1 | #include "CaosFilter.h"
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2 |
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3 | #include <memory.h> // memset
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4 | #include <iostream.h> // cout
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5 | #include <fstream.h>
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6 |
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7 | #include "Led.h"
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8 | #include "Leds.h"
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9 |
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10 | ClassImp(CaosFilter);
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11 |
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12 | void CaosFilter::DrawBox(const int x1, const int y1,
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13 | const int x2, const int y2,
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14 | byte *buffer, const int col)
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15 | {
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16 | for (int x=x1; x<x2+1; x++)
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17 | for (int y=y1; y<y2+1; y++)
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18 | buffer[y*768+x] = col;
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19 | }
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20 |
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21 | void CaosFilter::MarkPoint(const int x, const int y, byte *buffer, const int col)
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22 | {
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23 | DrawBox(x-8, y, x-5, y, buffer, col);
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24 | DrawBox(x, y+5, x, y+8, buffer, col);
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25 | DrawBox(x+5, y, x+8, y, buffer, col);
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26 | DrawBox(x, y-8, x, y-5, buffer, col);
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27 | return;
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28 | }
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29 |
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30 | void CaosFilter::GetStat(const byte *buffer, const int offset, double *mean, double *sdev)
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31 | {
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32 | double sum = 0;
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33 | double sq = 0;
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34 |
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35 | byte *s = (byte*)buffer;
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36 | const byte *e0 = s+768*576;
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37 |
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38 | //
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39 | // calculate mean value
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40 | //
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41 | while (s<e0)
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42 | {
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43 | const byte *e = s+576-offset;
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44 | s += offset;
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45 |
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46 | while (s<e)
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47 | {
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48 | sum += *s;
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49 | sq += *s * *s;
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50 | s++;
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51 | }
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52 |
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53 | s+=offset;
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54 | }
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55 |
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56 | const Int_t sz = (768-2*offset)*(576-2*offset);
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57 |
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58 | sum /= sz;
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59 | sq /= sz;
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60 |
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61 | *mean = sum;
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62 | *sdev = sqrt(sq-sum*sum);
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63 | }
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64 |
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65 | int CaosFilter::GetMeanPosition(const byte *bitmap, const int x, const int y,
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66 | const int box, Float_t &mx, Float_t &my)
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67 | {
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68 | unsigned int sumx=0;
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69 | unsigned int sumy=0;
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70 |
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71 | unsigned int sum=0;
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72 |
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73 | for (int dx=x-box; dx<x+box+1; dx++)
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74 | for (int dy=y-box; dy<y+box+1; dy++)
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75 | {
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76 | const byte m = bitmap[dy*768+dx]; // desc->buffer[3*(x+y*768)]; //
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77 |
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78 | sumx += m*dx;
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79 | sumy += m*dy;
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80 | sum += m;
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81 | }
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82 |
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83 | mx = (Float_t)sumx/sum;
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84 | my = (Float_t)sumy/sum;
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85 |
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86 | return (int)my*768 + (int)mx;
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87 | }
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88 |
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89 | int CaosFilter::GetMeanPosition(const byte *bitmap, const int x, const int y,
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90 | const int box)
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91 | {
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92 | unsigned int sumx=0;
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93 | unsigned int sumy=0;
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94 |
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95 | unsigned int sum=0;
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96 |
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97 | for (int dx=x-box; dx<x+box+1; dx++)
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98 | for (int dy=y-box; dy<y+box+1; dy++)
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99 | {
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100 | const byte m = bitmap[dy*768+dx]; // desc->buffer[3*(x+y*768)]; //
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101 |
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102 | sumx += m*dx;
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103 | sumy += m*dy;
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104 | sum += m;
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105 | }
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106 |
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107 | const float px = (float)sumx/sum;
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108 | const float py = (float)sumy/sum;
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109 |
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110 | return (int)py*768 + (int)px;
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111 | }
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112 |
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113 |
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114 | //
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115 | // Calculation of center of rings
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116 | //
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117 | Double_t sqr(Double_t x) { return x*x; }
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118 |
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119 | void swap(int *m, int *n)
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120 | {
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121 | int dummy = *m;
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122 | *m = *n;
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123 | *n = dummy;
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124 | }
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125 |
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126 | bool CaosFilter::CalcCenter(Float_t *px, Float_t *py, Float_t &cx,
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127 | Float_t &cy, Float_t &R)
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128 | {
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129 | int i=0;
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130 | int j=1;
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131 | int k=2;
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132 |
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133 | Float_t h1 = py[i]-py[j];
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134 |
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135 | if (h1==0)
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136 | {
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137 | swap(&j, &k);
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138 | h1 = py[i]-py[j];
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139 | if (h1==0)
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140 | {
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141 | cout << "h1==0" <<endl;
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142 | return kFALSE;
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143 | }
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144 | }
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145 |
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146 | Float_t h2 = py[j]-py[k];
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147 |
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148 | if (h2==0)
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149 | {
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150 | swap(&i, &j);
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151 | h2 = py[j]-py[k];
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152 | if (h2==0)
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153 | {
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154 | cout << "h2==0" << endl;
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155 | return kFALSE;
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156 | }
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157 | }
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158 |
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159 | Float_t w1 = px[i]-px[j];
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160 | Float_t w2 = px[j]-px[k];
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161 |
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162 | Float_t m1 = -w1/h1;
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163 | Float_t m2 = -w2/h2;
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164 |
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165 | if (m2-m1==0)
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166 | {
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167 | cout << "m2-m1==0" << endl;
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168 | return kFALSE;
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169 | }
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170 |
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171 | cx = ((m2*(px[j]+px[k]) +py[i]-py[k] -m1*(px[i]+px[j]))/(m2-m1)/2);
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172 | cy = ((m2*(py[i]+py[j]) +m1*m2*(px[k]-px[i])-m1*(py[j]+py[k]))/(m2-m1)/2);
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173 |
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174 | R = sqrt(sqr(cx-px[i])+sqr(cy-py[i]));
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175 |
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176 | return kTRUE;
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177 | }
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178 |
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179 | //
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180 | // Interpolation of centers of rings
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181 | //
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182 | void CaosFilter::InterpolCenter(int &m, Float_t *x, Float_t *y, Float_t &px,
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183 | Float_t &py, Float_t &pr, Float_t &sx,
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184 | Float_t &sy, Float_t &sr)
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185 | {
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186 | int nPoints = m;
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187 | int mn[10]={0,0,0,1,4,10,20,35,56,84};
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188 | int nRings = mn[m];
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189 | Float_t rx[10];
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190 | Float_t ry[10];
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191 | Float_t rr[10];
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192 | px = 0;
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193 | py = 0;
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194 | pr = 0;
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195 |
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196 | int n=0;
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197 | for (int i=0; i<nPoints-2; i++)
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198 | for (int j=i+1; j<nPoints-1; j++)
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199 | for (int k=j+1; k<nPoints; k++)
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200 | {
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201 | rx[n]=0;
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202 | ry[n]=0;
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203 | rr[n]=0;
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204 |
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205 | Float_t xx[3] = { x[i], x[j], x[k] };
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206 | Float_t yy[3] = { y[i], y[j], y[k] };
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207 | CalcCenter(xx, yy, rx[n], ry[n], rr[n]);
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208 |
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209 | px += rx[n];
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210 | py += ry[n];
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211 | pr += rr[n];
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212 |
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213 | n++;
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214 | }
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215 |
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216 | px /= n;
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217 | py /= n;
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218 | pr /= n;
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219 |
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220 | //
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221 | // deviation of x- and y coordinate and radius
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222 | //
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223 | Float_t sumx=0;
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224 | Float_t sumy=0;
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225 | Float_t sumr=0;
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226 |
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227 | for (n=0; n<nRings; n++)
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228 | {
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229 | sumx += sqr(rx[n]-px);
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230 | sumy += sqr(ry[n]-py);
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231 | sumr += sqr(rr[n]-pr);
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232 |
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233 | }
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234 | sx=sqrt(sumx)/(nRings-1);
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235 | sy=sqrt(sumy)/(nRings-1);
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236 | sr=sqrt(sumr)/(nRings-1);
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237 | }
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238 |
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239 |
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240 |
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241 | //
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242 | //Calculation of rings
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243 | //
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244 |
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245 | Double_t kConv = 0.502; // [pix/mm]
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246 |
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247 | void CaosFilter::CalcRings(int &m, Float_t *x, Float_t *y, Float_t &px,
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248 | Float_t &py, Float_t &pr, float *v, float *w)
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249 | {
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250 |
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251 | // Float_t v[5];
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252 | // Float_t w[5];
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253 | Float_t s[5];
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254 | Float_t sx;
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255 | Float_t sy;
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256 | Float_t sr;
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257 |
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258 | for (int i=0; i<6; i++)
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259 | {
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260 | x[i] /= kConv;
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261 | y[i] /= kConv;
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262 | }
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263 |
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264 | InterpolCenter(m, x, y, px, py, pr, sx, sy, sr);
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265 |
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266 | //
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267 | // angles v and relative angle w
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268 | //
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269 | for (int j=0; j<6; j++)
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270 | {
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271 | v[j] = atan2(y[j]-py, x[j]-px)*180/TMath::Pi();
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272 | }
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273 |
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274 | w[0]=v[0]+167.11;
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275 | w[1]=v[1]-94.31;
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276 | w[2]=v[2]+87;
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277 | w[3]=v[3]+56.58;
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278 | w[4]=v[4]-33.48;
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279 |
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280 | //
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281 | // distances between the LEDs
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282 | //
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283 | s[0]=sqrt(sqr(x[1]-x[0]) + sqr(y[1]-y[0]));///41.6;
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284 | s[1]=sqrt(sqr(x[1]-x[4]) + sqr(y[1]-y[4]));///27.7;
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285 | s[2]=sqrt(sqr(x[3]-x[4]) + sqr(y[3]-y[4]));///39.1;
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286 | s[3]=sqrt(sqr(x[2]-x[3]) + sqr(y[2]-y[3]));///14.4;
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287 | s[4]=sqrt(sqr(x[2]-x[0]) + sqr(y[2]-y[0]));///35.2;
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288 |
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289 | }
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290 |
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291 | //
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292 | // filter LEDs from spots
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293 | //
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294 | int CaosFilter::FilterLeds(float *xw, float *yw, float *xl, float *yl)
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295 | {
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296 | int n=0;
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297 | int m=0;
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298 |
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299 | for (n=0; n<10; n++)
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300 | {
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301 | if (!(xw[n]>250 && xw[n]<540 && yw[n]>140 && yw[n]<500))
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302 | continue;
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303 |
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304 | if (n>0 && xw[n]>(xl[m-1]-3) && xw[n]<(xl[m-1]+3))
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305 | continue;
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306 |
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307 | xl[m]=xw[n];
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308 | yl[m]=yw[n];
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309 | m++;
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310 | }
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311 | return m;
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312 | }
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313 |
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314 | void CaosFilter::FilterLeds(Leds &leds)
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315 | {
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316 | for (int n=0; n<leds.GetEntries(); n++)
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317 | {
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318 | const Led &led = leds(n);
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319 |
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320 | const Double_t x = led.GetX()-480;
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321 | const Double_t y = led.GetY()-200;
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322 |
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323 | const Double_t r2 = x*x+y*y;
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324 |
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325 | if (r2<80*80 || r2>145*145)
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326 | {
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327 | leds.RemoveAt(n);
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328 | continue;
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329 | }
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330 | }
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331 |
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332 | RemoveTwins(leds, 5);
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333 | }
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334 |
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335 | void CaosFilter::RemoveTwins(Leds &leds, Double_t radius)
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336 | {
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337 | TIter Next1(&leds);
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338 |
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339 | Led *led1 = NULL;
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340 |
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341 | while ((led1=(Led*)Next1()))
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342 | {
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343 | Led *led2 = NULL;
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344 | TIter Next2(&leds);
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345 |
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346 | const Double_t x1 = led1->GetX();
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347 | const Double_t y1 = led1->GetY();
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348 |
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349 | while ((led2=(Led*)Next2()))
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350 | {
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351 | if (led1==led2)
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352 | continue;
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353 |
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354 | const Double_t x2 = led2->GetX();
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355 | const Double_t y2 = led2->GetY();
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356 |
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357 | const Double_t dx = x2-x1;
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358 | const Double_t dy = y2-y1;
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359 |
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360 | if (dx*dx+dy*dy<radius*radius)
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361 | {
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362 | // FIXME: Interpolation
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363 | leds.Remove(led2);
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364 | }
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365 | }
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366 | }
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367 | }
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368 |
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369 |
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370 |
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371 | void CaosFilter::Execute(byte *img, float *xw, float *yw, float *xl,
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372 | float *yl, float &prx, float &pry, float &pr, float *v, float *w)
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373 | {
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374 | const int offset = 10;
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375 |
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376 | double mean, sdev;
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377 | GetStat(img, offset, &mean, &sdev);
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378 |
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379 | const byte max = mean+2.5*sdev>254 ? 254 : (byte)(mean+2.5*sdev);
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380 |
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381 | //
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382 | // clean image from noise
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383 | //
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384 | const byte *e = img+768*576;
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385 | byte *i = img;
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386 | while (i<e)
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387 | {
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388 | if (*i<=max)
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389 | *i = 0;
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390 | i++;
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391 | }
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392 |
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393 | //
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394 | // find mean points
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395 | //
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396 | const int maxpnt = 0x1000;
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397 |
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398 | int pos[maxpnt+1][2]; // FIXME
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399 | int cnt = 0;
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400 |
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401 | for (int x=offset; x<768-offset; x++)
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402 | {
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403 | for (int y=offset; y<576-offset; y++)
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404 | {
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405 | if (img[x+768*y]==0)
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406 | continue;
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407 |
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408 | const int ipos = GetMeanPosition(img, x, y, 5);
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409 |
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410 | int j;
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411 | for (j=0; j<cnt; j++)
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412 | {
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413 | if (pos[j][0]==ipos)
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414 | {
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415 | if (pos[j][1] < 0xf0)
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416 | pos[j][1] += 0x10;
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417 | break;
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418 | }
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419 | }
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420 | if (cnt && j<cnt)
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421 | continue;
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422 |
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423 | pos[cnt][0] = ipos; // pixel number
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424 | pos[cnt][1] = 0x10; // magnitude
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425 |
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426 | cnt++;
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427 |
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428 | if (cnt==maxpnt)
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429 | break;
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430 | }
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431 | if (cnt==maxpnt)
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432 | {
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433 | cout << "Error! More than " << maxpnt << " stars found." << endl;
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434 | break;
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435 | }
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436 | }
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437 |
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438 |
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439 | //
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440 | // Draw marker for found stars into picture
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441 | //
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442 | int points=0;
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443 |
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444 | byte marker[768*576];
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445 | memset(marker, 0, 768*576);
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446 |
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447 | for (int i=0; i<cnt; i++)
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448 | {
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449 | if (pos[i][1]<=0xa0)
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450 | continue;
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451 |
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452 | const int px = pos[i][0]%768;
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453 | const int py = pos[i][0]/768;
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454 |
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455 | MarkPoint(px, py, marker, pos[i][1]);
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456 |
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457 | Float_t mx, my;
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458 | GetMeanPosition(img, px, py, 5, mx, my);
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459 |
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460 | //
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461 | // Write positions in array
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462 | //
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463 | // cout << mx << " " << my << " " << cnt << endl;
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464 | // cout << "points:" << points << endl;
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465 |
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466 | xw[points]=mx;
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467 | yw[points]=my;
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468 |
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469 | points++;
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470 | }
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471 |
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472 | int m = FilterLeds(xw, yw, xl, yl);
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473 | CalcRings(m, xl, yl, prx, pry, pr, v, w);
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474 |
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475 | //
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476 | // Copy markers into image
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477 | //
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478 | for (int x=0; x<768*576; x++)
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479 | {
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480 | if (!marker[x])
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481 | continue;
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482 |
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483 | img[x]=marker[x];
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484 | }
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485 | }
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486 |
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487 | void CaosFilter::Execute(byte *img, Leds &leds, Double_t conv)
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488 | {
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489 | const int offset = 10;
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490 |
|
---|
491 | double mean, sdev;
|
---|
492 | GetStat(img, offset, &mean, &sdev);
|
---|
493 |
|
---|
494 | const byte cut = mean+2.5*sdev>254 ? 254 : (byte)(mean + 2.5*sdev);
|
---|
495 |
|
---|
496 | //
|
---|
497 | // clean image from noise
|
---|
498 | //
|
---|
499 | const byte *e = img+768*576;
|
---|
500 | byte *i = img;
|
---|
501 | while (i<e)
|
---|
502 | {
|
---|
503 | if (*i<=cut)
|
---|
504 | *i = 0;
|
---|
505 | i++;
|
---|
506 | }
|
---|
507 |
|
---|
508 | //
|
---|
509 | // find mean points
|
---|
510 | //
|
---|
511 | const int maxpnt = 0x1000;
|
---|
512 |
|
---|
513 | int pos[maxpnt+1][2]; // FIXME
|
---|
514 | int cnt = 0;
|
---|
515 |
|
---|
516 | for (int x=offset; x<768-offset; x++)
|
---|
517 | {
|
---|
518 | for (int y=offset; y<576-offset; y++)
|
---|
519 | {
|
---|
520 | if (img[x+768*y]==0)
|
---|
521 | continue;
|
---|
522 |
|
---|
523 | const int ipos = GetMeanPosition(img, x, y, 5);
|
---|
524 |
|
---|
525 | int j;
|
---|
526 | for (j=0; j<cnt; j++)
|
---|
527 | {
|
---|
528 | if (pos[j][0]==ipos)
|
---|
529 | {
|
---|
530 | if (pos[j][1] < 0xf0)
|
---|
531 | pos[j][1] += 0x10;
|
---|
532 | break;
|
---|
533 | }
|
---|
534 | }
|
---|
535 | if (cnt && j<cnt)
|
---|
536 | continue;
|
---|
537 |
|
---|
538 | pos[cnt][0] = ipos; // pixel number
|
---|
539 | pos[cnt][1] = 0x10; // magnitude
|
---|
540 |
|
---|
541 | cnt++;
|
---|
542 |
|
---|
543 | if (cnt==maxpnt)
|
---|
544 | break;
|
---|
545 | }
|
---|
546 | if (cnt==maxpnt)
|
---|
547 | {
|
---|
548 | cout << "Error! More than " << maxpnt << " stars found." << endl;
|
---|
549 | break;
|
---|
550 | }
|
---|
551 | }
|
---|
552 |
|
---|
553 |
|
---|
554 | //
|
---|
555 | // Draw marker for found stars into picture
|
---|
556 | //
|
---|
557 | int points=0;
|
---|
558 |
|
---|
559 | byte marker[768*576];
|
---|
560 | memset(marker, 0, 768*576);
|
---|
561 |
|
---|
562 | for (int i=0; i<cnt; i++)
|
---|
563 | {
|
---|
564 | if (pos[i][1]<=0x80) // 0xa0
|
---|
565 | continue;
|
---|
566 |
|
---|
567 | const int px = pos[i][0]%768;
|
---|
568 | const int py = pos[i][0]/768;
|
---|
569 |
|
---|
570 | MarkPoint(px, py, marker, pos[i][1]);
|
---|
571 |
|
---|
572 | Float_t mx, my;
|
---|
573 | GetMeanPosition(img, px, py, 5, mx, my);
|
---|
574 |
|
---|
575 | //
|
---|
576 | // Write positions in array
|
---|
577 | //
|
---|
578 | // cout << mx << " " << my << " " << cnt << endl;
|
---|
579 | // cout << "points:" << points << endl;
|
---|
580 |
|
---|
581 | leds.Set(points++, mx/conv, my/conv, 0, 0, pos[i][1]);
|
---|
582 | }
|
---|
583 |
|
---|
584 | //
|
---|
585 | // Copy markers into image
|
---|
586 | //
|
---|
587 | for (int x=0; x<768*576; x++)
|
---|
588 | {
|
---|
589 | if (!marker[x])
|
---|
590 | continue;
|
---|
591 |
|
---|
592 | img[x]=marker[x];
|
---|
593 | }
|
---|
594 | }
|
---|
595 |
|
---|
596 |
|
---|