AcqMarksScanner Class Reference

#include <AcqMarksScanner.h>

Inheritance diagram for AcqMarksScanner:

Collaboration diagram for AcqMarksScanner:

Public Member Functions
	AcqMarksScanner ()
bool	GotoMark (int Id)
bool	ScanMark (float *X=NULL, float *Y=NULL, float *Z=NULL)
bool	ScanMarks ()
int	ScanView (float Z0, float DZ)
bool	SearchMark (float *X=NULL, float *Y=NULL, float *Z=NULL)
bool	SearchMarkFast (float *X=NULL, float *Y=NULL, float *Z=NULL)
bool	SetMapext (char *mapext)
bool	SetPointers (AcqStage1 *stg, AcqOdyssey *ody)
virtual	~AcqMarksScanner ()

Public Attributes
EdbAffine2D *	eAffine2D
EdbArea *	eArea
EdbMarksSet *	eFoundMarksSet
EdbMarksSet *	eMarksSet
AcqOdyssey *	FG
float	FPS
bool	IsValid
int	Layers
float	MarkDiameter
float	MarkDiameterTolerance
int	Side
AcqStage1 *	ST
float	StepX
float	StepY
int	Threshold
int	ViewsToScan
float	XYScanSpeed

Constructor & Destructor Documentation

AcqMarksScanner()

AcqMarksScanner::AcqMarksScanner

(

)

{
    ST=NULL; FG=NULL;
    eMarksSet=new EdbMarksSet();
    eFoundMarksSet=new EdbMarksSet();
    Side=-1;
    IsValid=0;
    FPS=200.;
    Layers=5;
    Threshold=190;
    MarkDiameter=80.0;
    MarkDiameterTolerance=30.0;
    ViewsToScan=100; //10x10 views -> 3x3mm search area
    XYScanSpeed=10000; //  [microns/s]
 
}

~AcqMarksScanner()

AcqMarksScanner::~AcqMarksScanner ( )

virtual

{
    delete eMarksSet;
    delete eFoundMarksSet;
}

Member Function Documentation

GotoMark()

bool AcqMarksScanner::GotoMark

(

int

Id

)

{
    //Moves stage to a given mark
    // the coordinates are taken from the MarkSet
 
    float X,Y,Z;
    int res;
    if(Id<0 || Id>=eMarksSet->GetStage()->N()) 
    {
        printf("Mark Id %d  is out of range [0,%d]",Id,eMarksSet->GetStage()->N()-1);
        return false;
    }
    if(!ST) 
    {
        printf("No pointer to stage!\n");
        return false;
    }
    X=eMarksSet->GetStage()->At(Id)->X();
    Y=eMarksSet->GetStage()->At(Id)->Y();
    Z=ST->Z->Reference;
    if(Side==1) Z+=ST->EmTopLayer+ST->EmBotLayer+ST->EmBase;
    printf("Going to Mark %d at (%f,%f,%f)..",Id,X,Y,Z);    
    fflush(stdout);
    ST->X->PosMove(X,1e7,1e7);
    ST->Y->PosMove(Y,1e7,1e7);
    res=ST->X->WaitForMoveComplete(1e4);
    res*=ST->Y->WaitForMoveComplete(1e4);
    ST->Z->PosMove(Z,1e6,1e6);
    res*=ST->Z->WaitForMoveComplete(3e3);
    if(res) { printf("reached.\n"); return true; }
    else {printf("didn't reach! Error.\n"); return false; }
 
}

ScanMark()

bool AcqMarksScanner::ScanMark	(	float *	X = NULL,
		float *	Y = NULL,
		float *	Z = NULL
	)

{
    // scans the spiral path around current point and looks for the mark.
    // if found returns true and it's global positions in microns
 
    int *ix = new int[ViewsToScan];
    int *iy = new int[ViewsToScan];
    int res=0;
    bool Found=false;
    float PixToMic=FG->PixelToMicronX;
    float Posx,Posy,Posz;
    float VPosx,VPosy,VPosz;
    float GPosx,GPosy,GPosz;
    float CenterX=ST->X->GetPos();
    float CenterY=ST->Y->GetPos();
    StepX=fabs((FG->SizeX)*PixToMic)-2*MarkDiameter;
    StepY=fabs((FG->SizeY)*PixToMic)-2*MarkDiameter;
    printf("Search path is generated with StepX=%f and StepY=%f\n",StepX,StepY);
    EdbArea *ear=new EdbArea(); //only used to generate path
    ear->MakeSpiralPath(ViewsToScan,ix,iy);
    for(int v=0;v<ViewsToScan;v++)
    {
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') break;}
        Posx=CenterX+StepX*ix[v];
        Posy=CenterY+StepY*iy[v];
        res=0;
        while(!res)
        {
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') break;}
        res=1;
        ST->X->PosMove(Posx,XYScanSpeed,XYScanSpeed*100);
        ST->Y->PosMove(Posy,XYScanSpeed,XYScanSpeed*100);
        res*=ST->X->WaitForMoveComplete(2e3);
        res*=ST->Y->WaitForMoveComplete(2e3);
        }
        if(!res){ printf("Move is not complete within timeout of 2sec! \n"); break;}
        printf("Searching at (%f,%f).\n",Posx,Posy);
 
        if(SearchMarkFast(&VPosx,&VPosy,&VPosz)) 
        { 
            Found=true; 
            
            //if(ST->X->Invert) GPosx=Posx-VPosx; else GPosx=Posx+VPosx;
            //if(ST->Y->Invert) GPosy=Posy-VPosy; else GPosy=Posy+VPosy;
            GPosx=Posx+VPosx;
            GPosy=Posy+VPosy;
 
            res=0;
            while(!res)
            {
               if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') break;}
               res=1;
               ST->X->PosMove(GPosx,XYScanSpeed,XYScanSpeed*100);
               ST->Y->PosMove(GPosy,XYScanSpeed,XYScanSpeed*100);
               res*=ST->X->WaitForMoveComplete(2e3);
               res*=ST->Y->WaitForMoveComplete(2e3);
            }
            if(!res){ printf("Move is not complete within timeout of 2sec! \n"); break;}
            GPosx=ST->X->GetPos();
            GPosy=ST->Y->GetPos();
             printf("Searching at (%f,%f).\n",GPosx,GPosy);
            Found=SearchMarkFast(&VPosx,&VPosy,&VPosz); if(!Found) continue;
//          if(ST->X->Invert) GPosx=GPosx-VPosx; else GPosx=GPosx+VPosx;
//            if(ST->Y->Invert) GPosy=GPosy-VPosy; else GPosy=GPosy+VPosy;           
            GPosx=GPosx+VPosx;
            GPosy=GPosy+VPosy;    
 
            res=0;
            while(!res)
            {
               if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') break;}
               res=1;
               ST->X->PosMove(GPosx,XYScanSpeed,XYScanSpeed*100);
               ST->Y->PosMove(GPosy,XYScanSpeed,XYScanSpeed*100);
               res*=ST->X->WaitForMoveComplete(2e3);
               res*=ST->Y->WaitForMoveComplete(2e3);
            }
            if(!res){ printf("Move is not complete within timeout of 2sec! \n"); break;}
            GPosx=ST->X->GetPos();
            GPosy=ST->Y->GetPos();
             printf("Searching at (%f,%f).\n",GPosx,GPosy);
            Found=SearchMarkFast(&VPosx,&VPosy,&VPosz); if(!Found) continue;
//          if(ST->X->Invert) GPosx=GPosx-VPosx; else GPosx=GPosx+VPosx;
//            if(ST->Y->Invert) GPosy=GPosy-VPosy; else GPosy=GPosy+VPosy;           
            GPosx=GPosx+VPosx;
            GPosy=GPosy+VPosy;           
 
 
            GPosz=VPosz;
            FG->ShowImage(0);
            if(!X || !Y || !Z) break;
            *X=GPosx;
            *Y=GPosy;
            *Z=GPosz;
            break;
        }
        FG->ShowImage(0);
    }
    if(Found) printf("Mark found at global (%f,%f,%f)\n",GPosx,GPosy,GPosz);
    delete ear;
    delete [] ix;
    delete [] iy;
    return Found;
}

ScanMarks()

bool AcqMarksScanner::ScanMarks

(

)

{
    // scans for all marks in a given MarkSet
/*
    float X,Y,Z;
    float Xe,Ye,Ze;
    float Dx,Dy;
    int Id=0;
    Xe=eMarksSet->GetStage()->At(Id)->X();
    Ye=eMarksSet->GetStage()->At(Id)->Y();
    while(!GotoMark(Id)){       
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return false;}
    };
    if(!ScanMark(&X,&Y,&Z)) { printf("First mark is not found! Exiting.\n"); return false; }
    eMarksSet->GetStage()->At(Id)->SetX(X);
    eMarksSet->GetStage()->At(Id)->SetY(Y);
    eMarksSet->GetStage()->At(Id)->SetZ(Z);
    Dx=X-Xe; Dy=Y-Ye; //displacement actual w.r.t. expected mark position
    // calc 2nd mark expected
    Id++;
    Xe=eMarksSet->GetStage()->At(Id)->X();
    Ye=eMarksSet->GetStage()->At(Id)->Y();
    Xe+=Dx; Ye+=Dy;
    eMarksSet->GetStage()->At(Id)->SetX(Xe);
    eMarksSet->GetStage()->At(Id)->SetY(Ye);
    while(!GotoMark(Id)){       
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return false;}
    };
    if(!ScanMark(&X,&Y,&Z)) { printf("Second mark is not found! Exiting.\n"); return false; }
    eMarksSet->GetStage()->At(Id)->SetX(X);
    eMarksSet->GetStage()->At(Id)->SetY(Y);
    eMarksSet->GetStage()->At(Id)->SetZ(Z);
  //  Dx=X-Xe; Dy=Y-Ye; //displacement actual w.r.t. expected mark position
    // calc 3nd mark expected
    Id++;
    Xe=eMarksSet->GetStage()->At(Id)->X();
    Ye=eMarksSet->GetStage()->At(Id)->Y();
    Xe+=Dx; Ye+=Dy;
    eMarksSet->GetStage()->At(Id)->SetX(Xe);
    eMarksSet->GetStage()->At(Id)->SetY(Ye);
    while(!GotoMark(Id)){       
        if(kbhit()){getch();printf("Paused. Continue? (y/n)"); if(getchar()=='n') return false;}
    };
    if(!ScanMark(&X,&Y,&Z)) { printf("Second mark is not found! Exiting.\n"); return false; }
 
*/
 
    return true;
 
}

ScanView()

int AcqMarksScanner::ScanView	(	float	Z0,
		float	DZ
	)

{
    // scans through the emulsion layer at Z0 with +DZ thickness
    // provides [Layers] frames for further processing
    // this is a basic function common for all scanning objects
 
    float *Pos=new float[Layers];
    float Speed=FPS*DZ/(Layers-1);
    int res;
    int Taken;
    bool SaveFIRF,SaveBGSUB,SaveGCORR;
    int SaveTHRES;
    SaveFIRF=FG->ApplyFIRF;
    FG->ApplyFIRF=false;
    SaveBGSUB=FG->SubtractBG;
    FG->SubtractBG=false;
    SaveGCORR=FG->ApplyGainCorr;
    FG->ApplyGainCorr=false;
    SaveTHRES=FG->Threshold;
    FG->Threshold=Threshold;
    printf("Threshold is set to %d\n",FG->Threshold);
    printf("Filling Z breakpoint position buffer\n"); 
    Speed=1.*FPS*DZ/(Layers-1);
    for(int i=0;i<Layers;i++) Pos[i]=1.*i*DZ/(Layers-1)+Z0;
    for(int i=0;i<1;i++)
    {
    printf("Z Started to %f..\n",Z0+DZ+5);
    ST->Z->PosMove(Z0+DZ+5,1e4,1e4);
    res=ST->Z->WaitForMoveComplete(3e3);
    printf("Z Reached initial at %f, res=%d\n",ST->Z->GetPos(),res);
    ST->Z->LoadBreakpointSequence(Pos, Layers);
    ST->Z->ArmBreakpointSequence();
    printf("Armed BP sequence and Z started to %f and \n",Z0-5);
    ST->Z->PosMove(Z0-5,Speed,50000);
    Taken=FG->GrabImagesONL(Layers,Pos,(DZ+20.)/Speed);
    res=ST->Z->WaitForMoveComplete(3e3);
    printf("Z Reached final at %f, res=%d\n, taken %d frames.\n",ST->Z->GetPos(),res,Taken);
    }
    //restore FG settings
    FG->ApplyFIRF=SaveFIRF;
    FG->SubtractBG=SaveBGSUB;
    FG->ApplyGainCorr=SaveGCORR;
    FG->Threshold=SaveTHRES;
 
    delete [] Pos;
    return Taken;
 
}

SearchMark()

bool AcqMarksScanner::SearchMark	(	float *	X = NULL,
		float *	Y = NULL,
		float *	Z = NULL
	)

{
    // Looks for the biggest cluster in the pile of images scanned by ScanView
    // and checks it's dimensions. If they match the mark size
    // returns true and its center coordinates in microns w.r.t view center
    // otherwise returns false
 
    if(Side==0) ScanView(ST->Z->Reference-ST->EmBotLayer/2.,ST->EmBotLayer);
    else if(Side==1) ScanView(ST->Z->Reference+ST->EmBotLayer+ST->EmBase-ST->EmTopLayer/2.,ST->EmTopLayer);
    else { printf("Side is not defined, probably mapext is not set.\n");return false;}
//  ScanView(Side*ST->NominalEmBase + ST->Z->Reference-2*ST->NominalEmLayer,4*ST->NominalEmLayer);
//  ScanView(Side*ST->NominalEmBase + ST->Z->Reference-2*ST->NominalEmLayer,4*ST->NominalEmLayer);
    int MaxArea=0;
    int Area;
    int Nf=0;
    float MaxX,MaxY,MaxZ;
    float PixToMic=FG->PixelToMicronX;
    float MarkDiam;
    EdbCluster *Cluster;
    for(int n=0;n<Layers;n++){
        FG->eEdbClusters->Clear();
        Nf=FG->FindClusters(n,FG->eEdbClusters);
//  printf("Found %d clusters in frame %d\n", Nf,n);
//  FG->ShowImage(n);
    int NCL=FG->eEdbClusters->GetEntries();
    for(int cl=0;cl<NCL;cl++)
     {
      Cluster=(EdbCluster*)( FG->eEdbClusters->At(cl));
      Area=Cluster->GetArea();
      MarkDiam=abs(sqrt(Area/3.1415)*2.*PixToMic); //in microns
      if(MarkDiam>MarkDiameter-MarkDiameterTolerance)
      if(MarkDiam<MarkDiameter+MarkDiameterTolerance)
      if(Area>MaxArea) { MaxArea=Area; MaxX=Cluster->X();MaxY=Cluster->Y();MaxZ=Cluster->Z();}
     }
 
    }
      MarkDiam=abs(sqrt(MaxArea/3.1415)*2.*PixToMic); //in microns
      if(MarkDiam>MarkDiameter-MarkDiameterTolerance && MarkDiam<MarkDiameter+MarkDiameterTolerance)
      {
    printf("Best Mark with  diameter %f microns at %f,%f,%f\n",MarkDiam,MaxX,MaxY,MaxZ);
    if(X && Y && Z) {*X=MaxX; *Y=MaxY; *Z=MaxZ;}
 
    return true;
      }
      else return false;
}

SearchMarkFast()

bool AcqMarksScanner::SearchMarkFast	(	float *	X = NULL,
		float *	Y = NULL,
		float *	Z = NULL
	)

{
    // Looks for the biggest cluster in the one image taken at right level (focusing must be done before!)
    // and checks it's dimensions. If they match the mark size
    // returns true and its center coordinates in microns w.r.t view center
    // otherwise returns false
    int res;
    bool SaveFIRF,SaveBGSUB,SaveGCORR;
    int SaveTHRES;
 
    if(Side==0) ST->Z->PosMove(ST->Z->Reference,1e9,1e9);
    else if(Side==1) ST->Z->PosMove(ST->Z->Reference+ST->EmBotLayer+ST->EmBase+ST->EmTopLayer,1e9,1e9);
    else { printf("Side is not defined, probably mapext is not set.\n");return false;}
    ST->Z->WaitForMoveComplete(2e3);
    // save FG settings
    SaveFIRF=FG->ApplyFIRF;
    FG->ApplyFIRF=false;
    SaveBGSUB=FG->SubtractBG;
    FG->SubtractBG=false;
    SaveGCORR=FG->ApplyGainCorr;
    FG->ApplyGainCorr=false;
    SaveTHRES=FG->Threshold;
    FG->Threshold=Threshold;
    printf("Threshold is set to %d\n",FG->Threshold);
 
    res=FG->GrabOneImage(ST->Z->GetPos(),5);
 
    //restore FG settings
    FG->ApplyFIRF=SaveFIRF;
    FG->SubtractBG=SaveBGSUB;
    FG->ApplyGainCorr=SaveGCORR;
    FG->Threshold=SaveTHRES;
 
 
    if(!res) return false;
    int BestDelta=1e3;
    int DeltaDiam;
    int BestDiam;
    int Area;
    int Nf=0;
    float MaxX,MaxY,MaxZ;
    float PixToMic=FG->PixelToMicronX;
    float MarkDiam;
    EdbCluster *Cluster;
        FG->eEdbClusters->Clear();
        Nf=FG->FindClusters(0,FG->eEdbClusters);
    printf("Found %d clusters in frame %d\n", Nf,0);
//  FG->ShowImage(n);
    int NCL=FG->eEdbClusters->GetEntries();
    for(int cl=0;cl<NCL;cl++)
     {
      Cluster=(EdbCluster*)( FG->eEdbClusters->At(cl));
      Area=Cluster->GetArea();
      MarkDiam=abs(sqrt(Area/3.1415)*2.*PixToMic); //in microns
      DeltaDiam=abs(MarkDiam-MarkDiameter);
      if(DeltaDiam < MarkDiameterTolerance)
      if(DeltaDiam < BestDelta) { BestDelta=DeltaDiam; BestDiam=MarkDiam; MaxX=Cluster->X();MaxY=Cluster->Y();MaxZ=Cluster->Z();}
     }
      MarkDiam=BestDiam; //in microns
      if(MarkDiam>MarkDiameter-MarkDiameterTolerance && MarkDiam<MarkDiameter+MarkDiameterTolerance)
      {
    printf("Best Mark with  diameter %f microns at %f,%f,%f\n",MarkDiam,MaxX,MaxY,MaxZ);
    if(X && Y && Z) {*X=MaxX; *Y=MaxY; *Z=MaxZ;}
 
    return true;
      }
      else return false;
}

SetMapext()

bool AcqMarksScanner::SetMapext

(

char *

mapext

)

{
    // Reads the standart SySal mapext string, parse it and
    // fills the eMarkSet object
    const char separators[] = "\r\n;";
    char *replica = new char[strlen(mapext) + 1];
//  IO_MarkMap *pMap = 0;
        strcpy(replica, mapext);
        char key[10];
        char *line = strtok(replica, separators);
        int marks = 0;
        int mark=0;
        int Id;
        int d;
        printf("%s\n",line);
        if (sscanf(line, "%s %d %d %d %d", &key, &Id, &Id, &Id, &Id) != 5) return false; 
        line = strtok(0, separators);
        printf("%s\n",line);
        float tminx, tminy, tmaxx, tmaxy;
        if (sscanf(line, "%d %f %f %f %f", &marks, &tminx, &tminy, &tmaxx, &tmaxy) != 5) return false;
        float nomx,nomy,stx,sty;
        while ((mark < marks) && (line = strtok(0, separators)))
        {
        printf("%s\n",line);
    if (sscanf(line, "%d %f %f %f %f %d %d %d", &Id, &nomx, &nomy, &stx, &sty, &d, &d, &Side) != 8) return false;
 
    eMarksSet->GetStage()->AddMark(Id,(ST->X->Reference)+stx,(ST->Y->Reference)+sty);
    eMarksSet->GetAbsolute()->AddMark(Id,nomx,nomy);
    mark++;
        }
    return true;
}

SetPointers()

bool AcqMarksScanner::SetPointers ( AcqStage1 *  stg, AcqOdyssey *  ody  )

inline

{ST=stg ; FG=ody; return 1;};

Member Data Documentation

eAffine2D

EdbAffine2D* AcqMarksScanner::eAffine2D

eArea

EdbArea* AcqMarksScanner::eArea

eFoundMarksSet

EdbMarksSet* AcqMarksScanner::eFoundMarksSet

eMarksSet

EdbMarksSet* AcqMarksScanner::eMarksSet

FG

AcqOdyssey* AcqMarksScanner::FG

FPS

float AcqMarksScanner::FPS

IsValid

bool AcqMarksScanner::IsValid

Layers

int AcqMarksScanner::Layers

MarkDiameter

float AcqMarksScanner::MarkDiameter

MarkDiameterTolerance

float AcqMarksScanner::MarkDiameterTolerance

Side

int AcqMarksScanner::Side

ST

AcqStage1* AcqMarksScanner::ST

StepX

float AcqMarksScanner::StepX

StepY

float AcqMarksScanner::StepY

Threshold

int AcqMarksScanner::Threshold

ViewsToScan

int AcqMarksScanner::ViewsToScan

XYScanSpeed

float AcqMarksScanner::XYScanSpeed

---

The documentation for this class was generated from the following files:

• /home/antonio/fedra_doxygen/src/libACQ/AcqMarksScanner.h
• /home/antonio/fedra_doxygen/src/libACQ/AcqMarksScanner.cxx