turbidity: incorporate transform matrix variable into turbidity sensor

cmd/rv/main.go

@@ -158,7 +158,7 @@ func main() {
 		log.Log(logger.Fatal, pkg+"could not initialise revid", "error", err.Error())
 	}
 
-	p, err = NewTurbidityProbe(*log, 60*time.Second, rv.Config().TransformMatrix)
+	p, err = NewTurbidityProbe(*log, 60*time.Second)
 	if err != nil {
 		log.Log(logger.Fatal, "could not create new turbidity probe", "error", err.Error())
 	}

cmd/rv/probe.go

@@ -40,6 +40,7 @@ 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"
 )
@@ -73,18 +74,22 @@ type turbidityProbe struct {
 }
 
 // NewTurbidityProbe returns a new turbidity probe.
-func NewTurbidityProbe(log logger.Logger, delay time.Duration, transformMatrix []float64) (*turbidityProbe, error) {
+func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe, error) {
 	tp := new(turbidityProbe)
 	tp.log = log
 	tp.delay = delay
 	tp.ticker = *time.NewTicker(delay)
 	tp.buffer = bytes.NewBuffer(*new([]byte))
-	tp.transform = transformMatrix
+
+	tp.transform = []float64{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
+	H, err := floatToMat(tp.transform)
+	if err != nil {
+		return nil, fmt.Errorf("failed to convert float slice to mat: %w", err)
+	}
 
 	// Create the turbidity sensor.
-	standard := gocv.IMRead("../../turbidity/images/default.jpg", gocv.IMReadGrayScale)
 	template := gocv.IMRead("../../turbidity/images/template.jpg", gocv.IMReadGrayScale)
-	ts, err := turbidity.NewTurbiditySensor(template, standard, k1, k2, filterSize, scale, alpha, log)
+	ts, err := turbidity.NewTurbiditySensor(template, H, k1, k2, filterSize, scale, alpha, log)
 	if err != nil {
 		return nil, fmt.Errorf("failed to create turbidity sensor: %w", err)
 	}
@@ -143,6 +148,27 @@ func (tp *turbidityProbe) Close() error {
 	return nil
 }
 
+func (tp *turbidityProbe) Update(config config.Config) error {
+	if len(config.TransformMatrix) != 9 {
+		return errors.New("transformation matrix has incorrect size")
+	}
+	for i := range tp.transform {
+		if tp.transform[i] != config.TransformMatrix[i] {
+			// Update the turbidity sensor with new transformation
+			tp.log.Log(logger.Debug, "updating the turbidity sensor with new transformation")
+			tp.transform = config.TransformMatrix
+			newTransform, err := floatToMat(tp.transform)
+			if err != nil {
+				return fmt.Errorf("failed to convert float slice to mat: %w", err)
+			}
+			tp.ts.H = newTransform
+			return nil
+		}
+	}
+	tp.log.Log(logger.Debug, "not update requried")
+	return nil
+}
+
 func (tp *turbidityProbe) turbidityCalculation() error {
 	var imgs []gocv.Mat
 	img := gocv.NewMat()
@@ -210,3 +236,13 @@ func cleanUp(file string, vc *gocv.VideoCapture) error {
 	}
 	return nil
 }
+
+func floatToMat(array []float64) (gocv.Mat, error) {
+	H := gocv.NewMatWithSize(3, 3, gocv.MatTypeCV64F)
+	for i := 0; i < H.Rows(); i++ {
+		for j := 0; j < H.Cols(); j++ {
+			H.SetDoubleAt(i, j, array[i*H.Cols()+j])
+		}
+	}
+	return H, nil
+}

cmd/rv/probe_circleci.go

@@ -40,7 +40,7 @@ type turbidityProbe struct {
 }
 
 // NewTurbidityProbe returns an empty turbidity probe for CircleCI testing only.
-func NewTurbidityProbe(log logger.Logger, delay time.Duration, transformMatrix []float64) (*turbidityProbe, error) {
+func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe, error) {
 	tp := new(turbidityProbe)
 	return tp, nil
 }

cmd/rv/probe_test.go

@@ -30,6 +30,7 @@ import (
 	"testing"
 	"time"
 
+	"bitbucket.org/ausocean/av/revid/config"
 	"bitbucket.org/ausocean/utils/logger"
 	"gopkg.in/natefinch/lumberjack.v2"
 )
@@ -44,12 +45,21 @@ func TestProbe(t *testing.T) {
 		MaxAge:     logMaxAge,
 	}
 	log := logger.New(logVerbosity, io.MultiWriter(fileLog), logSuppress)
-	transformMatrix := []float64{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
+	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, transformMatrix)
+	ts, err := NewTurbidityProbe(*log, time.Microsecond)
 	if err != nil {
 		t.Fatalf("failed to create turbidity probe")
 	}
+
+	t.Log(ts.transform)
+	err = ts.Update(config)
+	if err != nil {
+		t.Fatalf("could not update probe: %v", err)
+	}
+	t.Log(ts.transform)
+
 	video, err := ioutil.ReadFile("logo.h264")
 	if err != nil {
 		t.Fatalf("failed to read file: %v", err)
@@ -61,3 +71,17 @@ 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()
+}
+*/

turbidity/transform.go

@@ -0,0 +1,80 @@
+//go:build !nocv
+// +build !nocv
+
+/*
+DESCRIPTION
+
+AUTHORS
+  Russell Stanley <russell@ausocean.org>
+
+LICENSE
+  Copyright (C) 2021-2022 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 turbidity
+
+import (
+	"errors"
+	"fmt"
+	"image"
+
+	"gocv.io/x/gocv"
+)
+
+// Homography 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.
+)
+
+func FindTransform(standardPath, templatePath string) (gocv.Mat, error) {
+	mask := gocv.NewMat()
+	standard := gocv.IMRead(standardPath, gocv.IMReadColor)
+	standardCorners := gocv.NewMat()
+
+	template := gocv.IMRead(templatePath, gocv.IMReadGrayScale)
+	templateCorners := gocv.NewMat()
+
+	// Validate template image is not empty and has valid corners.
+	if template.Empty() {
+		return gocv.NewMat(), 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")
+	}
+
+	// Validate standard image is not empty and has valid corners.
+	if standard.Empty() {
+		return gocv.NewMat(), errors.New("standard image is empty")
+	}
+	if !gocv.FindChessboardCorners(standard, image.Pt(3, 3), &standardCorners, gocv.CalibCBNormalizeImage) {
+		return gocv.NewMat(), errors.New("could not find corners in standard image")
+	}
+
+	H := gocv.FindHomography(standardCorners, &templateCorners, gocv.HomograpyMethodRANSAC, ransacThreshold, &mask, maxIter, confidence)
+	fmt.Print(H.Type())
+	for i := 0; i < H.Rows(); i++ {
+		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

@@ -41,18 +41,10 @@ import (
 	"gocv.io/x/gocv"
 )
 
-// Homography 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.
-)
-
 // 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, templateCorners gocv.Mat
+	template                gocv.Mat
-	standard, standardCorners gocv.Mat
 	H                       gocv.Mat
 	k1, k2, sobelFilterSize int
 	scale, alpha            float64
@@ -60,34 +52,16 @@ type TurbiditySensor struct {
 }
 
 // NewTurbiditySensor returns a new TurbiditySensor.
-func NewTurbiditySensor(template, standard gocv.Mat, k1, k2, sobelFilterSize int, scale, alpha float64, log logger.Logger) (*TurbiditySensor, error) {
+func NewTurbiditySensor(template, H gocv.Mat, k1, k2, sobelFilterSize int, scale, alpha float64, log logger.Logger) (*TurbiditySensor, error) {
 	ts := new(TurbiditySensor)
-	templateCorners := gocv.NewMat()
-	standardCorners := gocv.NewMat()
-	mask := gocv.NewMat()
 
 	// Validate template image is not empty and has valid corners.
 	if template.Empty() {
 		return nil, errors.New("template image is empty")
 	}
-	if !gocv.FindChessboardCorners(template, image.Pt(3, 3), &templateCorners, gocv.CalibCBNormalizeImage) {
+
-		return nil, errors.New("could not find corners in template image")
-	}
 	ts.template = template
-	ts.templateCorners = templateCorners
+	ts.H = H
-
-	// Validate standard image is not empty and has valid corners.
-	if standard.Empty() {
-		return nil, errors.New("standard image is empty")
-	}
-	if !gocv.FindChessboardCorners(standard, image.Pt(3, 3), &standardCorners, gocv.CalibCBNormalizeImage) {
-		return nil, errors.New("could not find corners in standard image")
-	}
-
-	ts.standard = standard
-	ts.standardCorners = standardCorners
-	ts.H = gocv.FindHomography(ts.standardCorners, &ts.templateCorners, gocv.HomograpyMethodRANSAC, ransacThreshold, &mask, maxIter, confidence)
-
 	ts.k1, ts.k2, ts.sobelFilterSize = k1, k2, sobelFilterSize
 	ts.alpha, ts.scale = alpha, scale
 	ts.log = log

turbidity/turbidity_test.go

@@ -77,7 +77,10 @@ func TestImages(t *testing.T) {
 	log := *logger.New(logVerbosity, io.MultiWriter(fileLog), logSuppress)
 
 	template := gocv.IMRead("images/template.jpg", gocv.IMReadGrayScale)
-	standard := gocv.IMRead("images/default.jpg", gocv.IMReadGrayScale)
+	H, err := FindTransform("images/default.jpg", "images/template.jpg")
+	if err != nil {
+		t.Fatalf("could not find transformation: %v", err)
+	}
 
 	imgs := make([][]gocv.Mat, nImages)
 
@@ -89,18 +92,11 @@ func TestImages(t *testing.T) {
 		}
 	}
 
-	ts, err := NewTurbiditySensor(template, standard, k1, k2, filterSize, scale, alpha, log)
+	ts, err := NewTurbiditySensor(template, H, k1, k2, filterSize, scale, alpha, log)
 	if err != nil {
 		t.Fatalf("could not create turbidity sensor: %v", err)
 	}
 
-	for i := 0; i < ts.H.Rows(); i++ {
-		for j := 0; j < ts.H.Cols(); j++ {
-			fmt.Printf(" %v,\t", ts.H.GetDoubleAt(i, j))
-		}
-		fmt.Println()
-	}
-
 	results, err := NewResults(nImages)
 	if err != nil {
 		t.Fatalf("could not create results: %v", err)