG, DEBUG_LOG, 0, "image retrieved");
// write the image to a file
unlink("test.fits");
FITSout file("test.fits");
file.write(image);
if (ccdindex == 2) {
DemosaicBilinear<unsigned char> demosaicer;
Image<unsigned char> *mosaicimg
= dynamic_cast<Image<unsigned char> *>(&*image);
if (NULL != mosaicimg) {
Image<RGB<unsigned char> > *demosaiced
= demosaicer(*mosaicimg);
ImagePtr demosaicedptr(demosaiced);
unlink("test-demosaiced.fits");
FITSout demosaicedfile("test-demosaiced.fits");
demosaicedfile.write(demosaicedptr);
} else {
debug(LOG_ERR, DEBUG_LOG, 0, "not a mosaic image");
}
}
}
/**
* \brief Main function for makeflat tool
*
* This tool takes a list of image names on the command line, reads them,
* and produces a flat image from them.
*/
int main(int argc, char *argv[]) {
char *outfilename = NULL;
const char *darkfilename = NULL;
int c;
while (EOF != (c = getopt(argc, argv, "do:D:?h")))
switch (c) {
case 'd':
debuglevel = LOG_DEBUG;
break;
case 'D':
darkfilename = optarg;
break;
case 'o':
outfilename = optarg;
break;
case '?':
case 'h':
usage(argv[0]);
return EXIT_SUCCESS;
default:
throw std::runtime_error("bad option");
break;
}
// make sure we do have some files to process
if (argc <= optind) {
debug(LOG_ERR, DEBUG_LOG, 0, "no images specified");
std::cerr << "no image file arguments specified" << std::endl;
}
// read the images into memory
ImageSequence images;
for (; optind < argc; optind++) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "reading file %s", argv[optind]);
std::string name(argv[optind]);
FITSin infile(name);
ImagePtr image = infile.read();
images.push_back(image);
}
// Get the dark image. This can come from a file, in which case we
// have to read the image from the file
ImagePtr dark;
if (NULL != darkfilename) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "reading dark image: %s",
darkfilename);
std::string f = std::string(darkfilename);
FITSin infile(f);
dark = infile.read();
debug(LOG_DEBUG, DEBUG_LOG, 0, "got dark %d x %d",
dark->size().width(), dark->size().height());
} else {
dark = ImagePtr(new Image<float>(images[0]->size()));
}
// now produce the flat image
FlatFrameFactory fff;
ImagePtr flat;
debug(LOG_DEBUG, DEBUG_LOG, 0, "computing flat image");
flat = fff(images, dark);
// display some info about the flat image
debug(LOG_DEBUG, DEBUG_LOG, 0, "flat image %d x %d generated",
flat->size().width(), flat->size().height());
// write the flat image to a file
if (outfilename) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "outfile: %s", outfilename);
unlink(outfilename);
FITSout outfile(outfilename);
outfile.setPrecious(false);
outfile.write(flat);
debug(LOG_DEBUG, DEBUG_LOG, 0, "flat image written to %s",
outfilename);
}
return EXIT_SUCCESS;
}
