turbidity: updated naming convention and comments per comments on PR

cmd/rv/main.go

@@ -226,7 +226,10 @@ func run(rv *revid.Revid, ns *netsender.Sender, l *logger.Logger, nl *netlogger.
 		l.Log(logger.Info, "revid successfully reconfigured")
 
 		// Update transform matrix based on new revid variables.
-		p.Update(rv.Config())
+		err = p.Update(rv.Config().TransformMatrix)
+		if err != nil {
+			l.Log(logger.Error, "could not update turbidity probe", "error", err.Error())
+		}
 
 		l.Log(logger.Debug, "checking mode")
 		switch ns.Mode() {

cmd/rv/probe.go

@@ -40,7 +40,6 @@ import (
 	"gonum.org/v1/gonum/stat"
 
 	"bitbucket.org/ausocean/av/codec/h264"
-	"bitbucket.org/ausocean/av/revid/config"
 	"bitbucket.org/ausocean/av/turbidity"
 	"bitbucket.org/ausocean/utils/logger"
 )
@@ -50,6 +49,7 @@ const (
 	maxImages     = 1     // Max number of images read when evaluating turbidity.
 	bufferLimit   = 20000 // 20KB
 	trimTolerance = 200   // Number of times trim can be called where no keyframe is found.
+	transformSize = 9     // Size of the square projective matrix.
 )
 
 // Turbidity sensor constants.
@@ -81,12 +81,12 @@ func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe,
 	tp.ticker = *time.NewTicker(delay)
 	tp.buffer = bytes.NewBuffer(*new([]byte))
 
-	tp.transform = []float64{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
+	tp.transform = make([]float64, transformSize)
-	H := floatToMat(tp.transform)
+	transformMatrix := floatToMat(tp.transform)
 
 	// Create the turbidity sensor.
 	template := gocv.IMRead("../../turbidity/images/template.jpg", gocv.IMReadGrayScale)
-	ts, err := turbidity.NewTurbiditySensor(template, H, k1, k2, filterSize, scale, alpha, log)
+	ts, err := turbidity.NewTurbiditySensor(template, transformMatrix, k1, k2, filterSize, scale, alpha, log)
 	if err != nil {
 		return nil, fmt.Errorf("failed to create turbidity sensor: %w", err)
 	}
@@ -145,20 +145,21 @@ func (tp *turbidityProbe) Close() error {
 	return nil
 }
 
-// Update, will update the probe and turbidity sensor with the new transformation matrix if it has been changed.
+// Update will update the probe and turbidity sensor with the new transformation matrix if it has been changed.
-func (tp *turbidityProbe) Update(config config.Config) error {
+func (tp *turbidityProbe) Update(transformMatrix []float64) error {
-	if len(config.TransformMatrix) != 9 {
+	if len(transformMatrix) != transformSize {
 		return errors.New("transformation matrix has incorrect size")
 	}
 	for i := range tp.transform {
-		if tp.transform[i] != config.TransformMatrix[i] {
+		if tp.transform[i] == transformMatrix[i] {
-			// Update the turbidity sensor with new transformation
+			continue
-			tp.log.Log(logger.Debug, "updating the transformation matrix")
-			tp.transform = config.TransformMatrix
-			newTransform := floatToMat(tp.transform)
-			tp.ts.H = newTransform
-			return nil
 		}
+		// Update the turbidity sensor with new transformation.
+		tp.log.Log(logger.Debug, "updating the transformation matrix")
+		tp.transform = transformMatrix
+		newTransform := floatToMat(tp.transform)
+		tp.ts.TransformMatrix = newTransform
+		return nil
 	}
 	tp.log.Log(logger.Debug, "no change to the transformation matrix")
 	return nil
@@ -234,11 +235,11 @@ func cleanUp(file string, vc *gocv.VideoCapture) error {
 
 // floatToMat will convert a slice of 9 floats to a gocv.Mat.
 func floatToMat(array []float64) gocv.Mat {
-	H := gocv.NewMatWithSize(3, 3, gocv.MatTypeCV64F)
+	mat := gocv.NewMatWithSize(3, 3, gocv.MatTypeCV64F)
-	for i := 0; i < H.Rows(); i++ {
+	for i := 0; i < mat.Rows(); i++ {
-		for j := 0; j < H.Cols(); j++ {
+		for j := 0; j < mat.Cols(); j++ {
-			H.SetDoubleAt(i, j, array[i*H.Cols()+j])
+			mat.SetDoubleAt(i, j, array[i*mat.Cols()+j])
 		}
 	}
-	return H
+	return mat
 }

cmd/rv/probe_circleci.go

@@ -32,7 +32,6 @@ package main
 import (
 	"time"
 
-	"bitbucket.org/ausocean/av/revid/config"
 	"bitbucket.org/ausocean/utils/logger"
 )
 
@@ -51,7 +50,7 @@ func (tp *turbidityProbe) Write(p []byte) (int, error) {
 	return 0, nil
 }
 
-func (tp *turbidityProbe) Update(config config.Config) error {
+func (tp *turbidityProbe) Update(mat []float64) error {
 	return nil
 }
 

cmd/rv/probe_test.go

@@ -30,7 +30,6 @@ import (
 	"testing"
 	"time"
 
-	"bitbucket.org/ausocean/av/revid/config"
 	"bitbucket.org/ausocean/utils/logger"
 	"gopkg.in/natefinch/lumberjack.v2"
 )
@@ -46,14 +45,13 @@ func TestProbe(t *testing.T) {
 	}
 	log := logger.New(logVerbosity, io.MultiWriter(fileLog), logSuppress)
 	updatedMatrix := []float64{-0.2731048063, -0.0020501869, 661.0275911942, 0.0014327789, -0.2699443748, 339.3921028016, 0.0000838317, 0.0000476486, 1.0}
-	config := config.Config{TransformMatrix: updatedMatrix}
 
 	ts, err := NewTurbidityProbe(*log, time.Microsecond)
 	if err != nil {
 		t.Fatalf("failed to create turbidity probe")
 	}
 
-	err = ts.Update(config)
+	err = ts.Update(updatedMatrix)
 	if err != nil {
 		t.Fatalf("could not update probe: %v", err)
 	}
@@ -69,17 +67,3 @@ func TestProbe(t *testing.T) {
 	}
 	t.Logf("contrast: %v, sharpness: %v\n", ts.contrast, ts.sharpness)
 }
-
-/*
-func printMat(mat gocv.Mat) {
-	for i := 0; i < mat.Rows(); i++ {
-		for j := 0; j < mat.Cols(); j++ {
-			fmt.Printf(" %.10f", mat.GetDoubleAt(i, j))
-			if i < 2 || j < 2 {
-				fmt.Print(",")
-			}
-		}
-	}
-	fmt.Println()
-}
-*/

revid/config/config.go

@@ -274,7 +274,9 @@ type Config struct {
 	VerticalFlip bool // VerticalFlip flips video vertically for Raspivid input.
 	Width        uint // Width defines the input video width Raspivid input.
 
-	TransformMatrix []float64 // Describes the transformation matrix to extract the target.
+	// TransformMatrix describes the projective transformation matrix to extract a target from the
+	// video data for turbidty calculations.
+	TransformMatrix []float64
 }
 
 // Validate checks for any errors in the config fields and defaults settings

turbidity/transform.go

@@ -29,52 +29,45 @@ package turbidity
 
 import (
 	"errors"
-	"fmt"
 	"image"
 
 	"gocv.io/x/gocv"
 )
 
-// Homography constants
+// Perspective transformation constants.
 const (
 	ransacThreshold = 3.0   // Maximum allowed reprojection error to treat a point pair as an inlier.
 	maxIter         = 2000  // The maximum number of RANSAC iterations.
 	confidence      = 0.995 // Confidence level, between 0 and 1.
 )
 
+// FindTransform, given a template and standard image the perspetive transformation matrix will be determined.
+// the matrix will be returned and logged for use in vidgrind.
 func FindTransform(standardPath, templatePath string) (gocv.Mat, error) {
 	mask := gocv.NewMat()
-	standard := gocv.IMRead(standardPath, gocv.IMReadColor)
+	std := gocv.IMRead(standardPath, gocv.IMReadColor)
-	standardCorners := gocv.NewMat()
+	stdCorners := gocv.NewMat()
 
 	template := gocv.IMRead(templatePath, gocv.IMReadGrayScale)
 	templateCorners := gocv.NewMat()
+	transformMatrix := gocv.NewMat()
 
 	// Validate template image is not empty and has valid corners.
 	if template.Empty() {
-		return gocv.NewMat(), errors.New("template image is empty")
+		return transformMatrix, errors.New("template image is empty")
 	}
 	if !gocv.FindChessboardCorners(template, image.Pt(3, 3), &templateCorners, gocv.CalibCBNormalizeImage) {
-		return gocv.NewMat(), errors.New("could not find corners in template image")
+		return transformMatrix, errors.New("could not find corners in template image")
 	}
 
 	// Validate standard image is not empty and has valid corners.
-	if standard.Empty() {
+	if std.Empty() {
-		return gocv.NewMat(), errors.New("standard image is empty")
+		return transformMatrix, errors.New("standard image is empty")
 	}
-	if !gocv.FindChessboardCorners(standard, image.Pt(3, 3), &standardCorners, gocv.CalibCBNormalizeImage) {
+	if !gocv.FindChessboardCorners(std, image.Pt(3, 3), &stdCorners, gocv.CalibCBNormalizeImage) {
-		return gocv.NewMat(), errors.New("could not find corners in standard image")
+		return transformMatrix, errors.New("could not find corners in standard image")
 	}
 
-	H := gocv.FindHomography(standardCorners, &templateCorners, gocv.HomograpyMethodRANSAC, ransacThreshold, &mask, maxIter, confidence)
+	transformMatrix = gocv.FindHomography(stdCorners, &templateCorners, gocv.HomograpyMethodRANSAC, ransacThreshold, &mask, maxIter, confidence)
-	for i := 0; i < H.Rows(); i++ {
+	return transformMatrix, nil
-		for j := 0; j < H.Cols(); j++ {
-			fmt.Printf(" %.10f", H.GetDoubleAt(i, j))
-			if i < 2 || j < 2 {
-				fmt.Print(",")
-			}
-		}
-	}
-	fmt.Println()
-	return H, nil
 }

turbidity/turbidity.go

@@ -44,15 +44,15 @@ import (
 // TurbiditySensor is a software based turbidity sensor that uses CV to determine sharpness and constrast level
 // of a chessboard-like target submerged in water that can be correlated to turbidity/visibility values.
 type TurbiditySensor struct {
-	template                gocv.Mat
+	template                gocv.Mat // Holds the image of the target.
-	H                       gocv.Mat
+	TransformMatrix         gocv.Mat // The current perspective transformation matrix to extract the target from the frame.
 	k1, k2, sobelFilterSize int
 	scale, alpha            float64
 	log                     logger.Logger
 }
 
 // NewTurbiditySensor returns a new TurbiditySensor.
-func NewTurbiditySensor(template, H gocv.Mat, k1, k2, sobelFilterSize int, scale, alpha float64, log logger.Logger) (*TurbiditySensor, error) {
+func NewTurbiditySensor(template, transformMatrix gocv.Mat, k1, k2, sobelFilterSize int, scale, alpha float64, log logger.Logger) (*TurbiditySensor, error) {
 	ts := new(TurbiditySensor)
 
 	// Validate template image is not empty and has valid corners.
@@ -61,7 +61,7 @@ func NewTurbiditySensor(template, H gocv.Mat, k1, k2, sobelFilterSize int, scale
 	}
 
 	ts.template = template
-	ts.H = H
+	ts.TransformMatrix = transformMatrix
 	ts.k1, ts.k2, ts.sobelFilterSize = k1, k2, sobelFilterSize
 	ts.alpha, ts.scale = alpha, scale
 	ts.log = log
@@ -184,7 +184,7 @@ func (ts TurbiditySensor) transform(img gocv.Mat) (gocv.Mat, error) {
 	// if !gocv.FindChessboardCorners(img, image.Pt(3, 3), &imgCorners, gocv.CalibCBFastCheck) {}
 
 	// Find and apply transformation.
-	gocv.WarpPerspective(img, &out, ts.H, image.Pt(ts.template.Rows(), ts.template.Cols()))
+	gocv.WarpPerspective(img, &out, ts.TransformMatrix, image.Pt(ts.template.Rows(), ts.template.Cols()))
 	gocv.CvtColor(out, &out, gocv.ColorRGBToGray)
 	return out, nil
 }

turbidity/turbidity_test.go

@@ -42,7 +42,7 @@ import (
 )
 
 const (
-	nImages   = 12  // Number of images to test. (Max 13)
+	nImages   = 13  // Number of images to test. (Max 13)
 	nSamples  = 10  // Number of samples for each image. (Max 10)
 	increment = 2.5 // Increment of the turbidity level.
 )
@@ -77,10 +77,11 @@ func TestImages(t *testing.T) {
 	log := *logger.New(logVerbosity, io.MultiWriter(fileLog), logSuppress)
 
 	template := gocv.IMRead("images/template.jpg", gocv.IMReadGrayScale)
-	H, err := FindTransform("images/default.jpg", "images/template.jpg")
+	transformMatrix, err := FindTransform("images/default.jpg", "images/template.jpg")
 	if err != nil {
 		t.Fatalf("could not find transformation: %v", err)
 	}
+	t.Log(formatMat(transformMatrix))
 
 	imgs := make([][]gocv.Mat, nImages)
 
@@ -92,7 +93,7 @@ func TestImages(t *testing.T) {
 		}
 	}
 
-	ts, err := NewTurbiditySensor(template, H, k1, k2, filterSize, scale, alpha, log)
+	ts, err := NewTurbiditySensor(template, transformMatrix, k1, k2, filterSize, scale, alpha, log)
 	if err != nil {
 		t.Fatalf("could not create turbidity sensor: %v", err)
 	}
@@ -141,3 +142,17 @@ func plotResults(x, sharpness, contrast []float64) error {
 	}
 	return nil
 }
+
+// formatMat creates a formatted transformation matrix string for use in vidgrind.
+func formatMat(transformMatrix gocv.Mat) string {
+	var out string
+	for i := 0; i < transformMatrix.Rows(); i++ {
+		for j := 0; j < transformMatrix.Cols(); j++ {
+			out += fmt.Sprintf(" %.10f", transformMatrix.GetDoubleAt(i, j))
+			if i < 2 || j < 2 {
+				out += ","
+			}
+		}
+	}
+	return out
+}