mirror of https://bitbucket.org/ausocean/av.git
code cleanup, improved corner detection in transform function, fixed some comments
This commit is contained in:
Russell Stanley
parent
8d4f7a5bc0
commit
6d97486876
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@ -1,12 +1,9 @@
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//go:build !nocv
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// +build !nocv
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/*
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DESCRIPTION
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Turbidity is a program to measure water clarity using computer vison
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Plotting functions for the turbidity sensor results.
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AUTHORS
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Russell Stanley <russell@ausocean.org>
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Russell Stanley <russell@ausocean.org>
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LICENSE
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Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
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@ -29,79 +26,25 @@ 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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"gonum.org/v1/plot/plotutil"
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"gonum.org/v1/plot/vg"
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"gocv.io/x/gocv"
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)
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const (
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nImages = 13
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nSamples = 10
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)
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func main() {
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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("default.jpg", gocv.IMReadGrayScale)
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imgs := make([][]gocv.Mat, nImages)
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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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ts := TurbiditySensor{template: template, standard: standard, k1: 8, k2: 8, sobelFilterSize: 3, scale: 1.0, alpha: 1.0}
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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 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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log.Fatalf("Evaluation Failed: %v", err)
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}
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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)*2.5, i)
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}
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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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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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// Normalize values in a slice between 0 and 1.
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func normalize(slice []float64) []float64 {
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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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if len(slice) <= 1 {
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return slice
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}
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// Find the max and min values of the slice.
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for i := range slice {
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if slice[i] > max {
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max = slice[i]
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@ -119,9 +62,9 @@ func normalize(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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var out float64
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out := 0.0
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// Sum all elements in the slice.
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for i := range slice {
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out += slice[i]
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}
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@ -129,7 +72,6 @@ func average(slice []float64) float64 {
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}
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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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"Almond Milk (ml)",
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@ -3,10 +3,10 @@
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/*
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DESCRIPTION
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Results struct used to store results from the turbidity sensor
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Results struct used to store results from the turbidity sensor.
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AUTHORS
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Russell Stanley <russell@ausocean.org>
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Russell Stanley <russell@ausocean.org>
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LICENSE
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Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
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@ -27,22 +27,33 @@ LICENSE
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package main
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// struct to hold the results of the turbidity sensor.
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import "fmt"
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// Results holds 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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contrast []float64
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Turbidity []float64
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Saturation []float64
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Contrast []float64
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}
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func (r *Results) new(n int) {
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r.turbidity = make([]float64, n)
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r.saturation = make([]float64, n)
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r.contrast = make([]float64, n)
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// NewResults constructs the results object.
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func NewResults(n int) (*Results, error) {
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if n <= 0 {
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return nil, fmt.Errorf("invalid result size: %v.", n)
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}
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r := new(Results)
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r.Turbidity = make([]float64, n)
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r.Saturation = make([]float64, n)
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r.Contrast = make([]float64, n)
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return r, nil
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}
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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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// Update adds new values to slice at specified index.
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func (r *Results) Update(newSat, newCont, newTurb float64, index int) {
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r.Saturation[index] = newSat
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r.Contrast[index] = newCont
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r.Turbidity[index] = newTurb
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}
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@ -3,11 +3,11 @@
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/*
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DESCRIPTION
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Holds the turbidity sensor struct. Can evaluate 4x4 chessboard markers
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in an image to measure the sharpness and contrast.
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Holds the turbidity sensor struct. Can evaluate 4x4 chessboard markers
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in an image to measure the sharpness and contrast.
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AUTHORS
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Russell Stanley <russell@ausocean.org>
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Russell Stanley <russell@ausocean.org>
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LICENSE
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Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
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@ -37,89 +37,116 @@ import (
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"gocv.io/x/gocv"
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)
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// Turbidity Sensor.
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// TurbiditySensor is a software based turbidity sensor that uses CV to determine saturation and constrast level
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// of a chessboard-like target submerged in water that can be correlated to turbidity/visibility values.
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type TurbiditySensor struct {
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template, standard gocv.Mat
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template, templateCorners gocv.Mat
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standard, standardCorners gocv.Mat
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k1, k2, sobelFilterSize int
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alpha, scale float64
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scale, alpha float64
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}
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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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// NewTurbiditySensor constructor for a turbidity sensor.
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func NewTurbiditySensor(template, standard gocv.Mat, k1, k2, sobelFilterSize int, scale, alpha float64) (*TurbiditySensor, error) {
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ts := new(TurbiditySensor)
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templateCorners := gocv.NewMat()
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standardCorners := gocv.NewMat()
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var result Results
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result.new(len(imgs))
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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: %w", i, err)
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// Validate template image is not empty and has valid corners.
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if template.Empty() {
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return nil, errors.New("template image is empty.")
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}
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if !gocv.FindChessboardCorners(template, image.Pt(3, 3), &templateCorners, gocv.CalibCBNormalizeImage) {
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return nil, errors.New("could not find corners in template image")
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}
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ts.template = template
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ts.templateCorners = templateCorners
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// Apply sobel filter.
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edge := ts.Sobel(marker)
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// Validate standard image is not empty and has valid corners.
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if standard.Empty() {
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return nil, errors.New("standard image is empty.")
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}
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if !gocv.FindChessboardCorners(standard, image.Pt(3, 3), &standardCorners, gocv.CalibCBNormalizeImage) {
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return nil, errors.New("could not find corners in standard image")
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}
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ts.standard = standard
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ts.standardCorners = standardCorners
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// Evaluate image.
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scores, err := ts.EvaluateImage(marker, edge)
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ts.k1, ts.k2, ts.sobelFilterSize = k1, k2, sobelFilterSize
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ts.alpha, ts.scale = alpha, scale
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return ts, nil
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}
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// Evaluate, given a slice of images, return the sharpness and contrast scores.
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func (ts TurbiditySensor) Evaluate(imgs []gocv.Mat) (*Results, error) {
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result, err := NewResults(len(imgs))
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if err != nil {
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return result, err
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}
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result.update(scores[0], scores[1], float64(i*10), 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: %w", i, err)
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}
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// Apply sobel filter.
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edge := ts.sobel(marker)
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// Evaluate image.
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sharpScore, contScore, err := ts.EvaluateImage(marker, edge)
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if err != nil {
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return result, err
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}
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result.Update(sharpScore, contScore, float64(i), 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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func (ts TurbiditySensor) EvaluateImage(img, edge gocv.Mat) ([]float64, error) {
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result := make([]float64, 2) // [0.0, 0.0]
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// EvaluateImage will evaluate image sharpness and contrast using blocks of size k1 by k2. Return the respective scores.
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func (ts TurbiditySensor) EvaluateImage(img, edge gocv.Mat) (float64, float64, error) {
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var sharpness float64
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var contrast float64
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if img.Rows()%ts.k1 != 0 || img.Cols()%ts.k2 != 0 {
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return nil, fmt.Errorf("Dimensions not compatible (%v, %v)", ts.k1, ts.k2)
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return math.NaN(), math.NaN(), fmt.Errorf("dimensions not compatible (%v, %v)", ts.k1, ts.k2)
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}
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lStep := int(img.Rows() / ts.k1)
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kStep := int(img.Cols() / ts.k2)
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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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lStep := img.Rows() / ts.k1
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kStep := img.Cols() / ts.k2
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for l := 0; l < img.Rows(); l += lStep {
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for k := 0; k < img.Cols(); 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", ts.alpha)
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if err != nil {
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return nil, err
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}
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sharpValue := ts.evaluateBlockEME(edge, l, k, l+lStep, k+kStep)
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sharpness += sharpValue
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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", ts.alpha)
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if err != nil {
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return nil, err
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}
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contValue := ts.evaluateBlockAMEE(img, l, k, l+lStep, k+kStep)
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contrast += contValue
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}
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}
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// EME.
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result[0] = 2.0 / (float64(ts.k1) * float64(ts.k2)) * result[0]
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// Scale EME based on block size.
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sharpness = 2.0 / (float64(ts.k1 * ts.k2)) * sharpness
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// AMEE.
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result[1] = -1.0 / (float64(ts.k1) * float64(ts.k2)) * result[1]
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// Scale and flip AMEE based on block size.
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contrast = -1.0 / (float64(ts.k1 * ts.k2)) * contrast
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return result, nil
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return sharpness, contrast, nil
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}
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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, xStart, yStart, xEnd, yEnd int, result []float64, operation string, alpha float64) error {
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// minMax returns the max and min pixel values of an image block.
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func (ts TurbiditySensor) minMax(img gocv.Mat, xStart, yStart, xEnd, yEnd int) (float64, float64) {
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max := -math.MaxFloat64
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min := math.MaxFloat64
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for i := xStart; i < xEnd; i++ {
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for j := yStart; j < yEnd; 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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@ -131,52 +158,56 @@ func (ts TurbiditySensor) EvaluateBlock(img gocv.Mat, xStart, yStart, xEnd, yEnd
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}
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}
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}
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return max, min
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}
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// evaluateBlockEME will evaluate an image block and return the value to be added to the sharpness result.
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func (ts TurbiditySensor) evaluateBlockEME(img gocv.Mat, xStart, yStart, xEnd, yEnd int) float64 {
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max, min := ts.minMax(img, xStart, yStart, xEnd, yEnd)
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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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return math.Log(max / min)
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}
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}
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return nil
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return 0.0
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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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func (ts TurbiditySensor) Transform(img gocv.Mat) (gocv.Mat, error) {
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// evaluateBlockAMEE will evaluate an image block and return the value to be added to the contrast result.
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func (ts TurbiditySensor) evaluateBlockAMEE(img gocv.Mat, xStart, yStart, xEnd, yEnd int) float64 {
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max, min := ts.minMax(img, xStart, yStart, xEnd, yEnd)
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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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contrast := (max + min) / (max - min)
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return math.Pow(ts.alpha*(contrast), ts.alpha) * math.Log(contrast)
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}
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return 0.0
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}
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// transform will search img 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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imgCorners := gocv.NewMat()
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// Find corners in image.
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if !gocv.FindChessboardCorners(ts.standard, image.Pt(3, 3), &corners_img, gocv.CalibCBNormalizeImage) {
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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, errors.New("Could not find corners in default image")
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// Check image is valid.
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if img.Empty() {
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return out, errors.New("image is empty, cannot transform")
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}
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}
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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, errors.New("Could not find corners in template")
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// Check image for corners, if non can be found corners will be set to default value.
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if !gocv.FindChessboardCorners(img, image.Pt(3, 3), &imgCorners, gocv.CalibCBFastCheck) {
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imgCorners = ts.standardCorners
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}
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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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H := gocv.FindHomography(imgCorners, &ts.templateCorners, 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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func (ts TurbiditySensor) Sobel(img gocv.Mat) gocv.Mat {
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// sobel will apply sobel filter to an image and return the result.
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func (ts TurbiditySensor) sobel(img gocv.Mat) 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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|
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@ -0,0 +1,88 @@
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/*
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DESCRIPTION
|
||||
Testing functions for the turbidity sensor using images from
|
||||
previous experiment.
|
||||
|
||||
AUTHORS
|
||||
Russell Stanley <russell@ausocean.org>
|
||||
|
||||
LICENSE
|
||||
Copyright (C) 2020 the Australian Ocean Lab (AusOcean)
|
||||
|
||||
It is free software: you can redistribute it and/or modify them
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation, either version 3 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
It is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||||
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
in gpl.txt. If not, see http://www.gnu.org/licenses.
|
||||
*/
|
||||
|
||||
package main
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"testing"
|
||||
|
||||
"gocv.io/x/gocv"
|
||||
)
|
||||
|
||||
const (
|
||||
nImages = 13 // Number of images to test. (Max 13)
|
||||
nSamples = 10 // Number of samples for each image. (Max 10)
|
||||
increment = 2.5
|
||||
)
|
||||
|
||||
func TestImages(t *testing.T) {
|
||||
// Load template and standard image.
|
||||
template := gocv.IMRead("images/template.jpg", gocv.IMReadGrayScale)
|
||||
standard := gocv.IMRead("images/default.jpg", gocv.IMReadGrayScale)
|
||||
|
||||
imgs := make([][]gocv.Mat, nImages)
|
||||
|
||||
// Load test images.
|
||||
for i := range imgs {
|
||||
imgs[i] = make([]gocv.Mat, nSamples)
|
||||
for j := range imgs[i] {
|
||||
imgs[i][j] = gocv.IMRead(fmt.Sprintf("images/t-%v/000%v.jpg", i, j), gocv.IMReadGrayScale)
|
||||
}
|
||||
}
|
||||
|
||||
// Create turbidity sensor.
|
||||
ts, err := NewTurbiditySensor(template, standard, 8, 8, 3, 1.0, 1.0)
|
||||
if err != nil {
|
||||
t.Fatal(err)
|
||||
}
|
||||
|
||||
// Create results.
|
||||
results, err := NewResults(nImages)
|
||||
if err != nil {
|
||||
t.Fatal(err)
|
||||
}
|
||||
|
||||
// Score each image by calculating the average score from camera burst.
|
||||
for i := range imgs {
|
||||
// Evaluate camera burst.
|
||||
sample_result, err := ts.Evaluate(imgs[i])
|
||||
if err != nil {
|
||||
t.Fatalf("Evaluation Failed: %v", err)
|
||||
}
|
||||
|
||||
// Add the average result from camera burst.
|
||||
results.Update(average(sample_result.Saturation), average(sample_result.Contrast), float64(i)*increment, i)
|
||||
}
|
||||
|
||||
// Plot the final results.
|
||||
err = plotResults(results.Turbidity, normalize(results.Saturation), normalize(results.Contrast))
|
||||
if err != nil {
|
||||
t.Fatalf("Plotting Failed: %v", err)
|
||||
}
|
||||
|
||||
t.Logf("Saturation: %v", results.Saturation)
|
||||
t.Logf("Contrast: %v", results.Contrast)
|
||||
}
|
||||
Loading…
Reference in New Issue