mirror of https://bitbucket.org/ausocean/av.git
code cleanup as per comments on last commit
This commit is contained in:
Russell Stanley
parent
32274f5022
commit
6622c884ea
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@ -2,6 +2,8 @@ package main
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import (
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"fmt"
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"log"
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"math"
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"gonum.org/v1/plot"
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"gonum.org/v1/plot/plotter"
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@ -11,62 +13,65 @@ import (
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"gocv.io/x/gocv"
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)
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func main() {
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n_images := 6
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n_samples := 10
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const (
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nImages = 6
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nSamples = 10
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)
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// Load template
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func main() {
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nImages := 6
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nSamples := 10
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// Load template and standard image.
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template := gocv.IMRead("template.jpg", gocv.IMReadGrayScale)
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standard := gocv.IMRead("standard.jpg", gocv.IMReadGrayScale)
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images := make([][]gocv.Mat, n_images)
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imgs := make([][]gocv.Mat, nImages)
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//Load images
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for i := 0; i < n_images; i++ {
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images[i] = make([]gocv.Mat, n_samples)
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for j := 0; j < n_samples; j++ {
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images[i][j] = gocv.IMRead(fmt.Sprintf("images/t-%v/000%v.jpg", i, j), gocv.IMReadGrayScale)
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// Load test images.
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for i := range imgs {
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imgs[i] = make([]gocv.Mat, nSamples)
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for j := range imgs[i] {
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imgs[i][j] = gocv.IMRead(fmt.Sprintf("images/t-%v/000%v.jpg", i, j), gocv.IMReadGrayScale)
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}
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}
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// Create turbidity sensor
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// Create turbidity sensor.
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ts := TurbiditySensor{template: template, standard: standard, k1: 90, k2: 90, scale: 5.0, alpha: 1.0}
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var final_result Results
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final_result.New(n_images)
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var finalRes Results
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finalRes.New(nImages)
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// Score each image by calculating the average score from camera burst
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for i := range images {
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//Evaluate camera burst
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sample_result, err := ts.Evaluate(n_samples, images[i])
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// Score each image by calculating the average score from camera burst.
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for i := range imgs {
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// Evaluate camera burst.
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sample_result, err := ts.Evaluate(imgs[i])
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if err != nil {
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fmt.Println(err)
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log.Fatalf("Evaluation Failed: %v", err)
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}
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// Append the average result from camera burst
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final_result.Append(Average(sample_result.saturation), Average(sample_result.contrast), float64((i+1)*10), i)
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// Add the average result from camera burst.
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finalRes.Update(average(sample_result.saturation), average(sample_result.contrast), float64(i*10), i)
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}
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// Plot the final results
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err := PlotResults(final_result.turbidity, Normalize(final_result.saturation), Normalize(final_result.contrast))
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fmt.Println(final_result.saturation)
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fmt.Println(final_result.contrast)
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// Plot the final results.
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err := plotResults(finalRes.turbidity, normalize(finalRes.saturation), normalize(finalRes.contrast))
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if err != nil {
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fmt.Println(err)
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log.Fatalf("Plotting Failed: %v", err)
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}
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log.Printf("Saturation: %v", finalRes.saturation)
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log.Printf("Contrast: %v", finalRes.contrast)
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}
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// PLOTTING FUNCTIONS
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// Plotting Functions.
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// Normalize values in a slice between 0 and 1
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func Normalize(slice []float64) []float64 {
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// Normalize values in a slice between 0 and 1.
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func normalize(slice []float64) []float64 {
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max := -1e10
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min := 1e10
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max := -math.MaxFloat64
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min := math.MaxFloat64
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out := make([]float64, len(slice))
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@ -90,8 +95,8 @@ func Normalize(slice []float64) []float64 {
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return out
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}
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// Return the average of a slice
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func Average(slice []float64) float64 {
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// Return the average of a slice.
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func average(slice []float64) float64 {
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out := 0.0
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@ -102,7 +107,7 @@ func Average(slice []float64) float64 {
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return out / float64(len(slice))
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}
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func PlotResults(x, saturation, contrast []float64) error {
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func plotResults(x, saturation, contrast []float64) error {
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err := plotToFile(
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"Results",
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@ -117,7 +122,7 @@ func PlotResults(x, saturation, contrast []float64) error {
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)
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if err != nil {
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return fmt.Errorf("Could not plot results: %v", err)
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return fmt.Errorf("Could not plot results: %w", err)
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}
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return nil
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@ -127,16 +132,13 @@ func PlotResults(x, saturation, contrast []float64) error {
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// provided draw function, and then saves to a PNG file with filename of name.
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func plotToFile(name, xTitle, yTitle string, draw func(*plot.Plot) error) error {
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p := plot.New()
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p.Title.Text = name
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p.X.Label.Text = xTitle
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p.Y.Label.Text = yTitle
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err := draw(p)
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if err != nil {
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return fmt.Errorf("could not draw plot contents: %w", err)
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}
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if err := p.Save(15*vg.Centimeter, 15*vg.Centimeter, "plots/"+name+".png"); err != nil {
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return fmt.Errorf("could not save plot: %w", err)
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}
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@ -145,9 +147,7 @@ func plotToFile(name, xTitle, yTitle string, draw func(*plot.Plot) error) error
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// plotterXY provides a plotter.XYs type value based on the given x and y data.
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func plotterXY(x, y []float64) plotter.XYs {
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xy := make(plotter.XYs, len(x))
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for i := range x {
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xy[i].X = x[i]
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xy[i].Y = y[i]
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@ -1,5 +1,6 @@
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package main
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// struct to hold the results of the turbidity sensor.
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type Results struct {
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turbidity []float64
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saturation []float64
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@ -12,7 +13,8 @@ func (r *Results) New(n int) {
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r.contrast = make([]float64, n)
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}
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func (r *Results) Append(saturation, contrast, turbidity float64, index int) {
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// Update results to add new values at specified index.
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func (r *Results) Update(saturation, contrast, turbidity float64, index int) {
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r.saturation[index] = saturation
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r.contrast[index] = contrast
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r.turbidity[index] = turbidity
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@ -1,6 +1,7 @@
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package main
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import (
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"errors"
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"fmt"
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"image"
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"math"
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@ -8,97 +9,93 @@ import (
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"gocv.io/x/gocv"
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)
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// TURBIDITY SENSOR
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// Turbidity Sensor.
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type TurbiditySensor struct {
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template, standard gocv.Mat
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k1, k2 int //block size
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alpha, scale float64
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}
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// Given a slice of test images of size n, return the sharpness and contrast scores
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func (ts TurbiditySensor) Evaluate(n int, images []gocv.Mat) (Results, error) {
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// Given a slice of test images, return the sharpness and contrast scores.
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func (ts TurbiditySensor) Evaluate(imgs []gocv.Mat) (Results, error) {
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var result Results
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result.New(n)
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result.New(len(imgs))
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for i := range images {
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// Transform image
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marker, err := ts.Transform(images[i])
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for i := range imgs {
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// Transform image.
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marker, err := ts.Transform(imgs[i])
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if err != nil {
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return result, fmt.Errorf("Image %v: %v", i, err)
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return result, fmt.Errorf("Image %v: %w", i, err)
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}
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// Apply sobel filter
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// Apply sobel filter.
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edge := ts.Sobel(marker, ts.scale)
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// Evaluate
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// Evaluate image.
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out, err := ts.EvaluateImage(marker, edge, ts.k1, ts.k2, ts.alpha)
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if err != nil {
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return result, err
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}
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result.Append(out[0], out[1], float64((i+1)*10), i)
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result.Update(out[0], out[1], float64(i*10), i)
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}
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return result, nil
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}
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// Evaluate image sharpness and contrast using blocks of size k1 by k2. Return a slice of the respective scores
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// Evaluate image sharpness and contrast using blocks of size k1 by k2. Return a slice of the respective scores.
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func (ts TurbiditySensor) EvaluateImage(img, edge gocv.Mat, k1, k2 int, alpha float64) ([]float64, error) {
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// Slice to store results
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// Slice to store results.
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result := make([]float64, 2) // [0.0, 0.0]
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if img.Rows()%k1 != 0 || img.Cols()%k2 != 0 {
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return result, fmt.Errorf("Dimensions not compatible (%v, %v)", k1, k2)
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return nil, fmt.Errorf("Dimensions not compatible (%v, %v)", k1, k2)
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}
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l_step := int(img.Rows() / k1)
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k_step := int(img.Cols() / k2)
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lStep := int(img.Rows() / k1)
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kStep := int(img.Cols() / k2)
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for l := 0; l < img.Rows(); l = l + l_step {
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for k := 0; k < img.Cols(); k = k + k_step {
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//EME
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err := ts.EvaluateBlock(edge, l, k, l+l_step, k+k_step, result, "EME", alpha)
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for l := 0; l < img.Rows(); l = l + lStep {
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for k := 0; k < img.Cols(); k = k + kStep {
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// Enhancement Measure Estimation (EME), provides a measure of the sharpness.
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err := ts.EvaluateBlock(edge, l, k, l+lStep, k+kStep, result, "EME", alpha)
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if err != nil {
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return result, err
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return nil, err
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}
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//AMEE
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err = ts.EvaluateBlock(img, l, k, l+l_step, k+k_step, result, "AMEE", alpha)
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// AMEE, provides a measure of the contrast.
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err = ts.EvaluateBlock(img, l, k, l+lStep, k+kStep, result, "AMEE", alpha)
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if err != nil {
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return result, err
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return nil, err
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}
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}
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}
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// EME
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result[0] = 2.0 / (float64(k1) * float64(k1)) * result[0]
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// EME.
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result[0] = 2.0 / (float64(k1) * float64(k2)) * result[0]
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// AMEE
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result[1] = -1.0 / (float64(k1) * float64(k1)) * result[1]
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// AMEE.
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result[1] = -1.0 / (float64(k1) * float64(k2)) * result[1]
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return result, nil
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}
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// Evaluate a block within and image and add to to the result slice
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// Evaluate a block within an image and add to to the result slice.
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func (ts TurbiditySensor) EvaluateBlock(img gocv.Mat, l1, k1, l2, k2 int, result []float64, operation string, alpha float64) error {
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max := -1e10
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min := 1e10
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max := -math.MaxFloat64
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min := math.MaxFloat64
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for i := l1; i < l2; i++ {
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for j := k1; j < k2; j++ {
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value := float64(img.GetUCharAt(i, j))
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// Check max/min conditions, zero values are ignored
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// Check max/min conditions, zero values are ignored.
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if value > max && value != 0.0 {
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max = value
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}
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@ -108,17 +105,13 @@ func (ts TurbiditySensor) EvaluateBlock(img gocv.Mat, l1, k1, l2, k2 int, result
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}
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}
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// Blocks which have no information are ignored
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if max != -1e10 && min != 1e10 && max != min {
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// Blocks which have no information are ignored.
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if max != -math.MaxFloat64 && min != math.MaxFloat64 && max != min {
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if operation == "EME" {
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result[0] += math.Log(max / min)
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} else if operation == "AMEE" {
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contrast := (max + min) / (max - min)
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result[1] += math.Pow(alpha*(contrast), alpha) * math.Log(contrast)
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} else {
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return fmt.Errorf("Invalid operation: %v", operation)
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}
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@ -126,54 +119,50 @@ func (ts TurbiditySensor) EvaluateBlock(img gocv.Mat, l1, k1, l2, k2 int, result
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return nil
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}
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// Search image for matching template. Returns the transformed image which best match the template
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// Search image for matching template. Returns the transformed image which best match the template.
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func (ts TurbiditySensor) Transform(img gocv.Mat) (gocv.Mat, error) {
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out := gocv.NewMat()
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mask := gocv.NewMat()
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corners_img := gocv.NewMat()
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corners_template := gocv.NewMat()
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// Find corners in image
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// Find corners in image.
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if !gocv.FindChessboardCorners(img, image.Pt(3, 3), &corners_img, gocv.CalibCBNormalizeImage) {
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// Apply default if transformation fails
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// Apply default if transformation fails.
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// fmt.Println("Corner detection failed applying standard transformation")
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if !gocv.FindChessboardCorners(ts.standard, image.Pt(3, 3), &corners_img, gocv.CalibCBNormalizeImage) {
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return out, fmt.Errorf("Could not find corners in default image")
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return out, errors.New("Could not find corners in default image")
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}
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}
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// Find corners in template
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// Find corners in template.
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if !gocv.FindChessboardCorners(ts.template, image.Pt(3, 3), &corners_template, gocv.CalibCBNormalizeImage) {
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return out, fmt.Errorf("Could not find corners in template")
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return out, errors.New("Could not find corners in template")
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}
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// Find and apply transformation
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// Find and apply transformation.
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H := gocv.FindHomography(corners_img, &corners_template, gocv.HomograpyMethodRANSAC, 3.0, &mask, 2000, 0.995)
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gocv.WarpPerspective(img, &out, H, image.Pt(ts.template.Rows(), ts.template.Cols()))
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return out, nil
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}
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// Apply sobel filter to an image with a given scale and return the result
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// Apply sobel filter to an image with a given scale and return the result.
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func (ts TurbiditySensor) Sobel(img gocv.Mat, scale float64) gocv.Mat {
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dx := gocv.NewMat()
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dy := gocv.NewMat()
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sobel := gocv.NewMat()
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// Apply filter
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// Apply filter.
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gocv.Sobel(img, &dx, gocv.MatTypeCV64F, 0, 1, 3, scale, 0.0, gocv.BorderConstant)
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gocv.Sobel(img, &dy, gocv.MatTypeCV64F, 1, 0, 3, scale, 0.0, gocv.BorderConstant)
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// Convert to unsigned
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// Convert to unsigned.
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gocv.ConvertScaleAbs(dx, &dx, 1.0, 0.0)
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gocv.ConvertScaleAbs(dy, &dy, 1.0, 0.0)
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// Add x and y components
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// Add x and y components.
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gocv.AddWeighted(dx, 0.5, dy, 0.5, 0, &sobel)
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return sobel
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