Roi Roi::subRoiAbs2Rel(const Roi& abs_sub_roi) const
{
if (!containsRoi(abs_sub_roi))
throw LIMA_COM_EXC(InvalidValue, "Given roi is not sub roi");
const Point& tl = getTopLeft();
return Roi(abs_sub_roi.getTopLeft() - tl, abs_sub_roi.getSize());
}
void CtImage::applyHard()
{
DEB_MEMBER_FUNCT();
if(m_img_type != m_next_image_type)
{
m_hw_det->setCurrImageType(m_next_image_type);
m_img_type = m_next_image_type;
}
m_hw->apply();
//Add operation into internal header
CtSaving* saving = m_ct.saving();
Bin bin;getBin(bin);
if(!bin.isOne())
saving->addToInternalCommonHeader("binning",bin);
Roi roi;getRoi(roi);
if(!roi.isEmpty())
saving->addToInternalCommonHeader("roi",roi);
Flip flip;getFlip(flip);
if(flip.x || flip.y)
saving->addToInternalCommonHeader("flip",flip);
RotationMode rMode;getRotation(rMode);
if(rMode != Rotation_0)
saving->addToInternalCommonHeader("rotation",rMode);
}
int Roi::overlapArea(Roi checkRoi){
int overlap = 0;
// Calulate the intersection of the two roi
overlap = max(0,min(lowerRightX, checkRoi.endX())-max(upperLeftX,checkRoi.startX())) * max(0,min(lowerRightY, checkRoi.endY())-max(upperLeftY,checkRoi.startY()));
//overlap = max(0,min(upperLeftX, checkRoi.startX())-max(lowerRightX,checkRoi.endX())) * max(0,min(upperLeftY, checkRoi.startY())-max(lowerRightY,checkRoi.endY()));
return overlap;
}
Roi Roi::subRoiRel2Abs(const Roi& rel_sub_roi) const
{
Roi aux(0, getSize());
if (!aux.containsRoi(rel_sub_roi))
throw LIMA_COM_EXC(InvalidValue, "Given roi is not sub roi");
const Point& tl = getTopLeft();
return Roi(rel_sub_roi.getTopLeft() + tl, rel_sub_roi.getSize());
}
bool FilterROIs::check(const Roi& roi) const
{
bool passed = true;
passed = passed && check_range(roi.w(), width_);
passed = passed && check_range(roi.h(), height_);
passed = passed && check_range(static_cast<double>(roi.w()) / roi.h(), aspect_);
return passed;
}
/***************************************************************//**
* @brief Checks if Gauss peak centers are inside the MaxImageSize
*
*******************************************************************/
void FrameBuilder::checkPeaks( PeakList const &peaks )
{
Size max_size;
getMaxImageSize(max_size);
Roi roi = Roi(0, max_size);
vector<GaussPeak>::const_iterator p;
for( p = peaks.begin( ); p != peaks.end( ); ++p ) {
if( ! roi.containsPoint(Point(int(p->x0), int(p->y0))) )
throw LIMA_HW_EXC(InvalidValue, "Peak too far");
}
}
void CtHwBinRoiFlip::setRoi(Roi& roi, bool round)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR2(roi,round);
if (roi.isEmpty())
THROW_CTL_ERROR(InvalidValue) << "Hardware roi is empty";
if (!m_max_roi.containsRoi(roi))
THROW_CTL_ERROR(InvalidValue) << "Roi out of limts";
if (!m_has_roi) {
if (!round)
THROW_CTL_ERROR(NotSupported) << "No hardware roi available";
}
else {
Roi real_roi;
m_hw_roi->checkRoi(roi, real_roi);
if ((!round)&&(real_roi!=roi))
THROW_CTL_ERROR(InvalidValue) << "Given hardware roi not possible";
if (roi != m_set_roi) {
m_hw_roi->setRoi(roi);
m_set_roi= roi;
_updateSize();
}
roi= real_roi;
}
}
void RoiCtrlObj::checkEspiaRoi(const Roi& set_roi, Roi& hw_roi,
Size& det_frame_size, Roi& espia_roi)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR2(set_roi, hw_roi);
det_frame_size = hw_roi.getSize();
bool sg_roi = (!set_roi.isEmpty() && (hw_roi != set_roi));
if (sg_roi) {
espia_roi = hw_roi.subRoiAbs2Rel(set_roi);
int width = set_roi.getSize().getWidth();
bool horz_match = ((espia_roi.getTopLeft().x == 0) &&
(espia_roi.getSize().getWidth() == width));
sg_roi = (horz_match && ((width % 4) == 0));
}
if (sg_roi) {
DEB_TRACE() << "Horz. aligned roi qualifies for Espia SG!";
hw_roi = set_roi;
} else
espia_roi.reset();
DEB_RETURN() << DEB_VAR3(hw_roi, det_frame_size, espia_roi);
}
void RoiCtrlObj::getRoi(Roi& hw_roi)
{
DEB_MEMBER_FUNCT();
m_cam.getRoi(hw_roi);
Size det_frame_size;
Roi espia_roi;
m_acq.getSGRoi(det_frame_size, espia_roi);
if (!espia_roi.isEmpty()) {
if (det_frame_size != hw_roi.getSize())
THROW_HW_ERROR(Error) << "Camera/Espia roi mismatch: "
<< DEB_VAR2(det_frame_size,
hw_roi);
Roi final_hw_roi = hw_roi.subRoiRel2Abs(espia_roi);
hw_roi = final_hw_roi;
}
DEB_RETURN() << DEB_VAR1(hw_roi);
}
void CtSwBinRoiFlip::setRoi(const Roi& roi)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(roi);
if (roi.isEmpty())
THROW_CTL_ERROR(InvalidValue) << "Software roi is empty";
if (!m_max_roi.containsRoi(roi))
THROW_CTL_ERROR(InvalidValue) << "Roi out of limts";
m_roi= roi;
}
virtual void store(Setting& image_setting)
{
CtImage::ImageOpMode imageOpMode;
m_image.getMode(imageOpMode);
image_setting.set("imageOpMode",convert_2_string(imageOpMode));
// --- Roi
Roi roi;
m_image.getRoi(roi);
Setting roi_setting = image_setting.addChild("roi");
const Point& topleft = roi.getTopLeft();
roi_setting.set("x",topleft.x);
roi_setting.set("y",topleft.y);
const Size& roiSize = roi.getSize();
roi_setting.set("width",roiSize.getWidth());
roi_setting.set("height",roiSize.getHeight());
// --- Bin
Bin bin;
m_image.getBin(bin);
Setting bin_setting = image_setting.addChild("bin");
bin_setting.set("x",bin.getX());
bin_setting.set("y",bin.getY());
// --- Flip
Flip flip;
m_image.getFlip(flip);
Setting flip_setting = image_setting.addChild("flip");
flip_setting.set("x",flip.x);
flip_setting.set("y",flip.y);
// --- Rotation
RotationMode rMode;
m_image.getRotation(rMode);
image_setting.set("rotation",convert_2_string(rMode));
}
void CtImage::setRotation(RotationMode rotation)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(rotation);
// Get previous roi unrotated
RotationMode currentRotation;
getRotation(currentRotation);
Roi currentRoi;
getRoi(currentRoi);
Bin currentBin;
getBin(currentBin);
const Size& max_roi_size = m_hw->getMaxRoiSize();
currentRoi = currentRoi.getUnrotated(currentRotation,max_roi_size);
m_sw->setRotation(rotation);
resetRoi();
currentRoi = currentRoi.getRotated(rotation,max_roi_size);
setRoi(currentRoi);
}
void CtImage::setFlip(Flip &flip)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(flip);
//Get previous roi unflipped
Flip currentFlip;
getFlip(currentFlip);
Roi currentRoi;
getRoi(currentRoi);
RotationMode currentRotation;
getRotation(currentRotation);
const Size& max_roi_size = m_hw->getMaxRoiSize();
currentRoi = currentRoi.getUnrotated(currentRotation,max_roi_size);
currentRoi = currentRoi.getFlipped(currentFlip,max_roi_size);
if(!flip.x && ! flip.y)
_resetFlip();
else
{
switch(m_mode)
{
case SoftOnly:
m_sw->setFlip(flip);
break;
case HardOnly:
m_hw->setFlip(flip,true);
break;
case HardAndSoft:
_setHSFlip(flip);
break;
}
}
//Set the previous roi
resetRoi();
currentRoi = currentRoi.getFlipped(flip,max_roi_size);
currentRoi = currentRoi.getRotated(currentRotation,max_roi_size);
setRoi(currentRoi);
}
void CtImage::setRoi(Roi& roi)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(roi);
if (roi.isEmpty()) {
resetRoi();
return;
}
switch (m_mode) {
case SoftOnly:
m_sw->setRoi(roi);
break;
case HardOnly:
{
const Size& max_roi_size = m_hw->getMaxRoiSize();
// Remove the software Rotation to hardware Roi
RotationMode aSoftwareRotation = m_sw->getRotation();
roi = roi.getUnrotated(aSoftwareRotation,max_roi_size);
// Remove the software Flip to hardware Roi
const Flip &aSoftwareFlip = m_sw->getFlip();
roi = roi.getFlipped(aSoftwareFlip,max_roi_size);
m_hw->setRoi(roi, false);
// Add Flip
roi = roi.getFlipped(aSoftwareFlip,max_roi_size);
// Add Rotation
roi = roi.getRotated(aSoftwareRotation,max_roi_size);
}
break;
case HardAndSoft:
_setHSRoi(roi);
break;
}
}
void CtImage::_setHSRoi(const Roi &roi)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(roi);
if (m_hw->hasRoiCapability()) {
Roi roi_unbin, roi_by_hw, roi_set_hw, roi_by_sw;
Bin bin_total, bin_by_hw, bin_by_sw;
RotationMode aSoftwareRotation = m_sw->getRotation();
bin_by_hw= m_hw->getBin();
bin_by_sw= m_sw->getBin();
bin_total= bin_by_hw * bin_by_sw;
DEB_TRACE() << DEB_VAR3(bin_by_hw, bin_by_sw, bin_total);
roi_unbin= roi.getUnbinned(bin_total);
roi_by_hw= roi_unbin.getBinned(bin_by_hw);
const Size& max_roi_size = m_hw->getMaxRoiSize();
// Remove the rotation to hardware Roi
roi_by_hw= roi_by_hw.getUnrotated(aSoftwareRotation,max_roi_size);
// Remove the software Flip to hardware Roi
const Flip &aSoftwareFlip = m_sw->getFlip();
roi_by_hw= roi_by_hw.getFlipped(aSoftwareFlip,max_roi_size);
roi_set_hw= roi_by_hw;
m_hw->setRoi(roi_set_hw, true);
DEB_TRACE() << DEB_VAR2(roi_by_hw, roi_set_hw);
if (roi_set_hw==roi_by_hw) {
m_sw->resetRoi();
} else {
// Apply software flip to hardware roi
roi_set_hw = roi_set_hw.getFlipped(aSoftwareFlip,max_roi_size);
//Apply software rotation to hardware roi
roi_set_hw = roi_set_hw.getRotated(aSoftwareRotation,max_roi_size);
roi_by_sw= roi_set_hw.subRoiAbs2Rel(roi_by_hw);
roi_by_sw= roi_by_sw.getBinned(bin_by_sw);
m_sw->setRoi(roi_by_sw);
}
} else {
m_sw->setRoi(roi);
}
}
void LabeledImage::loadRois(string host) {
// URL: host/image/id/rois
rois.clear();
char url[host.length() + 19 + 10];
sprintf(url, "http://%s/image/%u/rois", host.c_str(), id);
const char* roiJSON = curlGet(url).c_str();
// Parse ROIs
Document document;
if(document.Parse<0>(roiJSON).HasParseError() || !document.IsArray()) {
fprintf(stderr, "Error Parsing ROI JSON");
return;
}
for(uint32_t i = 0; i < document.Size(); i++) {
// Build an ROI
Roi *roi = new Roi();
roi->loadFromDocument(document[i]);
rois.push_back(roi);
}
}
void Camera::setRoi(const Roi& set_roi)
{
DEB_MEMBER_FUNCT();
DEB_PARAM() << DEB_VAR1(set_roi);
try
{
Point topleft, size;
Roi hw_roi;
getRoi(hw_roi);
if (hw_roi == set_roi) return;
if (set_roi.isActive())
{
// --- a real roi available
hw_roi = set_roi;
//- set the new roi values
//- cmd format is : "set_roi,x0,y0,x1,y1"
std::stringstream strRoi;
strRoi << "set_roi"
<< ","
<< set_roi.getTopLeft().x
<< ","
<< set_roi.getTopLeft().y
<< ","
<< set_roi.getTopLeft().x + set_roi.getSize().getWidth()
<< ","
<< set_roi.getTopLeft().y + set_roi.getSize().getHeight();
{
yat::MutexLock scoped_lock(m_lock_data);
_sendCmdAndReceiveAnswer(strRoi.str());
}
}
}
catch (yat::SocketException & ySe)
{
std::stringstream ssError;
for (unsigned i = 0; i < ySe.errors.size(); i++)
{
ssError << ySe.errors[i].desc << std::endl;
}
THROW_HW_ERROR(Error) << ssError.str();
}
catch (...)
{
THROW_HW_ERROR(Error) << "setRoi : Unknown Exception";
}
}
void RoiCtrlObj::setRoi(const Roi& set_roi)
{
DEB_MEMBER_FUNCT();
ROIS::const_iterator i;
if(set_roi.isActive())
{
i = _getRoi(set_roi);
if(i == m_possible_rois.end())
THROW_HW_ERROR(Error) << "Something weird happen";
}
else
i = --m_possible_rois.end(); // full_frame
if(m_has_hardware_roi)
m_cam.setRoi(i->first.pattern);
m_current_roi = i->second;
m_current_max_frequency = i->first.max_frequency;
}
/***************************************************************//**
* @brief Checks the consistency of FrameDim, Bin and RoI
*
* First checks if Binning is valid
* Then checks if FrameDim is inside of the MaxImageSize
* Finally checks if the RoI is consistent with the binned frame dim
*******************************************************************/
void FrameBuilder::checkValid( const FrameDim &frame_dim, const Bin &bin,
const Roi &roi ) throw(Exception)
{
Size max_size;
getMaxImageSize( max_size );
Bin valid_bin = bin;
checkBin(valid_bin);
if (valid_bin != bin)
throw LIMA_HW_EXC(InvalidValue, "Invalid bin");
if( (frame_dim.getSize().getWidth() > max_size.getWidth()) ||
(frame_dim.getSize().getHeight() > max_size.getHeight()) )
throw LIMA_HW_EXC(InvalidValue, "Frame size too big");
FrameDim bin_dim = frame_dim / bin;
if( roi.getSize() != 0 ) {
bin_dim.checkValidRoi(roi);
}
}
bool Roi::pinit(Roi R, float percent)
{
float t = 2*percent/100*R.height(); // twice the percent is the total range of the random number
int max_twice_offset = (int) t; // truncate
int ulxoffset = rand()%max_twice_offset - t/2; // allow both positive and negative offsets
int ulyoffset = rand()%max_twice_offset - t/2; // allow both positive and negative offsets
int lrxoffset = rand()%max_twice_offset - t/2; // allow both positive and negative offsets
int lryoffset = rand()%max_twice_offset - t/2; // allow both positive and negative offsets
upperLeftX = R.startX() + ulxoffset;
upperLeftY = R.startY() + ulyoffset;
lowerRightX = R.endX() + lrxoffset;
lowerRightY = R.endY() + lryoffset;
roiValue = R.label();
randomlyGenerated = true;
return(true);
}
/***************************************************************//**
* @brief Returns the closest RoI supported by the "hardware"
*
* @param[out] roi Roi object reference
*******************************************************************/
void FrameBuilder::checkRoi( Roi &roi ) const
{
roi.alignCornersTo(8, Ceil);
}
//virtual method
Sarry::MaximumLikelihood::AlgResult Sarry::MaximumLikelihood::applyAlgorithm(
const std::vector<PerPulseInfo>& pulseInfo,
const Doi& doi, const Roi& roic) const
{
std::size_t doiSize = doi.getSamples().size();
std::size_t roicSize = roic.getRoic().size();
std::clog << "Size of g vector: " << roicSize << std::endl;
std::clog << "Size of d vector: " << doiSize << std::endl;
std::clog << "Creating F. . ." << std::endl;
MatchedMatrix f(pulseInfo, m_chirp, doi, roic);
ublas::matrix<std::complex<data_type> > FhF(roicSize, roicSize);
ublas::vector<std::complex<data_type> > Fhd(roicSize);
std::size_t num_threads =
std::max<std::size_t>(boost::thread::hardware_concurrency(), 1);
//Because F and Fh are large, reduce their scope.
{
ublas::matrix<std::complex<data_type> > Fh(roicSize, doiSize);
BOOST_AUTO(reporters, getThreadReporters(num_threads, roicSize,
"Rows", "All rows completed"));
divvyWork(boost::bind(&initFh, boost::ref(Fh), f, _1, _2, doiSize, _3),
num_threads, roicSize, reporters);
//Accessing herm(F) is cache inefficient --
ublas::vector<std::complex<data_type> > d(doiSize);
boost::copy(doi.getSamples() | transformed(px::bind(&KN::data, arg1)),
d.begin());
ublas::matrix<std::complex<data_type> > F = herm(F);
std::clog << "Creating F^H * d. . ." << std::endl;
reporters = getThreadReporters(num_threads, roicSize,
"Rows", "All rows completed");
divvyWork(boost::bind(&multFhd, boost::ref(Fhd), boost::cref(Fh),
boost::cref(d), _1, _2, _3), num_threads, roicSize, reporters);
std::clog << "Creating F^H * F. . ." << std::endl;
reporters = getThreadReporters(num_threads, roicSize * roicSize,
"Elements", "All rows completed");
divvyWork(boost::bind(&multFhF, boost::ref(FhF), boost::cref(Fh),
boost::cref(F), _1, _2, _3), num_threads, roicSize,
reporters);
}
//Write some debug output in case the matrices need conditioning, etc.
{
std::ofstream outInfo("about.log"), outFhd("Fhd.bin", std::ios::binary),
outFhF("FhF.bin", std::ios::binary);
if(!outInfo.is_open() || !outFhd.is_open() || ! outFhF.is_open())
throw std::runtime_error("Cannot open files");
outInfo << "Size of Fhd.bin vector:\n"
<< Fhd.size() << std::endl
<< "Sizes of FhF.bin matrix:\n"
<< FhF.size1() << " rows x " << FhF.size2() << " columns.";
outFhd.write(reinterpret_cast<const char*>(&Fhd.data()[0]),
sizeof(ComplexVector::value_type) * Fhd.data().size());
outFhF.write(reinterpret_cast<const char*>(&FhF.data()[0]),
sizeof(ComplexMatrix::value_type) * Fhd.data().size());
}
//If only I knew how to thread this. . .
std::clog << "Performing LU factorization of F^H * F. . ." << std::endl;
ublas::lu_factorize(FhF);
std::clog << "Performing LU back substitution of (F^H * F)^(-1). . .\n";
//Cast to const& required to avoid ambiguity.
ublas::lu_substitute(
static_cast<const ublas::matrix<std::complex<data_type> >&>(FhF), Fhd);
const Roi::IdxPairList& gIdcs = roic.getRoiIndexEnvelope();
std::ptrdiff_t azVals = boost::distance(gIdcs);
if(azVals == 0)
throw std::invalid_argument("No rows shown in ROI index envelope");
std::ptrdiff_t elVals = gIdcs.front().second - gIdcs.front().first;
std::vector<std::complex<data_type> > gVals(azVals * elVals,
std::complex<data_type>(0,0));
std::clog << "Creating ROI from ROIC. . ." << std::endl;
std::size_t az = 0;
for(Roi::IdxPairList::const_iterator it = boost::begin(gIdcs),
end = boost::end(gIdcs); it != end; ++it, ++az)
{
std::size_t el = 0;
for(std::size_t geoIdx = it->first; geoIdx != it->second;
++geoIdx, ++el)
{
gVals[az * elVals + el] += Fhd(geoIdx);
}
}
return std::make_pair(gVals, static_cast<std::size_t>(elVals));
}
