Asaf dev (#39)

software/SAT0_OBC/SatImageTaking/star_finder.py

@@ -55,18 +55,18 @@ class star_finder:
         gray_image (np.ndarray): The grayscale version of the original image.
         sensitivity (int):  Sensitivity of the threshold used when finding stars.
         mask (np.ndarray): The mask used to find stars.
-        stars (list): A list of detected stars, including center, radius, and brightness.
+        stars (list): A list of detected stars, including thier image,  center(x,y), radius, and brightness.
         N_stars (int): The number of stars to detect.
 
     Methods:
         find_stars(): Finds stars in the image and stores them in the 'stars' attribute.
         extract_star(): Extracts a single star from the image.
         get_threshold(): Returns the threshold used to find stars.
-        get_brightness(): Returns the brightness of a star.
         draw (): draw the stars on the image.
     """
 
-    def __init__(self, path_or_image: str or list, gray_image=0, sensitivity=100, N_stars=None, dim=None, draw=False,) -> None:
+    # 19.9.2023 asaf h: lowered the default sensitivity for better result
+    def __init__(self, path_or_image: str or list, gray_image=0, sensitivity=50, N_stars=None, dim=None, draw=False,) -> None:
         """
         Initializes the star_finder object.
         """
@@ -110,11 +110,18 @@ def find_stars(self):
             center = x, y
             if r == 0:
                 r = 1
+            r += 1
             star = self.extract_star(y, x, r)
-            stars_data.append(
-                (star, center, r, star_finder.get_brightness(star)))
+            # 19.9.2023 asaf h: removed my get_brightness function for:  brightest_pixal = np.amax(star)
+            brightest_pixal = np.amax(star)
+            # 19.9.2023 asaf h: filter out all the stars that dont not meet the minimum thresholdץ
+            if brightest_pixal < self.sensitivity:
+                continue
 
-        stars_data.sort(key=lambda cnt: cnt[2], reverse=True)
+            stars_data.append(
+                (star, center, r, brightest_pixal))
+        # 19.9.2023 asaf h: sort by brightest_pixal
+        stars_data.sort(key=lambda cnt: cnt[3], reverse=True)
         return stars_data
 
     def extract_star(self, y, x, r):
@@ -151,22 +158,6 @@ def get_threshold(self):
             gray_image, 255, ADAPTIVE_THRESH_MEAN_C, THRESH_BINARY_INV, blockSize=5, C=1)
         return adaptive_mean
 
-    @staticmethod
-    def get_brightness(star):
-        """
-        Calculates the brightness of a star.
-
-        Args:
-            star (np.ndarray): Cropped star.
-
-        Returns:
-            int: Brightness of the star.
-        """
-        brightest_pixal = np.amax(star)
-        p = 0.1
-        threshold_pixal = brightest_pixal - brightest_pixal * p * 3
-        return np.sum(star[star > threshold_pixal])
-
     def draw(self):
         """
         Draws the stars on the image.

software/SAT0_OBC/SatImageTaking/start_service.py

@@ -54,7 +54,7 @@ def main(outputFolder: str, parameters_list: list) -> None:
         3: makeIcon (img_path, width, height, quality_factor, gray) will create an icon out of a given image path with
          custom parameters.
 
-        4: StarAnalysisOnPhotosThatAlreadyBeTaken (mission_count, width, height, sensitive, n_stars, with_mask)  will run star analysis 
+        4: StarAnalysis (mission_count, width, height, sensitive, n_stars, with_mask)  will run star analysis 
           on photos that have already been taken with given a custom parameters.
 
         5: testingOnPreSavedImages (missionID, x, y, quality_factor, gray, vga, img_n) will be able to run the above functions 
@@ -149,7 +149,8 @@ def main(outputFolder: str, parameters_list: list) -> None:
         img_n = parameters_list[9] if len(parameters_list) > 9 else 0
 
         mission = mission_Table[missionType]
-        mission(x, y, quality_factor, gray, vga, img_n)
+        # 19.9.2023 asaf h: missionID was missing, it is like missionType, 7 arguments are needed for testing
+        mission(missionID, x, y, quality_factor, gray, vga, img_n)
 
 
 def TakePhotoStarAnalysis(quality: int, width: int, height: int, Shutter: int, ISO: int) -> None:
@@ -167,13 +168,7 @@ def TakePhotoStarAnalysis(quality: int, width: int, height: int, Shutter: int, I
         None
     """
     print("Started TakePhotoStarAnalysis")
-    if width == 0:
-        width = 640
-    if height == 0:
-        height = 480
-    if quality == 0:
-        quality = 10
-
+    # 19.9.2023 asaf h: there is no need to define the parameters, takePictureWithParameters does that.
     img = takePictureWithParameters(quality, width, height, Shutter, ISO)
 
     # define Dimensions
@@ -193,8 +188,8 @@ def TakePhotoStarAnalysis(quality: int, width: int, height: int, Shutter: int, I
     print("Starting writeMetaDataStars")
     writeMetaDataStars(stars_list)
 
-
-def StarAnalysis(mission_count: int, width=1280, height=720, sensitive=100, n_stars=30, without_earth_mask=0):
+# 19.9.2023 asaf h: the default numbers needs to be removed cuz 0 is sent not None, they will be difined later
+def StarAnalysis(mission_count: int, width: int, height: int, sensitive: int, n_stars: int, without_earth_mask=0):
     """Analyzes an image to identify stars
 
     Args:
@@ -209,12 +204,13 @@ def StarAnalysis(mission_count: int, width=1280, height=720, sensitive=100, n_st
             stars_list (list): A list of the detected stars in the image
     """
     print("Started StarAnalysis")
+    # 19.9.2023 asaf h: fixed the default numbers
     if width == 0:
-        width = 640
+        width = 1280
     if height == 0:
-        height = 480
+        height = 720
     if sensitive == 0:
-        sensitive = 100
+        sensitive = 50
     if n_stars == 0:
         n_stars = 30
 
@@ -227,7 +223,8 @@ def StarAnalysis(mission_count: int, width=1280, height=720, sensitive=100, n_st
 
     # star detection
     detected_object = findStarsNoDarkEarth(img, img_object, sensitive, n_stars)
-    detected_object.draw()
+    #  19.9.2023 asaf h:     detected_object.draw() and     saveFinalImg(detected_object.draw_image, "Detected")
+    # will save the image with the green circels on the stars on the pi for future analysis. its unnecessary.
 
     # get stars list:
     stars_list = get_stars(detected_object)
@@ -236,34 +233,17 @@ def StarAnalysis(mission_count: int, width=1280, height=720, sensitive=100, n_st
     print("Starting writeMetaDataStars")
     writeMetaDataStars(stars_list)
     print("Starting saveFinalImg")
-    saveFinalImg(detected_object.draw_image, "Detected")
-
-
-def takeStandardPicture() -> np.ndarray:
-    """Takes a standard picture with default raspistill image capture parameters. 
-    The picture is taken by a cmd function
-
-    Returns:
-            img (np.ndarray): A numpy array containing the image
-    """
-
-    print("Started takeStandardPicture")
-    comm = f"raspistill -o {output}/Img.jpeg"
-    print(comm)
-    os.system(comm)
-    read = f"{output}/Img.jpeg"
-    print(read)
-    img = cv2_imread(read)
-    return img
 
+# 19.9.2023 asaf h: removed takeStandardPicture function cuz there is no need to. check line 268 (else)
 
+# 19.9.2023 asaf h: fixed the main function takePictureWithParameters. rony please double check it again. it should be fine
 def takePictureWithParameters(quality: int, width: int, height: int, Shutter: int, ISO: int) -> np.ndarray:
     """Take a picture with specified parameters 
 
     Args:
-        quality (int): The quality of the image (default 10)
-        width (int): The width of the image (default 640)
-        height (int): The height of the image (default 480)
+        quality (int): The quality of the image (default 100)
+        width (int): The width of the image (default 1280)
+        height (int): The height of the image (default 720)
         Shutter (int): The shutter speed of the camera (default 0)
         ISO (int): The ISO of the camera (default 0)
 
@@ -273,35 +253,26 @@ def takePictureWithParameters(quality: int, width: int, height: int, Shutter: in
 
     print("Started takePictureWithParameters")
     if quality == 0:
-        quality = 10
+        quality = 100
     if width == 0:
-        width = 640
+        width = 1280
     if height == 0:
-        height = 480
+        height = 720
 
-    if (quality != 100 and width != 1280 and height != 720 and Shutter != 0 and ISO != 0):
+    if (Shutter != 0 and ISO != 0):
         command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality} --width {width} --height {height} --shutter {Shutter} --ISO {ISO} -th none"
-        os.system(command_with_parameters)
-        read = f"{output}/Img.jpeg"
-        img = cv2_imread(read)
-    elif (quality != 100 and width != 1280 and height != 720 and Shutter != 0):
+    elif (Shutter != 0):
         command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality} --width {width} --height {height} --shutter {Shutter} -th none"
-        os.system(command_with_parameters)
-        read = f"{output}/Img.jpeg"
-        img = cv2_imread(read)
-    elif (quality != 100 and width != 1280 and height != 720):
-        command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality} --width {width} --height {height} -th none"
-        os.system(command_with_parameters)
-        read = f"{output}/Img.jpeg"
-        img = cv2_imread(read)
-    elif (quality != 100):
-        command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality} -th none"
-        os.system(command_with_parameters)
-        read = f"{output}/Img.jpeg"
-        img = cv2_imread(read)
+    elif (ISO != 0):
+        command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality} --width {width} --height {height}  --ISO {ISO} -th none"
     else:
-        img = takeStandardPicture()
-        read = f"{output}/Img.jpeg"
+        command_with_parameters = f"raspistill -o {output}/Img.jpeg --quality {quality}  --width {width} --height {height} -th none"
+
+    # 19.9.2023 asaf h: removed the take standard picture. unnecessary function
+
+    os.system(command_with_parameters)
+    read = f"{output}/Img.jpeg"
+    img = cv2_imread(read)
 
     print("Compressing")
     CompressImage(img, output, save_full=True)
@@ -313,8 +284,8 @@ def takePictureWithParameters(quality: int, width: int, height: int, Shutter: in
     writeMetaDataSmallImg(read, isGoodImage)
     return img
 
-
-def findStarsNoDarkEarth(img: np.ndarray, img_object: np.ndarray, sensitive=100, n_stars=30) -> np.ndarray:
+# 19.9.2023 asaf h: lower the default sensitive for better result
+def findStarsNoDarkEarth(img: np.ndarray, img_object: np.ndarray, sensitive=50, n_stars=30) -> np.ndarray:
     """Finds stars in an image while the Earth is lit and not dark
 
     Args:
@@ -517,7 +488,16 @@ def testing(missionType: int, x: int, y: int, quality_factor: int, gray: bool, q
     """
     img_path = f"SatImageTaking/photos{img_n}.jpeg"
     mission = mission_Table[missionType]
-    mission(img_path, x, y, quality_factor, gray, qvga)
+    # 19.9.2023 asaf h: each function has its own order
+    if mission == makeIcon:  #
+        mission(img_path, x, y, quality_factor, gray)
+    elif mission == crop_and_compress:
+        mission(img_path, x, y, quality_factor, gray, qvga)
+    else: #StarAnalysis
+        sensitive = quality_factor
+        n_stars = gray
+        without_earth_mask = qvga
+        mission(img_path, x, y, sensitive, n_stars, without_earth_mask)
 
 
 def CompressImage(in_img: np.ndarray, path: str, max_size: int = 16 * LIT.KBYTE, comp_gray=True, save_full=False) -> str and np.ndarray:

software/SAT0_OBC/SatImageTaking/utils.py

@@ -78,7 +78,8 @@ def get_pic_path_list(path: str) -> list:
         list: List of path of images in the directory.
     """
     file_list = os.listdir(path)
-    pic_path_list = [path + i for i in file_list if i.endswith(('.png', '.jpg', '.jpeg', '.jfif')) and
+    # 19.9.2023 asaf h: fix bug
+    pic_path_list = [path + '/' + i for i in file_list if i.endswith(('.png', '.jpg', '.jpeg', '.jfif')) and
                      not i.startswith('.')]
     return pic_path_list
 

software/SAT0_OBC/controller.py

@@ -254,7 +254,7 @@ def msgArrived(self, msgByte):
 
             elif command == CmdTypes.CMD_UPLOAD_FILE.value:  # 16
                 print("*** CmdTypes.CMD_UPLOAD_FILE ***")
-                
+
                 # set state to in mission and sendmsg
                 self.state = StateTypes.STATE_BUSY.value
                 self.serial.sendMsg(bytearray([ApiTypes.API_ACK.value]))
@@ -273,18 +273,18 @@ def msgArrived(self, msgByte):
                 scriptNum = paramsList[1]
                 line_num = paramsList[2]
                 num_chars = paramsList[3]
-                
+
                 add = lambda i: chr(int(hex(i), 16))
                 txt = ''.join([add(i) for i in paramsList[4: 4 + num_chars]])
-
-                reset = 1 if len(paramsList[: 4 + num_chars]) < len(paramsList) and paramsList[-1] != 0 else 0 #TODO how to reset
+                # 19.9.2023 asaf h: To reset the file it is better to send 1 instead of not 0.
+                reset = 1 if len(paramsList[: 4 + num_chars]) < len(paramsList) and paramsList[-1] == 1 else 0
                 # execute mission with parameters:
-                print('parms: * > * > ' , f'missionCount: {missionCount}, scriptNum: {scriptNum}, ', end='') 
+                print('parms: * > * > ' , f'missionCount: {missionCount}, scriptNum: {scriptNum}, ', end='')
                 print(f'line_num: {line_num}, num_chars: {num_chars}, txt: {repr(txt)}, reset: {reset}')
-        
+
                 import uploading
                 uploading.main(missionCount, scriptNum, line_num, txt, reset)
-                
+
                 # finished executing mission:
                 self.state = StateTypes.STATE_READY.value
                 print("*** CmdTypes.CMD_UPLOAD_FILE Done ***")