From b4fd32598416a8a22129298f85f66f4c3ca94d7a Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 14:59:09 -0600 Subject: [PATCH 01/54] Reorganized ProcessSofastFixed function names. --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 70 +++++++++----------- 1 file changed, 31 insertions(+), 39 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 1a8986e03..f1b3cd767 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -55,6 +55,8 @@ def __init__( self.fixed_pattern_dot_locs = fixed_pattern_dot_locs self.data_facet = data_facet self.params = ParamsSofastFixed() + self.optic_type: Literal['single_facet', 'multi_facet', 'undefined'] = None + self.num_facets: int = None # Measurement data self.measurement: MeasurementSofastFixed @@ -87,21 +89,17 @@ def find_blobs(self) -> BlobIndex: pts_blob = ip.detect_blobs(self.measurement.image, self.blob_detector) # Index blobs - blob_index = BlobIndex(pts_blob, *self.fixed_pattern_dot_locs.dot_extent) - blob_index.search_thresh = self.params.blob_search_thresh - blob_index.search_perp_axis_ratio = self.params.search_perp_axis_ratio - blob_index.run(self.measurement.origin) + if self.optic_type == 'single_facet': + blob_index = BlobIndex(pts_blob, *self.fixed_pattern_dot_locs.dot_extent) + blob_index.search_thresh = self.params.blob_search_thresh + blob_index.search_perp_axis_ratio = self.params.search_perp_axis_ratio + blob_index.run(self.measurement.origin) + elif self.optic_type == 'multi_facet': + pass return blob_index - def calculate_mask(self) -> ndarray: - """Calculate mask image - - Parameters - ---------- - image : ndarray - Measurement image - """ + def _calculate_mask(self) -> ndarray: # Calculate mask im_dark = self.measurement.image * 0 images = np.concatenate((im_dark[..., None], self.measurement.image[..., None]), axis=2) @@ -113,37 +111,34 @@ def calculate_mask(self) -> ndarray: ] mask = ip.calc_mask_raw(images, *params) - if self.params.mask.keep_largest_area: + if self.optic_type == 'multi_facet': + lt.warn( + '"keep_largest_area" mask processing option cannot be used ' + 'for multifacet ensembles. This will be turned off.' + ) + self.params.mask.keep_largest_area = False + elif self.params.mask.keep_largest_area: mask = ip.keep_largest_mask_area(mask) return mask - def generate_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> dict: - """Generates blob dataset from sofast dataset. + def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: + """Saves measurement data in class Parameters ---------- - blob_index : BlobIndex - BlobIndex object with all blobs assigned - mask_raw : ndarray - Mask array - - Returns - ------- - dict - Key word argument dictionary for SlopeSolver (does not include "surface_data") - - Sets Attributes - --------------- - self.data_geometry_general - self.data_image_proccessing_general - self.data_geometry_facet - self.data_image_processing_facet - self.data_error + measurement: MeasurementSofastFixed + Fixed pattern measurement object """ + self.measurement = measurement + + def _process_optic_singlefacet_geometry( + self, blob_index: BlobIndex, mask_raw: np.ndarray, surface: Surface2DAbstract + ) -> dict: + # Get image points and blob indices pts_image, pts_index_xy = blob_index.get_data() - # Process optic geometry + # Process optic geometry (find mask corners, etc.) ( self.data_geometry_general, self.data_image_proccessing_general, @@ -194,6 +189,7 @@ def generate_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> dict 'v_align_point_optic': self.data_facet.v_facet_centroid, 'dist_optic_screen': self.measurement.dist_optic_screen, 'debug': self.params.debug_slope_solver, + 'surface': surface, } def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: @@ -218,14 +214,10 @@ def process_single_facet_optic(self, surface: Surface2DAbstract) -> None: self.blob_index = self.find_blobs() # Calculate mask - mask_raw = self.calculate_mask() - mask_raw = ip.keep_largest_mask_area(mask_raw) + mask_raw = self._calculate_mask() # Generate geometry and slope solver inputs - kwargs = self.generate_geometry(self.blob_index, mask_raw) - - # Add surface fitting parameters - kwargs.update({'surface': surface}) + kwargs = self._process_optic_singlefacet_geometry(self.blob_index, mask_raw, surface) # Calculate slope self.slope_solver = SlopeSolver(**kwargs) From 8d1be2ec27e0d67373bff8ebf13811de7bc49217 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 15:01:45 -0600 Subject: [PATCH 02/54] Added optic_type and num_facets to process_single_facet_optic --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index f1b3cd767..9cb834699 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -210,6 +210,10 @@ def process_single_facet_optic(self, surface: Surface2DAbstract) -> None: surface : Surface2DAbstract Surface 2d class """ + + self.optic_type = 'single_facet' + self.num_facets = 1 + # Find blobs self.blob_index = self.find_blobs() From bc2cb49407aa87201a624a7996c5fcfacccc1ec7 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 15:13:21 -0600 Subject: [PATCH 03/54] Surface and facet data are now lists. --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 50 ++++++++++---------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 9cb834699..d423afcbc 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -31,11 +31,7 @@ class ProcessSofastFixed(HDF5_SaveAbstract): """Fixed Pattern Deflectrometry data processing class""" def __init__( - self, - orientation: SpatialOrientation, - camera: Camera, - fixed_pattern_dot_locs: DotLocationsFixedPattern, - data_facet: DefinitionFacet, + self, orientation: SpatialOrientation, camera: Camera, fixed_pattern_dot_locs: DotLocationsFixedPattern ) -> 'ProcessSofastFixed': """Instantiates class @@ -47,13 +43,10 @@ def __init__( Camera object fixed_pattern_dot_locs : DotLocationsFixedPattern Image projection dictionary - data_facet : DefinitionFacet - DefinitionFacet object """ self.orientation = orientation self.camera = camera self.fixed_pattern_dot_locs = fixed_pattern_dot_locs - self.data_facet = data_facet self.params = ParamsSofastFixed() self.optic_type: Literal['single_facet', 'multi_facet', 'undefined'] = None self.num_facets: int = None @@ -72,6 +65,9 @@ def __init__( self.blob_detector.filterByInertia = False # Calculations + self.data_facet: list[DefinitionFacet] + self.data_surface: list[Surface2DAbstract] + self.data_ensemble: DefinitionEnsemble self.data_slope_solver: SlopeSolverData self.data_geometry_general: cdc.CalculationDataGeometryGeneral self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral @@ -81,9 +77,6 @@ def __init__( self.blob_index: BlobIndex self.slope_solver: SlopeSolver - # Input parameters - self.data_surface: Surface2DAbstract = None - def find_blobs(self) -> BlobIndex: """Finds blobs in image""" pts_blob = ip.detect_blobs(self.measurement.image, self.blob_detector) @@ -146,7 +139,7 @@ def _process_optic_singlefacet_geometry( self.data_image_processing_facet, self.data_error, ) = pr.process_singlefacet_geometry( - self.data_facet, + self.data_facet[0], mask_raw, self.measurement.v_measure_point_facet, self.measurement.dist_optic_screen, @@ -178,7 +171,7 @@ def _process_optic_singlefacet_geometry( u_pixel_pointing_cam = self.camera.vector_from_pixel(pts_image) u_pixel_pointing_facet = u_pixel_pointing_cam.rotate(rot_cam_optic).as_Vxyz() - self.params.debug_slope_solver.optic_data = self.data_facet + self.params.debug_slope_solver.optic_data = self.data_facet[0] return { 'v_optic_cam_optic': v_optic_cam_optic, @@ -186,7 +179,7 @@ def _process_optic_singlefacet_geometry( 'u_measure_pixel_pointing_optic': u_cam_measure_point_facet, 'v_screen_points_facet': v_screen_points_facet, 'v_optic_screen_optic': v_optic_screen_optic, - 'v_align_point_optic': self.data_facet.v_facet_centroid, + 'v_align_point_optic': self.data_facet[0].v_facet_centroid, 'dist_optic_screen': self.measurement.dist_optic_screen, 'debug': self.params.debug_slope_solver, 'surface': surface, @@ -202,7 +195,7 @@ def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: """ self.measurement = measurement - def process_single_facet_optic(self, surface: Surface2DAbstract) -> None: + def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surface2DAbstract) -> None: """Processes single facet optic. Saves data to self.data_slope_solver Parameters @@ -213,6 +206,8 @@ def process_single_facet_optic(self, surface: Surface2DAbstract) -> None: self.optic_type = 'single_facet' self.num_facets = 1 + self.data_facet = [data_facet] + self.data_surface = [surface] # Find blobs self.blob_index = self.find_blobs() @@ -242,10 +237,11 @@ def save_to_hdf(self, file: str, prefix: str = ''): Prefix to append to folder path within HDF file (folders must be separated by "/"). Default is empty string ''. """ - # Sofast input + # Sofast input parameters self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') - self.data_surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_000/') - self.data_facet.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_000/') + for idx, (data_facet, data_surface) in enumerate(zip(self.data_facet, self.data_surface)): + data_surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:3d}/') + data_facet.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:3d}/') # General self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') @@ -263,10 +259,14 @@ def get_mirror( self, interpolation_type: Literal['given', 'bilinear', 'clough_tocher', 'nearest'] = 'nearest' ) -> MirrorPoint: """Returns mirror object with slope data""" - v_surf_pts = self.data_slope_solver.v_surf_points_facet - v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_slope_solver.slopes_facet_xy - v_normals_data[:2, :] *= -1 - v_normals = Uxyz(v_normals_data) - shape = RegionXY.from_vertices(self.data_facet.v_facet_corners.projXY()) - return MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) + if self.optic_type in ['single_facet', 'undefined']: + v_surf_pts = self.data_slope_solver.v_surf_points_facet + v_normals_data = np.ones((3, len(v_surf_pts))) + v_normals_data[:2, :] = self.data_slope_solver.slopes_facet_xy + v_normals_data[:2, :] *= -1 + v_normals = Uxyz(v_normals_data) + shape = RegionXY.from_vertices(self.data_facet[0].v_facet_corners.projXY()) + return MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) + elif self.optic_type == 'multi_facet': + # TODO: fill in for multifacet + pass From f22b8fc973c3903f9ff0c3daebbcc0d96fb33f94 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 15:23:19 -0600 Subject: [PATCH 04/54] Data surface and facet data are lists. --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index d423afcbc..9cbe780a3 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -125,9 +125,7 @@ def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: """ self.measurement = measurement - def _process_optic_singlefacet_geometry( - self, blob_index: BlobIndex, mask_raw: np.ndarray, surface: Surface2DAbstract - ) -> dict: + def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> dict: # Get image points and blob indices pts_image, pts_index_xy = blob_index.get_data() @@ -182,7 +180,7 @@ def _process_optic_singlefacet_geometry( 'v_align_point_optic': self.data_facet[0].v_facet_centroid, 'dist_optic_screen': self.measurement.dist_optic_screen, 'debug': self.params.debug_slope_solver, - 'surface': surface, + 'surface': self.data_surface[0], } def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: @@ -216,7 +214,7 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa mask_raw = self._calculate_mask() # Generate geometry and slope solver inputs - kwargs = self._process_optic_singlefacet_geometry(self.blob_index, mask_raw, surface) + kwargs = self._process_optic_singlefacet_geometry(self.blob_index, mask_raw) # Calculate slope self.slope_solver = SlopeSolver(**kwargs) From 32e4a79fa9c70d7658b31fd7addbedbe90cf89c0 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:49:49 -0600 Subject: [PATCH 05/54] Updated documentation in PSF --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 9cbe780a3..194770fb0 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -126,15 +126,12 @@ def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: self.measurement = measurement def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> dict: - # Get image points and blob indices - pts_image, pts_index_xy = blob_index.get_data() - # Process optic geometry (find mask corners, etc.) ( self.data_geometry_general, self.data_image_proccessing_general, - self.data_geometry_facet, - self.data_image_processing_facet, + self.data_geometry_facet, # list + self.data_image_processing_facet, # list self.data_error, ) = pr.process_singlefacet_geometry( self.data_facet[0], @@ -147,12 +144,15 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n self.params.debug_geometry, ) + # Get image points and blob indices + pts_image, pts_index_xy = blob_index.get_data() + # Define optic orientation w.r.t. camera rot_optic_cam = self.data_geometry_general.r_optic_cam_refine_1 v_cam_optic_cam = self.data_geometry_general.v_cam_optic_cam_refine_2 u_cam_measure_point_facet = self.data_geometry_facet[0].u_cam_measure_point_facet - # Get screen-camera pose + # Get screen/camera poses rot_cam_optic = rot_optic_cam.inv() rot_optic_screen = self.orientation.r_cam_screen * rot_optic_cam rot_screen_optic = rot_optic_screen.inv() @@ -169,8 +169,10 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n u_pixel_pointing_cam = self.camera.vector_from_pixel(pts_image) u_pixel_pointing_facet = u_pixel_pointing_cam.rotate(rot_cam_optic).as_Vxyz() + # Update debug data self.params.debug_slope_solver.optic_data = self.data_facet[0] + # Construct surface kwargs return { 'v_optic_cam_optic': v_optic_cam_optic, 'u_active_pixel_pointing_optic': u_pixel_pointing_facet, @@ -204,7 +206,7 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa self.optic_type = 'single_facet' self.num_facets = 1 - self.data_facet = [data_facet] + self.data_facet = [data_facet.copy()] self.data_surface = [surface] # Find blobs From 5ff9374342998ed6dd1023e5947070903e1cbecb Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:50:20 -0600 Subject: [PATCH 06/54] fixed docs in process_optics_geometry --- opencsp/app/sofast/lib/process_optics_geometry.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opencsp/app/sofast/lib/process_optics_geometry.py b/opencsp/app/sofast/lib/process_optics_geometry.py index 76fdc27e6..4d9fa99f3 100644 --- a/opencsp/app/sofast/lib/process_optics_geometry.py +++ b/opencsp/app/sofast/lib/process_optics_geometry.py @@ -359,7 +359,7 @@ def process_undefined_geometry( def process_multifacet_geometry( - facet_data: DefinitionFacet, + facet_data: list[DefinitionFacet], ensemble_data: DefinitionEnsemble, mask_raw: ndarray, v_meas_pt_ensemble: Vxyz, From 64e532d18f2b8d2bca737a78e1020d67146fe227 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:50:51 -0600 Subject: [PATCH 07/54] Updated test sofast fixed (for single facet only) --- opencsp/app/sofast/test/test_ProcessSofastFixed.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 5166159b3..04c9a8cfd 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -60,12 +60,12 @@ def setUpClass(cls): # Instantiate class params = ParamsSofastFixed.load_from_hdf(file_exp, 'DataSofastInput/') - cls.process_sofast_fixed = ProcessSofastFixed(orientation, camera, dot_locs, facet_data) + cls.process_sofast_fixed = ProcessSofastFixed(orientation, camera, dot_locs) cls.process_sofast_fixed.params = params cls.process_sofast_fixed.load_measurement_data(measurement) # Process - cls.process_sofast_fixed.process_single_facet_optic(surface) + cls.process_sofast_fixed.process_single_facet_optic(facet_data, surface) def test_save_as_hdf(self): """Tests saving to HDF file""" From b924dd7ecb8b4f256f7e4e188095377e6736f505 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:51:14 -0600 Subject: [PATCH 08/54] Fixed documentation in PSFr --- opencsp/app/sofast/lib/ProcessSofastFringe.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index 6b9b6f34b..a8784752e 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -258,9 +258,8 @@ def process_optic_multifacet( List of facet data objects. ensemble_data : DefinitionEnsemble Ensemble data object. - surface_data : dict - See Sofast documentation or Sofast.help() for more details. - + surface_data : list[Surface2dAbstract] + List of surface type definitions. """ # Check inputs if len(facet_data) != len(surfaces): From b5e8bcb1325f73be40e6c9447742bcbf4ecfc004 Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:58:49 -0600 Subject: [PATCH 09/54] Made slope_solver and data lists in PSFi --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 39 +++++++++---------- .../sofast/test/test_ProcessSofastFixed.py | 2 +- 2 files changed, 19 insertions(+), 22 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 194770fb0..1cef51514 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -68,7 +68,7 @@ def __init__( self.data_facet: list[DefinitionFacet] self.data_surface: list[Surface2DAbstract] self.data_ensemble: DefinitionEnsemble - self.data_slope_solver: SlopeSolverData + self.data_slope_solver: list[SlopeSolverData] self.data_geometry_general: cdc.CalculationDataGeometryGeneral self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] @@ -185,15 +185,6 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n 'surface': self.data_surface[0], } - def load_measurement_data(self, measurement: MeasurementSofastFixed) -> None: - """Saves measurement data in class - - Parameters - ---------- - measurement: MeasurementSofastFixed - Fixed pattern measurement object - """ - self.measurement = measurement def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surface2DAbstract) -> None: """Processes single facet optic. Saves data to self.data_slope_solver @@ -219,12 +210,11 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa kwargs = self._process_optic_singlefacet_geometry(self.blob_index, mask_raw) # Calculate slope - self.slope_solver = SlopeSolver(**kwargs) - self.slope_solver.fit_surface() - self.slope_solver.solve_slopes() - self.data_slope_solver = self.slope_solver.get_data() - - self.data_surface = surface + slope_solver = SlopeSolver(**kwargs) + slope_solver.fit_surface() + slope_solver.solve_slopes() + self.slope_solver = slope_solver + self.data_slope_solver = [self.slope_solver.get_data()] def save_to_hdf(self, file: str, prefix: str = ''): """Saves data to given HDF5 file. Data is stored in CalculationsFixedPattern/... @@ -249,9 +239,16 @@ def save_to_hdf(self, file: str, prefix: str = ''): self.data_image_proccessing_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') # Calculations - self.data_slope_solver.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/facet/facet_000/') - self.data_geometry_facet[0].save_to_hdf(file, f'{prefix:s}DataSofastCalculation/facet/facet_000/') - self.data_image_processing_facet[0].save_to_hdf(file, f'{prefix:s}DataSofastCalculation/facet/facet_000/') + for idx_facet in range(self.num_facets): + self.data_slope_solver[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + ) + self.data_geometry_facet[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + ) + self.data_image_processing_facet[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + ) lt.info(f'SofastFixed data saved to: {file:s} with prefix: {prefix:s}') @@ -260,9 +257,9 @@ def get_mirror( ) -> MirrorPoint: """Returns mirror object with slope data""" if self.optic_type in ['single_facet', 'undefined']: - v_surf_pts = self.data_slope_solver.v_surf_points_facet + v_surf_pts = self.data_slope_solver[0].v_surf_points_facet v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_slope_solver.slopes_facet_xy + v_normals_data[:2, :] = self.data_slope_solver[0].slopes_facet_xy v_normals_data[:2, :] *= -1 v_normals = Uxyz(v_normals_data) shape = RegionXY.from_vertices(self.data_facet[0].v_facet_corners.projXY()) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 04c9a8cfd..37340c399 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -84,7 +84,7 @@ def test_save_figure(self): def test_slopes_xy(self): """Tests slope data""" np.testing.assert_allclose( - self.process_sofast_fixed.data_slope_solver.slopes_facet_xy, self.exp_slopes_xy, rtol=0, atol=1e-6 + self.process_sofast_fixed.data_slope_solver[0].slopes_facet_xy, self.exp_slopes_xy, rtol=0, atol=1e-6 ) def tearDown(self) -> None: From 0ca1398d4a09f4d33a1ecbc921868ffb04db71aa Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 16:59:43 -0600 Subject: [PATCH 10/54] First implimentation of PSFi multi --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 124 +++++++++++++++++++ 1 file changed, 124 insertions(+) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 1cef51514..26379fca2 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -9,6 +9,7 @@ from opencsp.app.sofast.lib.BlobIndex import BlobIndex import opencsp.app.sofast.lib.calculation_data_classes as cdc +from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet from opencsp.app.sofast.lib.DotLocationsFixedPattern import DotLocationsFixedPattern import opencsp.app.sofast.lib.image_processing as ip @@ -66,6 +67,7 @@ def __init__( # Calculations self.data_facet: list[DefinitionFacet] + self.data_ensemble: DefinitionEnsemble self.data_surface: list[Surface2DAbstract] self.data_ensemble: DefinitionEnsemble self.data_slope_solver: list[SlopeSolverData] @@ -185,6 +187,78 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n 'surface': self.data_surface[0], } + def _process_optic_multifacet_geometry(self, blob_indicies: list[BlobIndex], mask_raw: np.ndarray) -> list[dict]: + # Process optic geometry (find mask corners, etc.) + ( + self.data_geometry_general, + self.data_image_proccessing_general, + self.data_geometry_facet, # list + self.data_image_processing_facet, # list + self.data_error, + ) = pr.process_multifacet_geometry( + self.data_facet, + self.data_ensemble, + mask_raw, + self.measurement.v_measure_point_facet, + self.orientation, + self.camera, + self.measurement.dist_optic_screen, + self.params.geometry, + self.params.debug_geometry, + ) + + kwargs_list = [] + for idx_facet in range(self.num_facets): + # Get image points and blob indices + pts_image, pts_index_xy = blob_indicies[idx_facet].get_data() + + # Define optic orientation w.r.t. camera + rot_facet_ensemble = self.data_ensemble.r_facet_ensemble[idx_facet] + rot_ensemble_cam = self.data_geometry_general.r_optic_cam_refine_2 + rot_facet_cam = rot_ensemble_cam * rot_facet_ensemble + + v_cam_ensemble_cam = self.data_geometry_general.v_cam_optic_cam_refine_3 + v_ensemble_facet_ensemble = self.data_ensemble.v_facet_locations[idx_facet] + v_ensemble_facet_cam = v_ensemble_facet_ensemble.rotate(rot_ensemble_cam) + v_cam_facet_cam = v_cam_ensemble_cam + v_ensemble_facet_cam + + u_cam_measure_point_facet = self.data_geometry_facet[idx_facet].u_cam_measure_point_facet + + # Get screen/camera poses + rot_cam_facet = rot_facet_cam.inv() + rot_facet_screen = self.orientation.r_cam_screen * rot_facet_cam + rot_screen_facet = rot_facet_screen.inv() + + v_facet_cam_facet = -v_cam_facet_cam.rotate(rot_cam_facet) + v_cam_screen_facet = self.orientation.v_cam_screen_cam.rotate(rot_cam_facet) + v_facet_screen_facet = v_facet_cam_facet + v_cam_screen_facet + + # Calculate xyz screen points + v_screen_points_screen = self.fixed_pattern_dot_locs.xy_indices_to_screen_coordinates(pts_index_xy) + v_screen_points_facet = v_facet_screen_facet + v_screen_points_screen.rotate(rot_screen_facet) + + # Calculate active pixel pointing + u_pixel_pointing_cam = self.camera.vector_from_pixel(pts_image) + u_pixel_pointing_facet = u_pixel_pointing_cam.rotate(rot_cam_facet).as_Vxyz() + + # Update debug data + self.params.debug_slope_solver.optic_data = self.data_facet[idx_facet] + + # Construct list of surface kwargs + kwargs_list.append( + { + 'v_optic_cam_optic': v_facet_cam_facet, + 'u_active_pixel_pointing_optic': u_pixel_pointing_facet, + 'u_measure_pixel_pointing_optic': u_cam_measure_point_facet, + 'v_screen_points_facet': v_screen_points_facet, + 'v_optic_screen_optic': v_facet_screen_facet, + 'v_align_point_optic': self.data_geometry_facet[idx_facet].v_align_point_facet, + 'dist_optic_screen': self.data_geometry_facet[idx_facet].measure_point_screen_distance, + 'debug': self.params.debug_slope_solver, + 'surface': self.data_surface[idx_facet], + } + ) + return kwargs_list def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surface2DAbstract) -> None: """Processes single facet optic. Saves data to self.data_slope_solver @@ -216,6 +290,56 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa self.slope_solver = slope_solver self.data_slope_solver = [self.slope_solver.get_data()] + def process_multi_facet_optic( + self, data_facet: list[DefinitionFacet], surface: list[Surface2DAbstract], data_ensemble: DefinitionEnsemble + ) -> None: + """Processes multi facet optic. Saves data to self.data_slope_solver + + Parameters + ---------- + data_facet : list[DefinitionFacet] + List of facet data objects. + data_ensemble : DefinitionEnsemble + Ensemble data object. + surface_data : list[Surface2dAbstract] + List of surface type definitions. + """ + + # Check inputs + if len(data_facet) != len(surface): + lt.error_and_raise( + ValueError, + 'Length of data_facet does not equal length of data_surface' + f'data_facet={len(data_facet)}, surface_data={len(surface)}', + ) + + self.optic_type = 'multi_facet' + self.num_facets = len(data_facet) + self.data_facet = [d.copy() for d in data_facet] + self.data_ensemble = data_ensemble.copy() + self.data_surface = surface + + # Find blobs + self.blob_index = self.find_blobs() + + # Calculate mask + mask_raw = self._calculate_mask() + + # Generate geometry and slope solver inputs + kwargs_list = self._process_optic_multifacet_geometry(self.blob_index, mask_raw) + + # Calculate slope + self.slope_solver = [] + self.data_slope_solver = [] + + for kwargs in kwargs_list: + slope_solver = SlopeSolver(**kwargs) + slope_solver.fit_surface() + slope_solver.solve_slopes() + # TODO: Make slope_solver a list for both single/multi + self.slope_solver.append(slope_solver) + self.data_slope_solver.append(self.slope_solver.get_data()) + def save_to_hdf(self, file: str, prefix: str = ''): """Saves data to given HDF5 file. Data is stored in CalculationsFixedPattern/... From 44099860697167be1ba637dd8076c400d881343b Mon Sep 17 00:00:00 2001 From: Braden Date: Mon, 19 Aug 2024 17:01:43 -0600 Subject: [PATCH 11/54] Updated documentation and typing in PSFi. --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 26379fca2..3e12fbcce 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -77,7 +77,7 @@ def __init__( self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] self.data_error: cdc.CalculationError self.blob_index: BlobIndex - self.slope_solver: SlopeSolver + self.slope_solver: list[SlopeSolver] def find_blobs(self) -> BlobIndex: """Finds blobs in image""" @@ -331,12 +331,10 @@ def process_multi_facet_optic( # Calculate slope self.slope_solver = [] self.data_slope_solver = [] - for kwargs in kwargs_list: slope_solver = SlopeSolver(**kwargs) slope_solver.fit_surface() slope_solver.solve_slopes() - # TODO: Make slope_solver a list for both single/multi self.slope_solver.append(slope_solver) self.data_slope_solver.append(self.slope_solver.get_data()) From 1d2ebcfb2aa2edbf0150a7dbc43ffca17b4644ed Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 14:04:51 -0600 Subject: [PATCH 12/54] Fixed error in process_optics_geometry when finding expected ensemble perimeter xyz points --- opencsp/app/sofast/lib/process_optics_geometry.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/opencsp/app/sofast/lib/process_optics_geometry.py b/opencsp/app/sofast/lib/process_optics_geometry.py index 4d9fa99f3..fd5fc085a 100644 --- a/opencsp/app/sofast/lib/process_optics_geometry.py +++ b/opencsp/app/sofast/lib/process_optics_geometry.py @@ -451,7 +451,8 @@ def process_multifacet_geometry( # Calculate ensemble corners in ensemble coordinates v_ensemble_corns_ensemble = [] - for r_facet_ensemble_cur, (idx_facet, idx_corn) in zip(r_facet_ensemble, ensemble_corns_indices): + for idx_facet, idx_corn in ensemble_corns_indices: + r_facet_ensemble_cur = r_facet_ensemble[idx_facet] v_ensemble_corns_ensemble.append( ( v_facet_locs_ensemble[idx_facet] From 9bdbfe9f724bce252226cc60be6bd42e0b70f182 Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 14:08:56 -0600 Subject: [PATCH 13/54] Updated mask histogram calculations in image_processing. --- opencsp/app/sofast/lib/image_processing.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/lib/image_processing.py b/opencsp/app/sofast/lib/image_processing.py index 942c64290..1ad66ae25 100644 --- a/opencsp/app/sofast/lib/image_processing.py +++ b/opencsp/app/sofast/lib/image_processing.py @@ -55,6 +55,11 @@ def calc_mask_raw( # Calculate histogram of delta image hist, edges = np.histogram(delta.flatten(), bins=N_BINS_IMAGE, density=True) + # Make sure first and last values of histogram are zero + hist = np.concatenate([[0], hist, [0]]) + delta = edges[1] - edges[0] + edges = np.concatenate([[edges[0] - delta], edges, [edges[-1] + delta]]) + # Find two peaks in histogram (light and dark regions) for dist in np.arange(N_PEAK_STEP, N_BINS_IMAGE, N_PEAK_STEP): peaks = find_peaks(x=hist, height=HIST_PEAK_THRESH, distance=dist)[0] @@ -67,8 +72,8 @@ def calc_mask_raw( idx_hist_min = np.argmin(hist[peaks[0] : peaks[1]]) + peaks[0] # Find index of histogram that is "hist_thresh" the way between the min and max - thresh_hist_min = edges[idx_hist_min + 1] - thresh_hist_max = edges[peaks[1]] + thresh_hist_min = edges[idx_hist_min + 1] - 1 + thresh_hist_max = edges[peaks[1]] - 1 thresh = thresh_hist_min + (thresh_hist_max - thresh_hist_min) * hist_thresh # Calculate threshold mask From c688ccec673815356aff027ac997af8675863c11 Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 16:00:20 -0600 Subject: [PATCH 14/54] Fixed error with variable name in calc_mask_raw --- opencsp/app/sofast/lib/image_processing.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/opencsp/app/sofast/lib/image_processing.py b/opencsp/app/sofast/lib/image_processing.py index 1ad66ae25..b5ad0158c 100644 --- a/opencsp/app/sofast/lib/image_processing.py +++ b/opencsp/app/sofast/lib/image_processing.py @@ -57,8 +57,8 @@ def calc_mask_raw( # Make sure first and last values of histogram are zero hist = np.concatenate([[0], hist, [0]]) - delta = edges[1] - edges[0] - edges = np.concatenate([[edges[0] - delta], edges, [edges[-1] + delta]]) + bin_step = edges[1] - edges[0] + edges = np.concatenate([[edges[0] - bin_step], edges, [edges[-1] + bin_step]]) # Find two peaks in histogram (light and dark regions) for dist in np.arange(N_PEAK_STEP, N_BINS_IMAGE, N_PEAK_STEP): @@ -72,8 +72,8 @@ def calc_mask_raw( idx_hist_min = np.argmin(hist[peaks[0] : peaks[1]]) + peaks[0] # Find index of histogram that is "hist_thresh" the way between the min and max - thresh_hist_min = edges[idx_hist_min + 1] - 1 - thresh_hist_max = edges[peaks[1]] - 1 + thresh_hist_min = edges[idx_hist_min + 1] + thresh_hist_max = edges[peaks[1]] thresh = thresh_hist_min + (thresh_hist_max - thresh_hist_min) * hist_thresh # Calculate threshold mask From 1d9fb9c50e94028f39cfb5d6e80a133db2e032ff Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 16:12:46 -0600 Subject: [PATCH 15/54] Changed surface to surfaces --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 3e12fbcce..62c7da343 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -291,7 +291,7 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa self.data_slope_solver = [self.slope_solver.get_data()] def process_multi_facet_optic( - self, data_facet: list[DefinitionFacet], surface: list[Surface2DAbstract], data_ensemble: DefinitionEnsemble + self, data_facet: list[DefinitionFacet], surfaces: list[Surface2DAbstract], data_ensemble: DefinitionEnsemble ) -> None: """Processes multi facet optic. Saves data to self.data_slope_solver @@ -301,23 +301,23 @@ def process_multi_facet_optic( List of facet data objects. data_ensemble : DefinitionEnsemble Ensemble data object. - surface_data : list[Surface2dAbstract] + surfaces : list[Surface2dAbstract] List of surface type definitions. """ # Check inputs - if len(data_facet) != len(surface): + if len(data_facet) != len(surfaces): lt.error_and_raise( ValueError, 'Length of data_facet does not equal length of data_surface' - f'data_facet={len(data_facet)}, surface_data={len(surface)}', + f'data_facet={len(data_facet)}, surface_data={len(surfaces)}', ) self.optic_type = 'multi_facet' self.num_facets = len(data_facet) self.data_facet = [d.copy() for d in data_facet] self.data_ensemble = data_ensemble.copy() - self.data_surface = surface + self.data_surface = surfaces # Find blobs self.blob_index = self.find_blobs() From 24aaf373a0aa7cc8127fa69f461f7c2b33fb8a05 Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 17:57:31 -0600 Subject: [PATCH 16/54] ProcessSofastFixed now takes in origin point and xy index as input for single and multi facets. --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 71 +++++++++++++++----- 1 file changed, 53 insertions(+), 18 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 62c7da343..42e887bf3 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -24,6 +24,7 @@ from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract from opencsp.common.lib.geometry.RegionXY import RegionXY from opencsp.common.lib.geometry.Uxyz import Uxyz +from opencsp.common.lib.geometry.Vxy import Vxy from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt @@ -79,18 +80,26 @@ def __init__( self.blob_index: BlobIndex self.slope_solver: list[SlopeSolver] - def find_blobs(self) -> BlobIndex: - """Finds blobs in image""" + def find_blobs(self, pts_known: Vxy, xys_known: tuple[tuple[int, int]]) -> BlobIndex: + """Finds blobs in image + + Parameters + ---------- + pts_known : Vxy + Length N, xy pixel location of known point(s) with known xy dot index locations + xys_known : tuple[tuple[int]] + Length N integer xy dot indices + + NOTE: N=number of facets + """ pts_blob = ip.detect_blobs(self.measurement.image, self.blob_detector) # Index blobs - if self.optic_type == 'single_facet': - blob_index = BlobIndex(pts_blob, *self.fixed_pattern_dot_locs.dot_extent) - blob_index.search_thresh = self.params.blob_search_thresh - blob_index.search_perp_axis_ratio = self.params.search_perp_axis_ratio - blob_index.run(self.measurement.origin) - elif self.optic_type == 'multi_facet': - pass + blob_index = BlobIndex(pts_blob, *self.fixed_pattern_dot_locs.dot_extent) + blob_index.search_thresh = self.params.blob_search_thresh + blob_index.search_perp_axis_ratio = self.params.search_perp_axis_ratio + for pt_known, xy_known in zip(pts_known, xys_known): + blob_index.run(pt_known, xy_known[0], xy_known[1]) return blob_index @@ -187,7 +196,7 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n 'surface': self.data_surface[0], } - def _process_optic_multifacet_geometry(self, blob_indicies: list[BlobIndex], mask_raw: np.ndarray) -> list[dict]: + def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> list[dict]: # Process optic geometry (find mask corners, etc.) ( self.data_geometry_general, @@ -210,7 +219,7 @@ def _process_optic_multifacet_geometry(self, blob_indicies: list[BlobIndex], mas kwargs_list = [] for idx_facet in range(self.num_facets): # Get image points and blob indices - pts_image, pts_index_xy = blob_indicies[idx_facet].get_data() + pts_image, pts_index_xy = blob_index.get_data() # Define optic orientation w.r.t. camera rot_facet_ensemble = self.data_ensemble.r_facet_ensemble[idx_facet] @@ -260,22 +269,36 @@ def _process_optic_multifacet_geometry(self, blob_indicies: list[BlobIndex], mas ) return kwargs_list - def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surface2DAbstract) -> None: + def process_single_facet_optic( + self, data_facet: DefinitionFacet, surface: Surface2DAbstract, pt_known: Vxy, xy_known: tuple[int, int] + ) -> None: """Processes single facet optic. Saves data to self.data_slope_solver Parameters ---------- + data_facet : DefinitionFacet objec + Facet definition surface : Surface2DAbstract Surface 2d class + pt_known : Vxy + Length 1, xy pixel location of known point(s) with known xy dot index locations + xy_known : tuple[int, int] + Integer xy dot indices """ + # Check inputs + if len(pt_known) != 1: + lt.error_and_raise( + ValueError, f'Only 1 pt_known can be given for single facet processing but {len(pt_known):d} were given' + ) + self.optic_type = 'single_facet' self.num_facets = 1 self.data_facet = [data_facet.copy()] self.data_surface = [surface] # Find blobs - self.blob_index = self.find_blobs() + self.blob_index = self.find_blobs(pt_known, (xy_known,)) # Calculate mask mask_raw = self._calculate_mask() @@ -291,7 +314,12 @@ def process_single_facet_optic(self, data_facet: DefinitionFacet, surface: Surfa self.data_slope_solver = [self.slope_solver.get_data()] def process_multi_facet_optic( - self, data_facet: list[DefinitionFacet], surfaces: list[Surface2DAbstract], data_ensemble: DefinitionEnsemble + self, + data_facet: list[DefinitionFacet], + surfaces: list[Surface2DAbstract], + data_ensemble: DefinitionEnsemble, + pts_known: Vxy, + xys_known: tuple[tuple[int, int]], ) -> None: """Processes multi facet optic. Saves data to self.data_slope_solver @@ -302,15 +330,22 @@ def process_multi_facet_optic( data_ensemble : DefinitionEnsemble Ensemble data object. surfaces : list[Surface2dAbstract] - List of surface type definitions. + List of surface type definitions + pts_known : Vxy + Length N, xy pixel location of known point(s) with known xy dot index locations + xys_known : tuple[tuple[int, int]] + List of N integer xy dot indices corresponding to pts_known + + NOTE: N=number of facets """ # Check inputs - if len(data_facet) != len(surfaces): + if len(data_facet) != len(surfaces) != len(pts_known) != len(xys_known): lt.error_and_raise( ValueError, 'Length of data_facet does not equal length of data_surface' - f'data_facet={len(data_facet)}, surface_data={len(surfaces)}', + + f'data_facet={len(data_facet)}, surface_data={len(surfaces)}, ' + + f'pts_known={len(pts_known)}, xys_known={len(xys_known)}', ) self.optic_type = 'multi_facet' @@ -320,7 +355,7 @@ def process_multi_facet_optic( self.data_surface = surfaces # Find blobs - self.blob_index = self.find_blobs() + self.blob_index = self.find_blobs(pts_known, xys_known) # Calculate mask mask_raw = self._calculate_mask() From f66761fa6d3cc227c6eb7bff1d9d04ceb05643d6 Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 21 Aug 2024 17:57:52 -0600 Subject: [PATCH 17/54] Added docs, stub, and checks to blobIndex --- opencsp/app/sofast/lib/BlobIndex.py | 125 ++++++++++++---------------- 1 file changed, 55 insertions(+), 70 deletions(-) diff --git a/opencsp/app/sofast/lib/BlobIndex.py b/opencsp/app/sofast/lib/BlobIndex.py index 0425bed9f..ce1d7f3b3 100644 --- a/opencsp/app/sofast/lib/BlobIndex.py +++ b/opencsp/app/sofast/lib/BlobIndex.py @@ -47,6 +47,8 @@ def __init__(self, points: Vxy, x_min: int, x_max: int, y_min: int, y_max: int) self._neighbor_dists = np.zeros((self._num_pts, 4)) * np.nan # left, right, up, down self.search_thresh = 5.0 # pixels + self.max_num_iters: int = 100 + """Maximum number of search iterations""" self.search_perp_axis_ratio = 3.0 self.apply_filter = False @@ -131,17 +133,14 @@ def _point_index_from_xy_index(self, idx_x: int, idx_y: int) -> tuple[bool, int] return (not np.isnan(idx)), int(idx) def _assign(self, idx_pt: int, idx_x: int, idx_y: int) -> None: - """Assigns given blob index an xy index + # Assigns given blob index an xy index + # idx_pt : int + # Index of point (indexing self._points) + # idx_x : int + # X blob index + # idx_y : int + # Y blob index - Parameters - ---------- - idx_pt : int - Index of point (indexing self._points) - idx_x : int - X blob index - idx_y : int - Y blob index - """ # Assign vectors self._idx_x[idx_pt] = idx_x self._idx_y[idx_pt] = idx_y @@ -153,13 +152,8 @@ def _assign(self, idx_pt: int, idx_x: int, idx_y: int) -> None: lt.debug(f'Blob number {idx_pt:d} was assigned ({idx_x:d}, {idx_y:d})') def _unassign(self, idx_pt: int) -> None: - """Unassigns a point index + # Unassigns a point index - Parameters - ---------- - idx_pt : int - Index of point (indexing self._points) - """ # Unassign matrices idx_mat_x = self._idx_x[idx_pt] + self._offset_x idx_mat_y = self._idx_y[idx_pt] + self._offset_y @@ -177,18 +171,12 @@ def _unassign(self, idx_pt: int) -> None: lt.debug(f'Blob number {idx_pt:d} was unassigned') - def _assign_center(self, pt_origin: Vxy) -> None: - """Assigns the center point to (0, 0) - - Parameters - ---------- - pt_origin : Vxy - Location of origin, pixels - """ + def _assign_center(self, pt_origin: Vxy, idx_x: int, idx_y: int) -> None: + # Assigns given origin point to given xy index idx, dist = self._nearest_unassigned_idx_from_xy_point(pt_origin) if dist > self.search_thresh: - lt.warn(f'Assigning point {idx:d} to index (0, 0) resulted in {dist:.2f} pixels error.') - self._assign(idx, 0, 0) + lt.warn(f'Assigning point {idx:d} to index ({idx_x:d}, {idx_y:d}) resulted in {dist:.2f} pixels error.') + self._assign(idx, idx_x, idx_y) def _find_nearest_in_direction( self, idx_pt: int, direction: Literal['right', 'left', 'up', 'down'] @@ -248,15 +236,14 @@ def _num_unassigned(self) -> int: """Returns number of unassigned points (referencing self._points)""" return np.logical_not(self._is_assigned).sum() - def _find_3x3_center_block(self) -> None: - """Finds the center 3x3 block around center point using nearest in direction method - a b c - d e f - g h i - """ - ret, idx_e = self._point_index_from_xy_index(0, 0) + def _find_3x3_center_block(self, idx_x: int, idx_y: int) -> None: + # Finds the center 3x3 block around center point using nearest in direction method + # a b c + # d e f + # g h i + ret, idx_e = self._point_index_from_xy_index(idx_x, idx_y) if not ret: - lt.warn('Could not find 3x3 center block. Could not find point index (0, 0).') + lt.warn(f'Could not find 3x3 center block. Could not find point index xy=({idx_x:d}, {idx_y:d}).') # Right idx_f, x, y = self._find_nearest_in_direction(idx_e, 'right') self._assign(idx_f, x, y) @@ -283,19 +270,16 @@ def _find_3x3_center_block(self) -> None: self._assign(idx_g, x, y) def _extend_data(self, direction: Literal['x', 'y'], step: Literal[1, -1]) -> None: - """Extends found blob rows/collumns in given direction - - Steps in the given axis, a or b - - Parameters - ---------- - direction : Literal['x', 'y'] - Axis to search - step : Literal[1, -1] - Direction to search - - 1 = right/down - - -1 = left/up - """ + # Extends found blob rows/collumns in given direction + # Steps in the given axis, a or b + # Parameters + # ---------- + # direction : Literal['x', 'y'] + # Axis to search + # step : Literal[1, -1] + # Direction to search + # - 1 = right/down + # - -1 = left/up if step not in [-1, 1]: raise ValueError(f'Step must be -1 or 1, not {step}') @@ -354,26 +338,23 @@ def _extend_data(self, direction: Literal['x', 'y'], step: Literal[1, -1]) -> No break def _exp_pt_from_pt_pair(self, pt_cur: Vxy, pt_prev: Vxy) -> Vxy: - """Calculates the expected point from a given current and previous point pair - - Parameters - ---------- - pt_cur : Vxy - Current point, pixels - pt_prev : Vxy - Previous point, pixels - - Returns - ------- - Vxy - Refined expected point location - """ + # Calculates the expected point from a given current and previous point pair + # Parameters + # ---------- + # pt_cur : Vxy + # Current point, pixels + # pt_prev : Vxy + # Previous point, pixels + # Returns + # ------- + # Vxy + # Refined expected point location del_y = (pt_cur.y - pt_prev.y)[0] # pixels del_x = (pt_cur.x - pt_prev.x)[0] # pixels return pt_cur + Vxy((del_x, del_y)) # pixels def _filter_bad_points(self) -> None: - """Filters erroneous assigned points""" + # Filters erroneous assigned points del_1_x = np.diff(self._points_mat, axis=1) del_1_y = np.diff(self._points_mat, axis=0) del_2_x = np.diff(del_1_x, axis=1) @@ -397,21 +378,23 @@ def _filter_bad_points(self) -> None: for idx in idxs_bad_pts: self._unassign(idx) - def run(self, pt_origin: Vxy) -> None: + def run(self, pt_known: Vxy, x_known: int, y_known: int) -> None: """Runs blob indexing sequence Parameters ---------- - pt_origin : Vxy - Location of origin point with blob index of (0, 0), pixels + pt_known : Vxy + Location of known point with known blob index, pixels + x/y_known : int + XY indies of known points """ # Assign center point - self._assign_center(pt_origin) + self._assign_center(pt_known, x_known, y_known) # Find 3x3 core point block - self._find_3x3_center_block() + self._find_3x3_center_block(x_known, y_known) # Extend rows prev_num_unassigned = self._num_unassigned() - for idx in range(100): + for idx in range(self.max_num_iters): self._extend_data('x', -1) self._extend_data('x', 1) if self.apply_filter: @@ -426,8 +409,7 @@ def run(self, pt_origin: Vxy) -> None: if prev_num_unassigned == cur_num_unassigned: lt.debug(f'All possible points found in {idx + 1:d} iterations.') break - else: - prev_num_unassigned = cur_num_unassigned + prev_num_unassigned = cur_num_unassigned def plot_points_labels(self, labels: bool = False) -> None: """Plots points and labels @@ -497,6 +479,9 @@ def get_data(self) -> tuple[Vxy, Vxy]: points = Vxy((x_pts[mask_assigned], y_pts[mask_assigned])) return points, indices + def get_data_in_region(self) -> tuple[Vxy, Vxy]: + """FILL IN DOCS""" + def get_data_mat(self) -> tuple[np.ndarray, np.ndarray]: """Returns found points and indices in matrix form From 46cbf3d5546280afeb17c40494d5ae1cb40bd48e Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 09:39:46 -0600 Subject: [PATCH 18/54] Added get-data_in_region to BlobIndex --- opencsp/app/sofast/lib/BlobIndex.py | 21 +++++++++++++++++++-- 1 file changed, 19 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/lib/BlobIndex.py b/opencsp/app/sofast/lib/BlobIndex.py index ce1d7f3b3..0e68a6176 100644 --- a/opencsp/app/sofast/lib/BlobIndex.py +++ b/opencsp/app/sofast/lib/BlobIndex.py @@ -4,6 +4,7 @@ import numpy as np from opencsp.common.lib.geometry.Vxy import Vxy +from opencsp.common.lib.geometry.LoopXY import LoopXY from opencsp.common.lib.tool import log_tools as lt @@ -479,8 +480,24 @@ def get_data(self) -> tuple[Vxy, Vxy]: points = Vxy((x_pts[mask_assigned], y_pts[mask_assigned])) return points, indices - def get_data_in_region(self) -> tuple[Vxy, Vxy]: - """FILL IN DOCS""" + def get_data_in_region(self, loop: LoopXY) -> tuple[Vxy, Vxy]: + """Returns found points and indices within given region + + Parameters + ---------- + loop : LoopXY + The loop to search within + + Returns + ------- + points : Vxy + Lenght N vector, located points xy locations, pixels + indices_xy : Vxy + Length N vector, located points xy blob indices, int + """ + points, indices = self.get_data() + mask = loop.is_inside(points) + return points[mask], indices[mask] def get_data_mat(self) -> tuple[np.ndarray, np.ndarray]: """Returns found points and indices in matrix form From 0e911d594b36a7bf90056a183320a11f5c0964d1 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 09:40:52 -0600 Subject: [PATCH 19/54] Added facet pointing and ensemble output to processSofastFixed --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 132 +++++++++++++++++-- 1 file changed, 120 insertions(+), 12 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 42e887bf3..bcd00b4c8 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -18,12 +18,16 @@ import opencsp.app.sofast.lib.process_optics_geometry as pr from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera +from opencsp.common.lib.csp.Facet import Facet +from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract from opencsp.common.lib.geometry.RegionXY import RegionXY +from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ from opencsp.common.lib.geometry.Uxyz import Uxyz +from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.geometry.Vxy import Vxy from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt @@ -77,6 +81,7 @@ def __init__( self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] self.data_error: cdc.CalculationError + self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] self.blob_index: BlobIndex self.slope_solver: list[SlopeSolver] @@ -115,7 +120,7 @@ def _calculate_mask(self) -> ndarray: ] mask = ip.calc_mask_raw(images, *params) - if self.optic_type == 'multi_facet': + if (self.optic_type == 'multi_facet') and self.params.mask.keep_largest_area: lt.warn( '"keep_largest_area" mask processing option cannot be used ' 'for multifacet ensembles. This will be turned off.' @@ -218,8 +223,11 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np kwargs_list = [] for idx_facet in range(self.num_facets): + # Get pixel region of current facet + loop = self.data_image_processing_facet[idx_facet].loop_facet_image_refine + # Get image points and blob indices - pts_image, pts_index_xy = blob_index.get_data() + pts_image, pts_index_xy = blob_index.get_data_in_region(loop) # Define optic orientation w.r.t. camera rot_facet_ensemble = self.data_ensemble.r_facet_ensemble[idx_facet] @@ -371,7 +379,90 @@ def process_multi_facet_optic( slope_solver.fit_surface() slope_solver.solve_slopes() self.slope_solver.append(slope_solver) - self.data_slope_solver.append(self.slope_solver.get_data()) + self.data_slope_solver.append(slope_solver.get_data()) + + # Calculate facet pointing + self._calculate_facet_pointing() + + def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'average') -> None: + """ + Calculates facet pointing relative to the given reference. + + Parameters + ---------- + reference : 'average' | int + If 'average', the pointing reference is the average of all + facet pointing directions. If, int, that facet index is assumed + to have perfect pointing. + """ + if self.data_slope_solver is None: + lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') + if (reference != 'average') and not isinstance(reference, int): + lt.error_and_raise(ValueError, 'Given reference must be int or "average".') + if isinstance(reference, int) and (reference >= self.num_facets): + lt.error_and_raise( + ValueError, f'Given facet index, {reference:d}, is out of range of 0-{self.num_facets - 1:d}.' + ) + + # Instantiate data list + self.data_calculation_ensemble = [] + + trans_facet_ensemble_list = [] + v_pointing_matrix = np.zeros((3, self.num_facets)) + for idx in range(self.num_facets): + # Get transformation from user-input and slope solving + trans_1 = TransformXYZ.from_R_V( + self.data_ensemble.r_facet_ensemble[idx], self.data_ensemble.v_facet_locations[idx] + ) + trans_2 = self.data_slope_solver[idx].trans_alignment + # Calculate inverse of slope solving transform + trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) + # Create local to global transformation + trans_facet_ensemble_list.append(trans_2 * trans_1) + + # Calculate pointing vector in ensemble coordinates + v_pointing = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) + v_pointing_matrix[:, idx] = v_pointing.data.squeeze() + + # Calculate reference pointing direction + if isinstance(reference, int): + v_pointing_ref = Vxyz(v_pointing_matrix[:, reference]) + elif reference == 'average': + v_pointing_ref = Vxyz(v_pointing_matrix.mean(1)) + # Calculate rotation to align pointing vectors + r_align_pointing = v_pointing_ref.align_to(Vxyz((0, 0, 1))) + trans_align_pointing = TransformXYZ.from_R(r_align_pointing) + + # Apply alignment rotation to total transformation + trans_facet_ensemble_list = [trans_align_pointing * t for t in trans_facet_ensemble_list] + + # Calculate global slope and surface points + for idx in range(self.num_facets): + # Get slope data + slopes = self.data_slope_solver[idx].slopes_facet_xy # facet coordinats + + # Calculate surface normals in local (facet) coordinates + u_surf_norms = np.ones((3, slopes.shape[1])) + u_surf_norms[:2] = -slopes + u_surf_norms = Uxyz(u_surf_norms).as_Vxyz() + + # Apply rotation to normal vectors + u_surf_norms_global = u_surf_norms.rotate(trans_facet_ensemble_list[idx].R) + # Convert normal vectors to global (ensemble) slopes + slopes_ensemble_xy = -u_surf_norms_global.data[:2] / u_surf_norms_global.data[2:] + + # Convert surface points to global (ensemble) coordinates + v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( + self.data_slope_solver[idx].v_surf_points_facet + ) + + # Calculate pointing vectors in ensemble coordinates + v_facet_pointing_ensemble = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) + + data = cdc.CalculationFacetEnsemble( + trans_facet_ensemble_list[idx], slopes_ensemble_xy, v_surf_points_ensemble, v_facet_pointing_ensemble + ) + self.data_calculation_ensemble.append(data) def save_to_hdf(self, file: str, prefix: str = ''): """Saves data to given HDF5 file. Data is stored in CalculationsFixedPattern/... @@ -411,16 +502,33 @@ def save_to_hdf(self, file: str, prefix: str = ''): def get_mirror( self, interpolation_type: Literal['given', 'bilinear', 'clough_tocher', 'nearest'] = 'nearest' - ) -> MirrorPoint: + ) -> Facet | FacetEnsemble: """Returns mirror object with slope data""" - if self.optic_type in ['single_facet', 'undefined']: - v_surf_pts = self.data_slope_solver[0].v_surf_points_facet + facets = [] + trans_list = [] + for idx_facet in range(self.num_facets): + # Get mirror surface points + v_surf_pts = self.data_slope_solver[idx_facet].v_surf_points_facet + # Get point normal vectors v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_slope_solver[0].slopes_facet_xy + v_normals_data[:2, :] = self.data_slope_solver[idx_facet].slopes_facet_xy v_normals_data[:2, :] *= -1 v_normals = Uxyz(v_normals_data) - shape = RegionXY.from_vertices(self.data_facet[0].v_facet_corners.projXY()) - return MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) - elif self.optic_type == 'multi_facet': - # TODO: fill in for multifacet - pass + # Get optic shape + shape = RegionXY.from_vertices(self.data_facet[idx_facet].v_facet_corners.projXY()) + # Create mirror + mirror = MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) + # Create facet + facets.append(Facet(mirror)) + # Get facet pointing if multi-facet + if self.optic_type == 'multi_facet': + trans: TransformXYZ = self.data_calculation_ensemble[idx_facet].trans_facet_ensemble + trans_list.append(trans) + + # Return either ensemble or facet + if self.optic_type == 'multi_facet': + ensemble = FacetEnsemble(facets) + ensemble.set_facet_transform_list(trans_list) + return ensemble + else: + return facets[0] From f8ad6f57558726c6db16903ca0e50ff470a54f1f Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 09:41:37 -0600 Subject: [PATCH 20/54] Added check in FacetEnsemble that catches when corner z values cannot be found. --- opencsp/common/lib/csp/FacetEnsemble.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/opencsp/common/lib/csp/FacetEnsemble.py b/opencsp/common/lib/csp/FacetEnsemble.py index d06d9d768..61208ff8c 100644 --- a/opencsp/common/lib/csp/FacetEnsemble.py +++ b/opencsp/common/lib/csp/FacetEnsemble.py @@ -14,6 +14,7 @@ from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.render.View3d import View3d from opencsp.common.lib.render_control.RenderControlFacetEnsemble import RenderControlFacetEnsemble +import opencsp.common.lib.tool.log_tools as lt class FacetEnsemble(RayTraceable, VisualizeOrthorectifiedSlopeAbstract, OpticOrientationAbstract): @@ -56,10 +57,15 @@ def axis_aligned_bounding_box(self) -> tuple[float, float, float, float]: """ # Get XYZ locations of all points making up mirror region xyz = [] # facet frame - for facet in self.facets: + for facet_idx, facet in enumerate(self.facets): # Get all mirror region vertices points_xy = Pxy.merge([loop.vertices for loop in facet.mirror.region.loops]) # mirror frame points_z = facet.mirror.surface_displacement_at(points_xy) # mirror frame + # If the corners aren't in range of the mirror's interpolation function, set to 0 + if np.any(np.isnan(points_z)): + lt.warn(f'Could not find corner z values for facet number {facet_idx:d}; filling with zeros.') + points_z = np.nan_to_num(points_z, nan=0) + # Translate xyz points to their locations in the ensemble points_xyz = Pxyz((points_xy.x, points_xy.y, points_z)) # mirror frame points_xyz = facet.mirror.get_transform_relative_to(self).apply(points_xyz) # facet frame xyz.append(points_xyz) # facet frame From e5a45af6f95554b5567f13868608d248407cc707 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 09:46:15 -0600 Subject: [PATCH 21/54] Fixed testProcessSofastFixed --- opencsp/app/sofast/test/test_ProcessSofastFixed.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 37340c399..6b0988735 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -65,7 +65,9 @@ def setUpClass(cls): cls.process_sofast_fixed.load_measurement_data(measurement) # Process - cls.process_sofast_fixed.process_single_facet_optic(facet_data, surface) + pt_known = measurement.origin + xy_known = (0, 0) + cls.process_sofast_fixed.process_single_facet_optic(facet_data, surface, pt_known, xy_known) def test_save_as_hdf(self): """Tests saving to HDF file""" @@ -77,7 +79,7 @@ def test_save_figure(self): axis_control_m = rca.meters() fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') - mirror = self.process_sofast_fixed.get_mirror('bilinear') + mirror = self.process_sofast_fixed.get_mirror('bilinear').mirror mirror.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) fig_mng.save(self.save_dir, 'sofast_fixed_orthorectified_slope_magnitude', 'png') From 7883af0e3b493a840dbb130defff892acc8f27ab Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 10:00:00 -0600 Subject: [PATCH 22/54] Made slope_solver attribute a list in ProcessSofastFixed --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index bcd00b4c8..ce93323df 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -318,8 +318,8 @@ def process_single_facet_optic( slope_solver = SlopeSolver(**kwargs) slope_solver.fit_surface() slope_solver.solve_slopes() - self.slope_solver = slope_solver - self.data_slope_solver = [self.slope_solver.get_data()] + self.slope_solver = [slope_solver] + self.data_slope_solver = [slope_solver.get_data()] def process_multi_facet_optic( self, From 289e9619fcd3555b87f88507f04f62f54d50e4ef Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 10:00:15 -0600 Subject: [PATCH 23/54] Fixed test_SofastConfiguration --- opencsp/app/sofast/lib/SofastConfiguration.py | 6 +++--- .../test/data/input/SofastConfiguration/stats_fixed.json | 2 +- opencsp/app/sofast/test/test_SofastConfiguration.py | 6 ++++-- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/opencsp/app/sofast/lib/SofastConfiguration.py b/opencsp/app/sofast/lib/SofastConfiguration.py index f10798b6b..d26b027f7 100644 --- a/opencsp/app/sofast/lib/SofastConfiguration.py +++ b/opencsp/app/sofast/lib/SofastConfiguration.py @@ -77,10 +77,10 @@ def get_measurement_stats(self) -> list[dict]: num_samps = len(data_calc.v_surf_points_facet) else: # Get data - data_surf = self.data_sofast_object.slope_solver.surface - data_calc = self.data_sofast_object.data_slope_solver + data_surf = self.data_sofast_object.slope_solver[idx_facet].surface + data_calc = self.data_sofast_object.data_slope_solver[idx_facet] # Sample resolution - surf_points = self.data_sofast_object.data_slope_solver.v_surf_points_facet + surf_points = self.data_sofast_object.data_slope_solver[idx_facet].v_surf_points_facet pts_index_xy = self.data_sofast_object.blob_index.get_data()[1] point_indices_mat = self.data_sofast_object.blob_index.get_data_mat()[1] offset_x = self.data_sofast_object.blob_index._offset_x diff --git a/opencsp/app/sofast/test/data/input/SofastConfiguration/stats_fixed.json b/opencsp/app/sofast/test/data/input/SofastConfiguration/stats_fixed.json index 325723a85..3175f0d09 100644 --- a/opencsp/app/sofast/test/data/input/SofastConfiguration/stats_fixed.json +++ b/opencsp/app/sofast/test/data/input/SofastConfiguration/stats_fixed.json @@ -3,6 +3,6 @@ "delta_x_sample_points_average": 0.019620769949538475, "delta_y_sample_points_average": 0.019562008548198912, "number_samples": 3782, - "focal_lengths_parabolic_xy": [-136.85679647500112, -146.7666251432111] + "focal_lengths_parabolic_xy": [-136.8543448388678, -146.76468150138166] } ] diff --git a/opencsp/app/sofast/test/test_SofastConfiguration.py b/opencsp/app/sofast/test/test_SofastConfiguration.py index f0b0fd300..489e80ca1 100644 --- a/opencsp/app/sofast/test/test_SofastConfiguration.py +++ b/opencsp/app/sofast/test/test_SofastConfiguration.py @@ -61,12 +61,14 @@ def _get_process_sofast_fixed(): measurement = MeasurementSofastFixed.load_from_hdf(file_meas) # Instantiate SofastFixed class and load measurement data - sofast = ProcessSofastFixed(orientation, camera, fixed_pattern_dot_locs, facet_data) + sofast = ProcessSofastFixed(orientation, camera, fixed_pattern_dot_locs) sofast.load_measurement_data(measurement) # Process surface = Surface2DParabolic(initial_focal_lengths_xy=(150.0, 150), robust_least_squares=False, downsample=1) - sofast.process_single_facet_optic(surface) + pt_known = measurement.origin + xy_known = (0, 0) + sofast.process_single_facet_optic(facet_data, surface, pt_known, xy_known) return sofast From 45801e8e57d353cdbcb5db4a234ee91333367ce0 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 10:10:10 -0600 Subject: [PATCH 24/54] Fixed calibrateSofastFixedDots --- .../app/sofast/lib/CalibrateSofastFixedDots.py | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/lib/CalibrateSofastFixedDots.py b/opencsp/app/sofast/lib/CalibrateSofastFixedDots.py index c5629808c..395a1beb6 100644 --- a/opencsp/app/sofast/lib/CalibrateSofastFixedDots.py +++ b/opencsp/app/sofast/lib/CalibrateSofastFixedDots.py @@ -61,6 +61,7 @@ def __init__( x_max: int, y_min: int, y_max: int, + xy_pts_known: tuple[tuple[int, int]] = None, ) -> 'CalibrateSofastFixedDots': """Instantiates the calibration class @@ -69,7 +70,7 @@ def __init__( files_images : list[str] File paths to images of Aruco markers and dots origin_pts : Vxy - Points on the images corresponding to index (0, 0) + Points on the images corresponding to index `xy_pts_known` camera : Camera Camera calibration parameters of camera used to take images pts_xyz_corners : Vxyz @@ -80,6 +81,10 @@ def __init__( Expected min/max x index values (follows screen x axis) y_min/y_max : int Expected min/max y index values (follows screen y axis) + xy_pts_known : tuple[tuple[int, int]] + The origin point xy indices. One xy point for each input image. + For example, for two images using (0, 0) - xy_pts_known = ((0, 0), (0, 0)). + If None, defaults to all zeros. """ # Load images self._images: list[ImageMarker] = [] @@ -92,8 +97,12 @@ def __init__( for pt_xyz, pt_id in zip(pts_xyz_corners, pts_ids_corners): im.set_point_id_located(pt_id, pt_xyz.data.squeeze()) + if xy_pts_known is None: + xy_pts_known = ((0, 0),) * len(origin_pts) + # Save data self._origin_pts = origin_pts + self._xy_pts_known = xy_pts_known self._camera = camera self._pts_xyz_corners = pts_xyz_corners self._pts_ids_corners = pts_ids_corners @@ -150,7 +159,9 @@ def _find_dots_in_images(self) -> None: # Index all found points blob_index = BlobIndex(pts, -self._x_max, -self._x_min, self._y_min, self._y_max) blob_index.search_thresh = self.blob_search_threshold - blob_index.run(origin_pt) + blob_index.run( + origin_pt, x_known=self._xy_pts_known[idx_image][0], y_known=self._xy_pts_known[idx_image][1] + ) points, indices = blob_index.get_data_mat() # Save points and indices From 8e58a69405401554403fc0b7a3a4acd6468947d9 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 11:39:55 -0600 Subject: [PATCH 25/54] Updated Facet so that if z values cannot be interpolated for corners, they are set to zero with warning. --- opencsp/common/lib/csp/Facet.py | 79 +++------------------------------ 1 file changed, 6 insertions(+), 73 deletions(-) diff --git a/opencsp/common/lib/csp/Facet.py b/opencsp/common/lib/csp/Facet.py index bd9753aac..437bb0984 100644 --- a/opencsp/common/lib/csp/Facet.py +++ b/opencsp/common/lib/csp/Facet.py @@ -1,25 +1,19 @@ """Facet class inherited by all facet classes""" -from typing import Callable -from warnings import warn - import numpy as np -from scipy.spatial.transform import Rotation from opencsp.common.lib.csp.MirrorAbstract import MirrorAbstract from opencsp.common.lib.csp.RayTraceable import RayTraceable from opencsp.common.lib.csp.VisualizeOrthorectifiedSlopeAbstract import VisualizeOrthorectifiedSlopeAbstract -from opencsp.common.lib.geometry.LoopXY import LoopXY from opencsp.common.lib.geometry.Pxyz import Pxyz -from opencsp.common.lib.geometry.RegionXY import RegionXY from opencsp.common.lib.geometry.RegionXY import Resolution from opencsp.common.lib.geometry.Vxy import Vxy from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ from opencsp.common.lib.render.View3d import View3d from opencsp.common.lib.render_control.RenderControlFacet import RenderControlFacet -from opencsp.common.lib.render_control.RenderControlMirror import RenderControlMirror from opencsp.common.lib.csp.OpticOrientationAbstract import OpticOrientationAbstract +import opencsp.common.lib.tool.log_tools as lt UP = Vxyz([0, 0, 1]) @@ -45,6 +39,7 @@ def __init__(self, mirror: MirrorAbstract, name: str = None) -> 'Facet': @property def transform_mirror_to_self(self) -> TransformXYZ: + """Returns the mirror to facet 3d transform""" return self.mirror._self_to_parent_transform # override from VisualizeOrthorectifiedSlopeAbstract @@ -61,6 +56,10 @@ def axis_aligned_bounding_box(self) -> tuple[float, float, float, float]: # Get XYZ locations of all points making up mirror region points_xy = Vxy.merge([loop.vertices for loop in self.mirror.region.loops]) # mirror frame points_z = self.mirror.surface_displacement_at(points_xy) # mirror frame + # If the corners aren't in range of the mirror's interpolation function, set to 0 + if np.any(np.isnan(points_z)): + lt.warn('Could not find corner z values for facet; filling with zeros.') + points_z = np.nan_to_num(points_z, nan=0) points_xyz = Vxyz((points_xy.x, points_xy.y, points_z)) # mirror frame # Transform "mirror base" to "facet child" coordinates @@ -206,69 +205,3 @@ def draw(self, view: View3d, facet_style: RenderControlFacet = None, transform: if facet_style.draw_mirror_curvature: self.mirror.draw(view, facet_style.mirror_styles, transform * self.mirror._self_to_parent_transform) - - # pass # end function - - ### POINTING FUNCTION METHODS - # TODO TJL: Pointing Function methods are not tested with the updated base classes. - # There will need to be an addition to `Facet` that allows users to specify the ways - # a facet mounts the mirror it contains. Defining some function might - # be the way to do this, but that is a task for the future. - - def define_pointing_function_UNVERIFIED(self, func: Callable[..., TransformXYZ]) -> None: - """Sets the canting function to use. I.e., defines the - "set_pointing" function. - - Parameters - ---------- - func : Callable - Function that returns a "child to base" TransformXYZ object. - """ - self.pointing_function = func - - def set_pointing_UNVERIFIED(self, *args) -> None: - """Sets current facet canting (i.e. sets - self.ori.transform_child_to_base using the given arguments. - """ - # warn("Depricated, do not use OpticOrientation instance, use OpticOrietionAbstract.") - if self.pointing_function is None: - raise ValueError('self.pointing_function is not defined. Use self.define_pointing_function.') - # self.ori.transform_child_to_base = self.pointing_function(*args) - self.mirror._self_to_parent_transform = self.pointing_function(*args) - - @classmethod - def generate_az_el_UNVERIFIED(cls, mirror: MirrorAbstract) -> 'Facet': - """Generates Facet object defined by a simple azimuth then elevation - canting strategy. The "pointing_function" accessed by self.set_pointing - has the following inputs - - az - float - azimuth angle (rotation about z axis) in radians - - el - float - elevation angle (rotation about x axis) in radians - """ - - def pointing_function(az: float, el: float) -> TransformXYZ: - r = Rotation.from_euler('zx', [az, el], degrees=False) - return TransformXYZ.from_R(r) - - # Create facet - facet = cls(mirror) - facet.define_pointing_function(pointing_function) - - return facet - - @classmethod - def generate_rotation_defined_UNVERIFIED(cls, mirror: MirrorAbstract) -> 'Facet': - """Generates FacetCantable object defined by a given scipy Rotation object. - The "pointing_function" accessed by self.set_pointing has the following input - - rotation - scipy.spatial.transform.Rotation - rotation object - """ - - def pointing_function(rotation: Rotation) -> TransformXYZ: - return TransformXYZ.from_R(rotation) - - # Create facet - facet = cls(mirror) - facet.define_pointing_function(pointing_function) - - return facet - - ### END POINTING FUNCTION METHODS From bb9d9455b2cd390307fc008a91acbc0b46057628 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:19:22 -0600 Subject: [PATCH 26/54] Added test ensemble HDF5 input and output files --- .../calculation_facet_ensemble.h5 | Bin 0 -> 75656 bytes .../measurement_facet_ensemble.h5 | Bin 0 -> 2022488 bytes 2 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 opencsp/test/data/sofast_fixed/data_expected/calculation_facet_ensemble.h5 create mode 100644 opencsp/test/data/sofast_fixed/data_measurement/measurement_facet_ensemble.h5 diff --git a/opencsp/test/data/sofast_fixed/data_expected/calculation_facet_ensemble.h5 b/opencsp/test/data/sofast_fixed/data_expected/calculation_facet_ensemble.h5 new file mode 100644 index 0000000000000000000000000000000000000000..79d8bc9837cf58b4c553c196f677d97fa0a0e05d GIT binary patch literal 75656 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example/sofast_fringe/example_process_facet_ensemble.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/example/sofast_fringe/example_process_facet_ensemble.py b/example/sofast_fringe/example_process_facet_ensemble.py index b0314b1a2..4cf83c4f3 100644 --- a/example/sofast_fringe/example_process_facet_ensemble.py +++ b/example/sofast_fringe/example_process_facet_ensemble.py @@ -162,7 +162,7 @@ def example_process_facet_ensemble(): # Plot slope map res = 0.002 # meter, make the plot with 2mm spatial resolution - clim = 7 # mrad, draw the plot with +/-7mrad scale bars, this mirror has erorrs that extent to about +/-7mrad + clim = 7 # mrad, draw the plot with +/-7mrad scale bars, this mirror has erorrs that extend to about +/-7mrad fig_record = fm.setup_figure(figure_control, axis_control_m, title='') ensemble.plot_orthorectified_slope(res=res, clim=clim, axis=fig_record.axis) fig_record.save(dir_save, 'slope_magnitude', 'png') From 18e7b4edebab8287ba0e5741d5b8c2927e7cdc21 Mon Sep 17 00:00:00 2001 From: Braden Date: Wed, 9 Oct 2024 15:39:01 -0600 Subject: [PATCH 54/54] Added defaults in docstrings --- opencsp/app/sofast/lib/BlobIndex.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/opencsp/app/sofast/lib/BlobIndex.py b/opencsp/app/sofast/lib/BlobIndex.py index b842cd77c..226522c16 100644 --- a/opencsp/app/sofast/lib/BlobIndex.py +++ b/opencsp/app/sofast/lib/BlobIndex.py @@ -63,13 +63,13 @@ def __init__(self, points: Vxy, x_min: int, x_max: int, y_min: int, y_max: int) self.search_thresh: float = 5.0 # pixels """Threshold, in pixels. As algorithm calculates the expected location of the next blob, if a blob - is within 'search_thresh' of the expected location, that blob is considered found""" + is within 'search_thresh' of the expected location, that blob is considered found. Default 5.0""" self.max_num_iters: int = 100 - """Maximum number of iterations to use when fitting found blobs to grid pattern""" + """Maximum number of iterations to use when fitting found blobs to grid pattern. Default 100""" self.search_perp_axis_ratio: float = 3.0 - """Ratio of point distances: (perpendicular to axis) / (along axis) used to search for points""" + """Ratio of point distances: (perpendicular to axis) / (along axis) used to search for points. Default 3.0""" self.apply_filter: bool = False - """To filter bad points (experimental, not implemented yet)""" + """To filter bad points (experimental, not implemented yet). Default False""" self._offset_x = -x_min # index self._offset_y = -y_min # index

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zi3w~9gieIE1P%h58MQTmK7m8Ll@JIC^ySOM1U3aiCqi2S2Z7Cu+L}P0z#-mB2!sUs z@?~NIn*yN|p)G-fz-C5mO`uQU5N{;}LIQpHGBJTofzXN2mcT(^Go!X9P$zImw-N#= zfx3Jdn82t&>PF~G;JLtPNUcqvPT+aERS-xC)Wyrd1V#l?H$qYZGV_cph#Q1Y!bh@iH%gRe{)%(3rqufz_1Sn?Reu z<8Uh=5EE!imw5@S3dD|t#snS)%u8TZAa*1)Ch%BbHKq0@ z&?fLW+zJT91lrPNUIMEEu_K`|fyV-?DYZ9&Hi5_CRzM&o(3URq5?B?89SMyIJQi3@ zsl5r52|UiW0s=XKvUC}jz^Xv*Na#%9vA}9f?M!0%Zb^v#o$YPM|DZ#w9Q-kh>B(6L=~x8&iuD=n{AuZO;=33Ur0bv;<}a zf>%Oo0#5~Ib82w{T>?*|?Rf%0fv#|wmcXn)@JeV+;HkiDPAyKLOW4L;ThF!#?)^^FeHaAE))V zmbZUiKbd)h0D;da@OGGsp7;s)Q_ud>wEo)i=FjUDGj93^Qq zua>udUay&Xj{t#BC-7F3tG@q=?tABd@xP+JzkGS=zrXw5k9^~~SBCxa*6+W6{nyvx zKfnI+^80&leCoga+h0WdLx2E*j}`cKIKO`Ai`Rd?e7)5l-}~~7zj^vab^Vl@U4s From 7900855abc8a685ab352f986d0cdb937f1f722af Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:20:11 -0600 Subject: [PATCH 28/54] Added facet and ensemble definitions for SFi --- .../Ensemble_split_NSTTF_facet.json | 18 ++++++++++++++++++ .../data/sofast_common/Facet_split_NSTTF.json | 10 ++++++++++ 2 files changed, 28 insertions(+) create mode 100644 opencsp/test/data/sofast_common/Ensemble_split_NSTTF_facet.json create mode 100644 opencsp/test/data/sofast_common/Facet_split_NSTTF.json diff --git a/opencsp/test/data/sofast_common/Ensemble_split_NSTTF_facet.json b/opencsp/test/data/sofast_common/Ensemble_split_NSTTF_facet.json new file mode 100644 index 000000000..af19eb8c2 --- /dev/null +++ b/opencsp/test/data/sofast_common/Ensemble_split_NSTTF_facet.json @@ -0,0 +1,18 @@ +{ + "v_facet_locations": { + "x": [-0.320, 0.320], + "y": [ 0.000, 0.000], + "z": [ 0.000, 0.000] + }, + "r_facet_ensemble": { + "0": [0.0, 0.0, 0.0], + "1": [0.0, 0.0, 0.0] + }, + "ensemble_perimeter": { + "facet_indices": [1, 0, 0, 1], + "corner_indices": [0, 1, 2, 3] + }, + "v_centroid_ensemble": { + "x": [0.0], "y": [0.0], "z": [0.0] + } +} \ No newline at end of file diff --git a/opencsp/test/data/sofast_common/Facet_split_NSTTF.json b/opencsp/test/data/sofast_common/Facet_split_NSTTF.json new file mode 100644 index 000000000..fdf232e9e --- /dev/null +++ b/opencsp/test/data/sofast_common/Facet_split_NSTTF.json @@ -0,0 +1,10 @@ +{ + "v_facet_corners": { + "x": [ 0.299, -0.299, -0.299, 0.299], + "y": [-0.610, -0.610, 0.610, 0.610], + "z": [ 0.0, 0.0, 0.0, 0.0 ] + }, + "v_centroid_facet": { + "x": [0.0], "y": [0.0], "z": [0.0] + } +} \ No newline at end of file From b37a01f00a87289bf1cd230300635e8eaf6ba47f Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:20:40 -0600 Subject: [PATCH 29/54] Fixed _000 prefix in SofastFixed HDF5 save output --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index ce93323df..feba07bca 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -478,8 +478,8 @@ def save_to_hdf(self, file: str, prefix: str = ''): # Sofast input parameters self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') for idx, (data_facet, data_surface) in enumerate(zip(self.data_facet, self.data_surface)): - data_surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:3d}/') - data_facet.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:3d}/') + data_surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') + data_facet.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') # General self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') @@ -489,13 +489,13 @@ def save_to_hdf(self, file: str, prefix: str = ''): # Calculations for idx_facet in range(self.num_facets): self.data_slope_solver[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) self.data_geometry_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) self.data_image_processing_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:3d}/' + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) lt.info(f'SofastFixed data saved to: {file:s} with prefix: {prefix:s}') From 3553e1b701c2e566d208cb8eb9b757234b1441ae Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:21:19 -0600 Subject: [PATCH 30/54] Updated testProcessSofastFixed to include ensemble testing. --- .../sofast/test/test_ProcessSofastFixed.py | 130 ++++++++++++++---- 1 file changed, 103 insertions(+), 27 deletions(-) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 6b0988735..4ab582d9b 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -7,6 +7,7 @@ import matplotlib.pyplot as plt import numpy as np +from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet from opencsp.app.sofast.lib.DotLocationsFixedPattern import DotLocationsFixedPattern from opencsp.app.sofast.lib.MeasurementSofastFixed import MeasurementSofastFixed @@ -15,6 +16,7 @@ from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera from opencsp.common.lib.deflectometry.Surface2DParabolic import Surface2DParabolic +from opencsp.common.lib.geometry.Vxy import Vxy from opencsp.common.lib.opencsp_path.opencsp_root_path import opencsp_code_dir import opencsp.common.lib.render.figure_management as fm import opencsp.common.lib.render_control.RenderControlAxis as rca @@ -28,25 +30,71 @@ class TestProcessSofastFixed(unittest.TestCase): @classmethod def setUpClass(cls): """Loads data and runs ProcessSofastFixed""" - dir_sofast_fixed = join(opencsp_code_dir(), 'test/data/sofast_fixed') - dir_sofast_common = join(opencsp_code_dir(), 'test/data/sofast_common') - - # Definitions - file_camera = join(dir_sofast_common, "camera_sofast.h5") - file_facet = join(dir_sofast_common, "Facet_NSTTF.json") - file_ori = join(dir_sofast_common, 'spatial_orientation.h5') - file_dot_locs = join(dir_sofast_fixed, 'data_measurement/fixed_pattern_dot_locations.h5') - file_meas = join(dir_sofast_fixed, 'data_measurement/measurement_facet.h5') - file_exp = join(dir_sofast_fixed, 'data_expected/calculation_facet.h5') - - cls.save_dir = join(opencsp_code_dir(), 'app/sofast/test/data/output/process_sofast_fixed_single_facet') + cls.dir_sofast_fixed = join(opencsp_code_dir(), 'test/data/sofast_fixed') + cls.dir_sofast_common = join(opencsp_code_dir(), 'test/data/sofast_common') + cls.save_dir = join(opencsp_code_dir(), 'app/sofast/test/data/output/process_sofast_fixed') ft.create_directories_if_necessary(cls.save_dir) lt.logger(join(cls.save_dir, 'sofast_fixed_process_log.txt'), lt.log.ERROR) - surface = Surface2DParabolic(initial_focal_lengths_xy=(150.0, 150), robust_least_squares=False, downsample=1) + cls.sofast_single_facet: ProcessSofastFixed = None + cls.sofast_facet_ensemble: ProcessSofastFixed = None + cls.exp_slopes_xy_single_facet: np.ndarray = None + cls.exp_slopes_xy_facet_ensemble: list[np.ndarray] = None + + cls._process_facet_ensemble(cls) + cls._process_single_facet(cls) + + def _process_facet_ensemble(self): + # Definitions + file_camera = join(self.dir_sofast_common, "camera_sofast.h5") + file_facet = join(self.dir_sofast_common, "Facet_split_NSTTF.json") + file_ensemble = join(self.dir_sofast_common, 'Ensemble_split_NSTTF_facet.json') + file_ori = join(self.dir_sofast_common, 'spatial_orientation.h5') + file_dot_locs = join(self.dir_sofast_fixed, 'data_measurement/fixed_pattern_dot_locations.h5') + file_meas = join(self.dir_sofast_fixed, 'data_measurement/measurement_facet_ensemble.h5') + file_exp = join(self.dir_sofast_fixed, 'data_expected/calculation_facet_ensemble.h5') + + # Load data + camera = Camera.load_from_hdf(file_camera) + ensemble_data = DefinitionEnsemble.load_from_json(file_ensemble) + facet_data = [DefinitionFacet.load_from_json(file_facet)] * ensemble_data.num_facets + dot_locs = DotLocationsFixedPattern.load_from_hdf(file_dot_locs) + orientation = SpatialOrientation.load_from_hdf(file_ori) + measurement = MeasurementSofastFixed.load_from_hdf(file_meas) + surfaces = [ + Surface2DParabolic(initial_focal_lengths_xy=(150.0, 150), robust_least_squares=False, downsample=1) + ] * ensemble_data.num_facets + + # Load expected data + self.exp_slopes_xy_facet_ensemble = [] + for idx_facet in range(ensemble_data.num_facets): + datasets = [f'DataSofastCalculation/facet/facet_{idx_facet:03d}/SlopeSolverData/slopes_facet_xy'] + data = h5.load_hdf5_datasets(datasets, file_exp) + self.exp_slopes_xy_facet_ensemble.append(data['slopes_facet_xy']) + + # Instantiate class + params = ParamsSofastFixed.load_from_hdf(file_exp, 'DataSofastInput/') + self.sofast_facet_ensemble = ProcessSofastFixed(orientation, camera, dot_locs) + self.sofast_facet_ensemble.params = params + self.sofast_facet_ensemble.load_measurement_data(measurement) + + # Process + pts_known = Vxy(((853, 1031), (680, 683))) + xys_known = ((0, 0), (15, 0)) + self.sofast_facet_ensemble.process_multi_facet_optic(facet_data, surfaces, ensemble_data, pts_known, xys_known) + + def _process_single_facet(self): + # Definitions + file_camera = join(self.dir_sofast_common, "camera_sofast.h5") + file_facet = join(self.dir_sofast_common, "Facet_NSTTF.json") + file_ori = join(self.dir_sofast_common, 'spatial_orientation.h5') + file_dot_locs = join(self.dir_sofast_fixed, 'data_measurement/fixed_pattern_dot_locations.h5') + file_meas = join(self.dir_sofast_fixed, 'data_measurement/measurement_facet.h5') + file_exp = join(self.dir_sofast_fixed, 'data_expected/calculation_facet.h5') # Load data + surface = Surface2DParabolic(initial_focal_lengths_xy=(150.0, 150), robust_least_squares=False, downsample=1) camera = Camera.load_from_hdf(file_camera) facet_data = DefinitionFacet.load_from_json(file_facet) dot_locs = DotLocationsFixedPattern.load_from_hdf(file_dot_locs) @@ -56,37 +104,65 @@ def setUpClass(cls): # Load expected data datasets = ['DataSofastCalculation/facet/facet_000/SlopeSolverData/slopes_facet_xy'] data = h5.load_hdf5_datasets(datasets, file_exp) - cls.exp_slopes_xy = data['slopes_facet_xy'] + self.exp_slopes_xy_single_facet = data['slopes_facet_xy'] # Instantiate class params = ParamsSofastFixed.load_from_hdf(file_exp, 'DataSofastInput/') - cls.process_sofast_fixed = ProcessSofastFixed(orientation, camera, dot_locs) - cls.process_sofast_fixed.params = params - cls.process_sofast_fixed.load_measurement_data(measurement) + self.sofast_single_facet = ProcessSofastFixed(orientation, camera, dot_locs) + self.sofast_single_facet.params = params + self.sofast_single_facet.load_measurement_data(measurement) # Process pt_known = measurement.origin xy_known = (0, 0) - cls.process_sofast_fixed.process_single_facet_optic(facet_data, surface, pt_known, xy_known) + self.sofast_single_facet.process_single_facet_optic(facet_data, surface, pt_known, xy_known) - def test_save_as_hdf(self): + def test_save_facet_ensemble_as_hdf(self): """Tests saving to HDF file""" - self.process_sofast_fixed.save_to_hdf(join(self.save_dir, 'data_calculation_sofast_fixed.h5')) + self.sofast_facet_ensemble.save_to_hdf(join(self.save_dir, 'data_calculation_facet_ensemble.h5')) - def test_save_figure(self): - """Tests generating and saving a figure""" + def test_save_single_facet_as_hdf(self): + """Tests saving to HDF file""" + self.sofast_single_facet.save_to_hdf(join(self.save_dir, 'data_calculation_single_facet.h5')) + + def test_save_facet_ensemble_slope_figure(self): + """Tests genreating and saving a figure of a facet ensemble""" figure_control = rcfg.RenderControlFigure(tile_array=(1, 1), tile_square=True) axis_control_m = rca.meters() fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') - mirror = self.process_sofast_fixed.get_mirror('bilinear').mirror - mirror.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) - fig_mng.save(self.save_dir, 'sofast_fixed_orthorectified_slope_magnitude', 'png') + ensemble = self.sofast_facet_ensemble.get_mirror('bilinear') + ensemble.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) + fig_mng.save(self.save_dir, 'slope_magnitude_facet_ensemble', 'png') + + def test_save_single_facet_slope_figure(self): + """Tests generating and saving a figure of a single facet""" + figure_control = rcfg.RenderControlFigure(tile_array=(1, 1), tile_square=True) + axis_control_m = rca.meters() - def test_slopes_xy(self): + fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') + facet = self.sofast_single_facet.get_mirror('bilinear') + facet.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) + fig_mng.save(self.save_dir, 'slope_magnitude_single_facet', 'png') + + def test_slopes_xy_facet_ensemble(self): + """Tests slope data""" + for idx_facet in range(self.sofast_facet_ensemble.num_facets): + with self.subTest(i=idx_facet): + np.testing.assert_allclose( + self.sofast_facet_ensemble.data_slope_solver[idx_facet].slopes_facet_xy, + self.exp_slopes_xy_facet_ensemble[idx_facet], + rtol=0, + atol=1e-6, + ) + + def test_slopes_xy_single_facet(self): """Tests slope data""" np.testing.assert_allclose( - self.process_sofast_fixed.data_slope_solver[0].slopes_facet_xy, self.exp_slopes_xy, rtol=0, atol=1e-6 + self.sofast_single_facet.data_slope_solver[0].slopes_facet_xy, + self.exp_slopes_xy_single_facet, + rtol=0, + atol=1e-6, ) def tearDown(self) -> None: From 2a0d0eed3ebb22a2b4f569b3592f0d41b1addfd1 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:33:49 -0600 Subject: [PATCH 31/54] Unified PSFr and PSFi data container names --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 114 +++++++++--------- opencsp/app/sofast/lib/ProcessSofastFringe.py | 34 +++--- .../sofast/test/test_ProcessSofastFixed.py | 4 +- 3 files changed, 77 insertions(+), 75 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index feba07bca..36d530774 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -54,8 +54,6 @@ def __init__( self.camera = camera self.fixed_pattern_dot_locs = fixed_pattern_dot_locs self.params = ParamsSofastFixed() - self.optic_type: Literal['single_facet', 'multi_facet', 'undefined'] = None - self.num_facets: int = None # Measurement data self.measurement: MeasurementSofastFixed @@ -70,20 +68,24 @@ def __init__( self.blob_detector.filterByConvexity = False self.blob_detector.filterByInertia = False - # Calculations - self.data_facet: list[DefinitionFacet] - self.data_ensemble: DefinitionEnsemble - self.data_surface: list[Surface2DAbstract] - self.data_ensemble: DefinitionEnsemble - self.data_slope_solver: list[SlopeSolverData] + # Instantiate data containers + self.num_facets: int = None + self.optic_type: Literal['undefined', 'single', 'multi'] = None + self.data_facet_def: list[DefinitionFacet] + self.data_ensemble_def: DefinitionEnsemble + + self.data_surfaces: list[Surface2DAbstract] + self.data_geometry_general: cdc.CalculationDataGeometryGeneral self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] self.data_error: cdc.CalculationError + + self.data_calculation_facet: list[SlopeSolverData] self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] - self.blob_index: BlobIndex self.slope_solver: list[SlopeSolver] + self.blob_index: BlobIndex def find_blobs(self, pts_known: Vxy, xys_known: tuple[tuple[int, int]]) -> BlobIndex: """Finds blobs in image @@ -120,7 +122,7 @@ def _calculate_mask(self) -> ndarray: ] mask = ip.calc_mask_raw(images, *params) - if (self.optic_type == 'multi_facet') and self.params.mask.keep_largest_area: + if (self.optic_type == 'multi') and self.params.mask.keep_largest_area: lt.warn( '"keep_largest_area" mask processing option cannot be used ' 'for multifacet ensembles. This will be turned off.' @@ -150,7 +152,7 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n self.data_image_processing_facet, # list self.data_error, ) = pr.process_singlefacet_geometry( - self.data_facet[0], + self.data_facet_def[0], mask_raw, self.measurement.v_measure_point_facet, self.measurement.dist_optic_screen, @@ -186,7 +188,7 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n u_pixel_pointing_facet = u_pixel_pointing_cam.rotate(rot_cam_optic).as_Vxyz() # Update debug data - self.params.debug_slope_solver.optic_data = self.data_facet[0] + self.params.debug_slope_solver.optic_data = self.data_facet_def[0] # Construct surface kwargs return { @@ -195,10 +197,10 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n 'u_measure_pixel_pointing_optic': u_cam_measure_point_facet, 'v_screen_points_facet': v_screen_points_facet, 'v_optic_screen_optic': v_optic_screen_optic, - 'v_align_point_optic': self.data_facet[0].v_facet_centroid, + 'v_align_point_optic': self.data_facet_def[0].v_facet_centroid, 'dist_optic_screen': self.measurement.dist_optic_screen, 'debug': self.params.debug_slope_solver, - 'surface': self.data_surface[0], + 'surface': self.data_surfaces[0], } def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np.ndarray) -> list[dict]: @@ -210,8 +212,8 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np self.data_image_processing_facet, # list self.data_error, ) = pr.process_multifacet_geometry( - self.data_facet, - self.data_ensemble, + self.data_facet_def, + self.data_ensemble_def, mask_raw, self.measurement.v_measure_point_facet, self.orientation, @@ -230,12 +232,12 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np pts_image, pts_index_xy = blob_index.get_data_in_region(loop) # Define optic orientation w.r.t. camera - rot_facet_ensemble = self.data_ensemble.r_facet_ensemble[idx_facet] + rot_facet_ensemble = self.data_ensemble_def.r_facet_ensemble[idx_facet] rot_ensemble_cam = self.data_geometry_general.r_optic_cam_refine_2 rot_facet_cam = rot_ensemble_cam * rot_facet_ensemble v_cam_ensemble_cam = self.data_geometry_general.v_cam_optic_cam_refine_3 - v_ensemble_facet_ensemble = self.data_ensemble.v_facet_locations[idx_facet] + v_ensemble_facet_ensemble = self.data_ensemble_def.v_facet_locations[idx_facet] v_ensemble_facet_cam = v_ensemble_facet_ensemble.rotate(rot_ensemble_cam) v_cam_facet_cam = v_cam_ensemble_cam + v_ensemble_facet_cam @@ -259,7 +261,7 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np u_pixel_pointing_facet = u_pixel_pointing_cam.rotate(rot_cam_facet).as_Vxyz() # Update debug data - self.params.debug_slope_solver.optic_data = self.data_facet[idx_facet] + self.params.debug_slope_solver.optic_data = self.data_facet_def[idx_facet] # Construct list of surface kwargs kwargs_list.append( @@ -272,19 +274,19 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np 'v_align_point_optic': self.data_geometry_facet[idx_facet].v_align_point_facet, 'dist_optic_screen': self.data_geometry_facet[idx_facet].measure_point_screen_distance, 'debug': self.params.debug_slope_solver, - 'surface': self.data_surface[idx_facet], + 'surface': self.data_surfaces[idx_facet], } ) return kwargs_list def process_single_facet_optic( - self, data_facet: DefinitionFacet, surface: Surface2DAbstract, pt_known: Vxy, xy_known: tuple[int, int] + self, data_facet_def: DefinitionFacet, surface: Surface2DAbstract, pt_known: Vxy, xy_known: tuple[int, int] ) -> None: - """Processes single facet optic. Saves data to self.data_slope_solver + """Processes single facet optic. Saves data to self.data_calculation_facet Parameters ---------- - data_facet : DefinitionFacet objec + data_facet_def : DefinitionFacet objec Facet definition surface : Surface2DAbstract Surface 2d class @@ -300,10 +302,10 @@ def process_single_facet_optic( ValueError, f'Only 1 pt_known can be given for single facet processing but {len(pt_known):d} were given' ) - self.optic_type = 'single_facet' + self.optic_type = 'single' self.num_facets = 1 - self.data_facet = [data_facet.copy()] - self.data_surface = [surface] + self.data_facet_def = [data_facet_def.copy()] + self.data_surfaces = [surface] # Find blobs self.blob_index = self.find_blobs(pt_known, (xy_known,)) @@ -319,23 +321,23 @@ def process_single_facet_optic( slope_solver.fit_surface() slope_solver.solve_slopes() self.slope_solver = [slope_solver] - self.data_slope_solver = [slope_solver.get_data()] + self.data_calculation_facet = [slope_solver.get_data()] def process_multi_facet_optic( self, - data_facet: list[DefinitionFacet], + data_facet_def: list[DefinitionFacet], surfaces: list[Surface2DAbstract], - data_ensemble: DefinitionEnsemble, + data_ensemble_def: DefinitionEnsemble, pts_known: Vxy, xys_known: tuple[tuple[int, int]], ) -> None: - """Processes multi facet optic. Saves data to self.data_slope_solver + """Processes multi facet optic. Saves data to self.data_calculation_facet Parameters ---------- - data_facet : list[DefinitionFacet] + data_facet_def : list[DefinitionFacet] List of facet data objects. - data_ensemble : DefinitionEnsemble + data_ensemble_def : DefinitionEnsemble Ensemble data object. surfaces : list[Surface2dAbstract] List of surface type definitions @@ -348,19 +350,19 @@ def process_multi_facet_optic( """ # Check inputs - if len(data_facet) != len(surfaces) != len(pts_known) != len(xys_known): + if len(data_facet_def) != len(surfaces) != len(pts_known) != len(xys_known): lt.error_and_raise( ValueError, - 'Length of data_facet does not equal length of data_surface' - + f'data_facet={len(data_facet)}, surface_data={len(surfaces)}, ' + 'Length of data_facet_def does not equal length of data_surfaces' + + f'data_facet_def={len(data_facet_def)}, surface_data={len(surfaces)}, ' + f'pts_known={len(pts_known)}, xys_known={len(xys_known)}', ) - self.optic_type = 'multi_facet' - self.num_facets = len(data_facet) - self.data_facet = [d.copy() for d in data_facet] - self.data_ensemble = data_ensemble.copy() - self.data_surface = surfaces + self.optic_type = 'multi' + self.num_facets = len(data_facet_def) + self.data_facet_def = [d.copy() for d in data_facet_def] + self.data_ensemble_def = data_ensemble_def.copy() + self.data_surfaces = surfaces # Find blobs self.blob_index = self.find_blobs(pts_known, xys_known) @@ -373,13 +375,13 @@ def process_multi_facet_optic( # Calculate slope self.slope_solver = [] - self.data_slope_solver = [] + self.data_calculation_facet = [] for kwargs in kwargs_list: slope_solver = SlopeSolver(**kwargs) slope_solver.fit_surface() slope_solver.solve_slopes() self.slope_solver.append(slope_solver) - self.data_slope_solver.append(slope_solver.get_data()) + self.data_calculation_facet.append(slope_solver.get_data()) # Calculate facet pointing self._calculate_facet_pointing() @@ -395,7 +397,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera facet pointing directions. If, int, that facet index is assumed to have perfect pointing. """ - if self.data_slope_solver is None: + if self.data_calculation_facet is None: lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') if (reference != 'average') and not isinstance(reference, int): lt.error_and_raise(ValueError, 'Given reference must be int or "average".') @@ -412,9 +414,9 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera for idx in range(self.num_facets): # Get transformation from user-input and slope solving trans_1 = TransformXYZ.from_R_V( - self.data_ensemble.r_facet_ensemble[idx], self.data_ensemble.v_facet_locations[idx] + self.data_ensemble_def.r_facet_ensemble[idx], self.data_ensemble_def.v_facet_locations[idx] ) - trans_2 = self.data_slope_solver[idx].trans_alignment + trans_2 = self.data_calculation_facet[idx].trans_alignment # Calculate inverse of slope solving transform trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) # Create local to global transformation @@ -439,7 +441,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera # Calculate global slope and surface points for idx in range(self.num_facets): # Get slope data - slopes = self.data_slope_solver[idx].slopes_facet_xy # facet coordinats + slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats # Calculate surface normals in local (facet) coordinates u_surf_norms = np.ones((3, slopes.shape[1])) @@ -453,7 +455,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera # Convert surface points to global (ensemble) coordinates v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( - self.data_slope_solver[idx].v_surf_points_facet + self.data_calculation_facet[idx].v_surf_points_facet ) # Calculate pointing vectors in ensemble coordinates @@ -477,9 +479,9 @@ def save_to_hdf(self, file: str, prefix: str = ''): """ # Sofast input parameters self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') - for idx, (data_facet, data_surface) in enumerate(zip(self.data_facet, self.data_surface)): - data_surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') - data_facet.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') + for idx, (data_facet_def, data_surfaces) in enumerate(zip(self.data_facet_def, self.data_surfaces)): + data_surfaces.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') + data_facet_def.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') # General self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') @@ -488,7 +490,7 @@ def save_to_hdf(self, file: str, prefix: str = ''): # Calculations for idx_facet in range(self.num_facets): - self.data_slope_solver[idx_facet].save_to_hdf( + self.data_calculation_facet[idx_facet].save_to_hdf( file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) self.data_geometry_facet[idx_facet].save_to_hdf( @@ -508,25 +510,25 @@ def get_mirror( trans_list = [] for idx_facet in range(self.num_facets): # Get mirror surface points - v_surf_pts = self.data_slope_solver[idx_facet].v_surf_points_facet + v_surf_pts = self.data_calculation_facet[idx_facet].v_surf_points_facet # Get point normal vectors v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_slope_solver[idx_facet].slopes_facet_xy + v_normals_data[:2, :] = self.data_calculation_facet[idx_facet].slopes_facet_xy v_normals_data[:2, :] *= -1 v_normals = Uxyz(v_normals_data) # Get optic shape - shape = RegionXY.from_vertices(self.data_facet[idx_facet].v_facet_corners.projXY()) + shape = RegionXY.from_vertices(self.data_facet_def[idx_facet].v_facet_corners.projXY()) # Create mirror mirror = MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) # Create facet facets.append(Facet(mirror)) # Get facet pointing if multi-facet - if self.optic_type == 'multi_facet': + if self.optic_type == 'multi': trans: TransformXYZ = self.data_calculation_ensemble[idx_facet].trans_facet_ensemble trans_list.append(trans) # Return either ensemble or facet - if self.optic_type == 'multi_facet': + if self.optic_type == 'multi': ensemble = FacetEnsemble(facets) ensemble.set_facet_transform_list(trans_list) return ensemble diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index a8784752e..8399fb2c4 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -63,8 +63,8 @@ class ProcessSofastFringe(HDF5_SaveAbstract): - data_error - errors between optic/sceario definitions and internal calculations - data_image_processing_general - general optic image processing calculations - data_image_processing_facet - facet specific image processing calculations - - data_characterization_facet - facet specific slope calculations in facet reference frame - - data_characterization_ensemble - facet specific slope/pointing calculations in ensemble reference frame + - data_calculation_facet - facet specific slope calculations in facet reference frame + - data_calculation_ensemble - facet specific slope/pointing calculations in ensemble reference frame External Data Storage --------------------- @@ -198,8 +198,8 @@ def __init__( self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None self.data_error: cdc.CalculationError = None - self.data_characterization_facet: list[SlopeSolverData] = None - self.data_characterization_ensemble: list[cdc.CalculationFacetEnsemble] = None + self.data_calculation_facet: list[SlopeSolverData] = None + self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None def help(self) -> None: """Prints Sofast doc string""" @@ -514,7 +514,7 @@ def _solve_slopes(self, surfaces: list[Surface2DAbstract]) -> None: lt.error_and_raise(ValueError, 'Not all facets geometrically processed; cannot solve slopes.') # Loop through all input facets and solve slopes - self.data_characterization_facet = [] + self.data_calculation_facet = [] for facet_idx in range(self.num_facets): # Check debug status if self.params.debug_slope_solver.debug_active: @@ -543,7 +543,7 @@ def _solve_slopes(self, surfaces: list[Surface2DAbstract]) -> None: slope_solver.solve_slopes() # Save slope data - self.data_characterization_facet.append(slope_solver.get_data()) + self.data_calculation_facet.append(slope_solver.get_data()) # Save input surface parameters data self.data_surfaces = surfaces @@ -559,7 +559,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera facet pointing directions. If, int, that facet index is assumed to have perfect pointing. """ - if self.data_characterization_facet is None: + if self.data_calculation_facet is None: lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') if reference != 'average' and not isinstance(reference, int): lt.error_and_raise(ValueError, 'Given reference must be int or "average".') @@ -569,7 +569,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera ) # Instantiate data list - self.data_characterization_ensemble = [] + self.data_calculation_ensemble = [] trans_facet_ensemble_list = [] v_pointing_matrix = np.zeros((3, self.num_facets)) @@ -578,7 +578,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera trans_1 = TransformXYZ.from_R_V( self.data_ensemble_def.r_facet_ensemble[idx], self.data_ensemble_def.v_facet_locations[idx] ) - trans_2 = self.data_characterization_facet[idx].trans_alignment + trans_2 = self.data_calculation_facet[idx].trans_alignment # Calculate inverse of slope solving transform trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) # Create local to global transformation @@ -603,7 +603,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera # Calculate global slope and surface points for idx in range(self.num_facets): # Get slope data - slopes = self.data_characterization_facet[idx].slopes_facet_xy # facet coordinats + slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats # Calculate surface normals in local (facet) coordinates u_surf_norms = np.ones((3, slopes.shape[1])) @@ -617,7 +617,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera # Convert surface points to global (ensemble) coordinates v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( - self.data_characterization_facet[idx].v_surf_points_facet + self.data_calculation_facet[idx].v_surf_points_facet ) # Calculate pointing vectors in ensemble coordinates @@ -626,7 +626,7 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera data = cdc.CalculationFacetEnsemble( trans_facet_ensemble_list[idx], slopes_ensemble_xy, v_surf_points_ensemble, v_facet_pointing_ensemble ) - self.data_characterization_ensemble.append(data) + self.data_calculation_ensemble.append(data) def get_optic( self, interp_type: Literal['bilinear', 'clough_tocher', 'nearest'] = 'nearest' @@ -648,7 +648,7 @@ def get_optic( """ facets = [] trans_list = [] - for idx_mirror, data in enumerate(self.data_characterization_facet): + for idx_mirror, data in enumerate(self.data_calculation_facet): # Get surface points pts: Vxyz = data.v_surf_points_facet # Get normals from slopes @@ -674,7 +674,7 @@ def get_optic( facet = Facet(mirror) # Locate facet within ensemble if self.optic_type == 'multi': - trans: TransformXYZ = self.data_characterization_ensemble[idx_mirror].trans_facet_ensemble + trans: TransformXYZ = self.data_calculation_ensemble[idx_mirror].trans_facet_ensemble trans_list.append(trans) # Save facets facets.append(facet) @@ -725,7 +725,7 @@ def save_to_hdf(self, file: str, prefix: str = ''): # Calculations, one per facet for idx_facet in range(self.num_facets): # Save facet slope data - self.data_characterization_facet[idx_facet].save_to_hdf( + self.data_calculation_facet[idx_facet].save_to_hdf( file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) # Save facet geometry data @@ -737,8 +737,8 @@ def save_to_hdf(self, file: str, prefix: str = ''): file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) - if self.data_characterization_ensemble: + if self.data_calculation_ensemble: # Save ensemle data - self.data_characterization_ensemble[idx_facet].save_to_hdf( + self.data_calculation_ensemble[idx_facet].save_to_hdf( file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 4ab582d9b..1ac9fcef5 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -150,7 +150,7 @@ def test_slopes_xy_facet_ensemble(self): for idx_facet in range(self.sofast_facet_ensemble.num_facets): with self.subTest(i=idx_facet): np.testing.assert_allclose( - self.sofast_facet_ensemble.data_slope_solver[idx_facet].slopes_facet_xy, + self.sofast_facet_ensemble.data_calculation_facet[idx_facet].slopes_facet_xy, self.exp_slopes_xy_facet_ensemble[idx_facet], rtol=0, atol=1e-6, @@ -159,7 +159,7 @@ def test_slopes_xy_facet_ensemble(self): def test_slopes_xy_single_facet(self): """Tests slope data""" np.testing.assert_allclose( - self.sofast_single_facet.data_slope_solver[0].slopes_facet_xy, + self.sofast_single_facet.data_calculation_facet[0].slopes_facet_xy, self.exp_slopes_xy_single_facet, rtol=0, atol=1e-6, From 90e6b4837003fd8fbc8adac04bbd89c0345e30ce Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:37:30 -0600 Subject: [PATCH 32/54] Changed get_mirror to get_optic in SFi --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 66 +++++++++---------- .../sofast/test/test_ProcessSofastFixed.py | 4 +- 2 files changed, 35 insertions(+), 35 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 36d530774..0e33fe0bd 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -466,6 +466,39 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera ) self.data_calculation_ensemble.append(data) + def get_optic( + self, interpolation_type: Literal['given', 'bilinear', 'clough_tocher', 'nearest'] = 'nearest' + ) -> Facet | FacetEnsemble: + """Returns mirror object with slope data""" + facets = [] + trans_list = [] + for idx_facet in range(self.num_facets): + # Get mirror surface points + v_surf_pts = self.data_calculation_facet[idx_facet].v_surf_points_facet + # Get point normal vectors + v_normals_data = np.ones((3, len(v_surf_pts))) + v_normals_data[:2, :] = self.data_calculation_facet[idx_facet].slopes_facet_xy + v_normals_data[:2, :] *= -1 + v_normals = Uxyz(v_normals_data) + # Get optic shape + shape = RegionXY.from_vertices(self.data_facet_def[idx_facet].v_facet_corners.projXY()) + # Create mirror + mirror = MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) + # Create facet + facets.append(Facet(mirror)) + # Get facet pointing if multi-facet + if self.optic_type == 'multi': + trans: TransformXYZ = self.data_calculation_ensemble[idx_facet].trans_facet_ensemble + trans_list.append(trans) + + # Return either ensemble or facet + if self.optic_type == 'multi': + ensemble = FacetEnsemble(facets) + ensemble.set_facet_transform_list(trans_list) + return ensemble + else: + return facets[0] + def save_to_hdf(self, file: str, prefix: str = ''): """Saves data to given HDF5 file. Data is stored in CalculationsFixedPattern/... @@ -501,36 +534,3 @@ def save_to_hdf(self, file: str, prefix: str = ''): ) lt.info(f'SofastFixed data saved to: {file:s} with prefix: {prefix:s}') - - def get_mirror( - self, interpolation_type: Literal['given', 'bilinear', 'clough_tocher', 'nearest'] = 'nearest' - ) -> Facet | FacetEnsemble: - """Returns mirror object with slope data""" - facets = [] - trans_list = [] - for idx_facet in range(self.num_facets): - # Get mirror surface points - v_surf_pts = self.data_calculation_facet[idx_facet].v_surf_points_facet - # Get point normal vectors - v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_calculation_facet[idx_facet].slopes_facet_xy - v_normals_data[:2, :] *= -1 - v_normals = Uxyz(v_normals_data) - # Get optic shape - shape = RegionXY.from_vertices(self.data_facet_def[idx_facet].v_facet_corners.projXY()) - # Create mirror - mirror = MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) - # Create facet - facets.append(Facet(mirror)) - # Get facet pointing if multi-facet - if self.optic_type == 'multi': - trans: TransformXYZ = self.data_calculation_ensemble[idx_facet].trans_facet_ensemble - trans_list.append(trans) - - # Return either ensemble or facet - if self.optic_type == 'multi': - ensemble = FacetEnsemble(facets) - ensemble.set_facet_transform_list(trans_list) - return ensemble - else: - return facets[0] diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 1ac9fcef5..bfe2e54d2 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -131,7 +131,7 @@ def test_save_facet_ensemble_slope_figure(self): axis_control_m = rca.meters() fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') - ensemble = self.sofast_facet_ensemble.get_mirror('bilinear') + ensemble = self.sofast_facet_ensemble.get_optic('bilinear') ensemble.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) fig_mng.save(self.save_dir, 'slope_magnitude_facet_ensemble', 'png') @@ -141,7 +141,7 @@ def test_save_single_facet_slope_figure(self): axis_control_m = rca.meters() fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') - facet = self.sofast_single_facet.get_mirror('bilinear') + facet = self.sofast_single_facet.get_optic('bilinear') facet.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) fig_mng.save(self.save_dir, 'slope_magnitude_single_facet', 'png') From 0924ae7e804e9639f9085db08ab79e58d39f0961 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 13:51:36 -0600 Subject: [PATCH 33/54] Changed slope_solver to slope_solvers --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 30 ++++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 0e33fe0bd..ef89be8c2 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -71,21 +71,21 @@ def __init__( # Instantiate data containers self.num_facets: int = None self.optic_type: Literal['undefined', 'single', 'multi'] = None - self.data_facet_def: list[DefinitionFacet] - self.data_ensemble_def: DefinitionEnsemble + self.data_facet_def: list[DefinitionFacet] = None + self.data_ensemble_def: DefinitionEnsemble = None - self.data_surfaces: list[Surface2DAbstract] + self.data_surfaces: list[Surface2DAbstract] = None - self.data_geometry_general: cdc.CalculationDataGeometryGeneral - self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral - self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] - self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] - self.data_error: cdc.CalculationError + self.data_geometry_general: cdc.CalculationDataGeometryGeneral = None + self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral = None + self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] = None + self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None + self.data_error: cdc.CalculationError = None - self.data_calculation_facet: list[SlopeSolverData] - self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] - self.slope_solver: list[SlopeSolver] - self.blob_index: BlobIndex + self.data_calculation_facet: list[SlopeSolverData] = None + self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None + self.slope_solvers: list[SlopeSolver] = None + self.blob_index: BlobIndex = None def find_blobs(self, pts_known: Vxy, xys_known: tuple[tuple[int, int]]) -> BlobIndex: """Finds blobs in image @@ -320,7 +320,7 @@ def process_single_facet_optic( slope_solver = SlopeSolver(**kwargs) slope_solver.fit_surface() slope_solver.solve_slopes() - self.slope_solver = [slope_solver] + self.slope_solvers = [slope_solver] self.data_calculation_facet = [slope_solver.get_data()] def process_multi_facet_optic( @@ -374,13 +374,13 @@ def process_multi_facet_optic( kwargs_list = self._process_optic_multifacet_geometry(self.blob_index, mask_raw) # Calculate slope - self.slope_solver = [] + self.slope_solvers = [] self.data_calculation_facet = [] for kwargs in kwargs_list: slope_solver = SlopeSolver(**kwargs) slope_solver.fit_surface() slope_solver.solve_slopes() - self.slope_solver.append(slope_solver) + self.slope_solvers.append(slope_solver) self.data_calculation_facet.append(slope_solver.get_data()) # Calculate facet pointing From 00a174802b32eb7349f6df90ac9d108dad0a9a85 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 14:00:34 -0600 Subject: [PATCH 34/54] Instantiated ProcessSofastAbstract and integrated into SFr and SFi --- .../app/sofast/lib/ProcessSofastAbstract.py | 47 +++++++++++++++++++ opencsp/app/sofast/lib/ProcessSofastFixed.py | 27 +++-------- opencsp/app/sofast/lib/ProcessSofastFringe.py | 30 +++--------- .../test/test_integration_single_facet.py | 6 +-- 4 files changed, 62 insertions(+), 48 deletions(-) create mode 100644 opencsp/app/sofast/lib/ProcessSofastAbstract.py diff --git a/opencsp/app/sofast/lib/ProcessSofastAbstract.py b/opencsp/app/sofast/lib/ProcessSofastAbstract.py new file mode 100644 index 000000000..79b9563f0 --- /dev/null +++ b/opencsp/app/sofast/lib/ProcessSofastAbstract.py @@ -0,0 +1,47 @@ +from typing import Literal + +import numpy as np + +import opencsp.app.sofast.lib.AbstractMeasurementSofast as ams +import opencsp.app.sofast.lib.calculation_data_classes as cdc +from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble +from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet +from opencsp.app.sofast.lib.DisplayShape import DisplayShape as Display +import opencsp.app.sofast.lib.image_processing as ip +from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe +from opencsp.app.sofast.lib.ParamsSofastFringe import ParamsSofastFringe +import opencsp.app.sofast.lib.process_optics_geometry as po +from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation +from opencsp.common.lib.camera.Camera import Camera +from opencsp.common.lib.csp.Facet import Facet +from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble +from opencsp.common.lib.csp.MirrorPoint import MirrorPoint +from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver +from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData +from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract +from opencsp.common.lib.geometry.RegionXY import RegionXY +from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ +from opencsp.common.lib.geometry.Uxyz import Uxyz +from opencsp.common.lib.geometry.Vxy import Vxy +from opencsp.common.lib.geometry.Vxyz import Vxyz +from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract +import opencsp.common.lib.tool.log_tools as lt + + +class ProcessSofastAbstract: + def __init__(self): + self.num_facets: int = None + self.optic_type: Literal['undefined', 'single', 'multi'] = None + self.data_facet_def: list[DefinitionFacet] = None + self.data_ensemble_def: DefinitionEnsemble = None + + self.data_surfaces: list[Surface2DAbstract] = None + + self.data_geometry_general: cdc.CalculationDataGeometryGeneral = None + self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral = None + self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] = None + self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None + self.data_error: cdc.CalculationError = None + + self.data_calculation_facet: list[SlopeSolverData] = None + self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index ef89be8c2..05c1a9b78 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -15,6 +15,7 @@ import opencsp.app.sofast.lib.image_processing as ip from opencsp.app.sofast.lib.MeasurementSofastFixed import MeasurementSofastFixed from opencsp.app.sofast.lib.ParamsSofastFixed import ParamsSofastFixed +from opencsp.app.sofast.lib.ProcessSofastAbstract import ProcessSofastAbstract import opencsp.app.sofast.lib.process_optics_geometry as pr from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera @@ -22,7 +23,6 @@ from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver -from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract from opencsp.common.lib.geometry.RegionXY import RegionXY from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ @@ -33,7 +33,7 @@ import opencsp.common.lib.tool.log_tools as lt -class ProcessSofastFixed(HDF5_SaveAbstract): +class ProcessSofastFixed(HDF5_SaveAbstract, ProcessSofastAbstract): """Fixed Pattern Deflectrometry data processing class""" def __init__( @@ -50,14 +50,14 @@ def __init__( fixed_pattern_dot_locs : DotLocationsFixedPattern Image projection dictionary """ + super().__init__() + self.orientation = orientation self.camera = camera + self.measurement: MeasurementSofastFixed self.fixed_pattern_dot_locs = fixed_pattern_dot_locs self.params = ParamsSofastFixed() - # Measurement data - self.measurement: MeasurementSofastFixed - # Define blob detector self.blob_detector: cv.SimpleBlobDetector_Params = cv.SimpleBlobDetector_Params() self.blob_detector.minDistBetweenBlobs = 2 @@ -68,22 +68,7 @@ def __init__( self.blob_detector.filterByConvexity = False self.blob_detector.filterByInertia = False - # Instantiate data containers - self.num_facets: int = None - self.optic_type: Literal['undefined', 'single', 'multi'] = None - self.data_facet_def: list[DefinitionFacet] = None - self.data_ensemble_def: DefinitionEnsemble = None - - self.data_surfaces: list[Surface2DAbstract] = None - - self.data_geometry_general: cdc.CalculationDataGeometryGeneral = None - self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral = None - self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] = None - self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None - self.data_error: cdc.CalculationError = None - - self.data_calculation_facet: list[SlopeSolverData] = None - self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None + # Instantiate other data containers self.slope_solvers: list[SlopeSolver] = None self.blob_index: BlobIndex = None diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index 8399fb2c4..b9a723aa9 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -13,6 +13,7 @@ import opencsp.app.sofast.lib.image_processing as ip from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe from opencsp.app.sofast.lib.ParamsSofastFringe import ParamsSofastFringe +from opencsp.app.sofast.lib.ProcessSofastAbstract import ProcessSofastAbstract import opencsp.app.sofast.lib.process_optics_geometry as po from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera @@ -20,7 +21,6 @@ from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver -from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract from opencsp.common.lib.geometry.RegionXY import RegionXY from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ @@ -31,7 +31,7 @@ import opencsp.common.lib.tool.log_tools as lt -class ProcessSofastFringe(HDF5_SaveAbstract): +class ProcessSofastFringe(HDF5_SaveAbstract, ProcessSofastAbstract): """Class that processes measurement data captured by a SOFAST system. Computes optic surface slope and saves data to HDF5 format. @@ -175,32 +175,14 @@ def __init__( display : Display Display object used to capture data. """ - # Store data + super().__init__() + + self.orientation = orientation + self.camera = camera self.measurement = measurement self.display = display - self.camera = camera - self.orientation = orientation - - # Define default calculation parameters self.params = ParamsSofastFringe() - # Instantiate data containers - self.num_facets: int = 0 - self.optic_type: Literal['undefined', 'single', 'multi'] = None - self.data_facet_def: list[DefinitionFacet] = None - self.data_ensemble_def: DefinitionEnsemble = None - - self.data_surfaces: list[Surface2DAbstract] = None - - self.data_geometry_general: cdc.CalculationDataGeometryGeneral = None - self.data_image_processing_general: cdc.CalculationImageProcessingGeneral = None - self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] = None - self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None - self.data_error: cdc.CalculationError = None - - self.data_calculation_facet: list[SlopeSolverData] = None - self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None - def help(self) -> None: """Prints Sofast doc string""" print(self.__doc__) diff --git a/opencsp/app/sofast/test/test_integration_single_facet.py b/opencsp/app/sofast/test/test_integration_single_facet.py index 8e8c9284b..227f5796e 100644 --- a/opencsp/app/sofast/test/test_integration_single_facet.py +++ b/opencsp/app/sofast/test/test_integration_single_facet.py @@ -80,9 +80,9 @@ def setUpClass(cls, base_dir: str | None = None): sofast.process_optic_singlefacet(facet_data, surface) # Store test data - cls.slopes.append(sofast.data_characterization_facet[0].slopes_facet_xy) - cls.surf_coefs.append(sofast.data_characterization_facet[0].surf_coefs_facet) - cls.v_surf_points_facet.append(sofast.data_characterization_facet[0].v_surf_points_facet.data) + cls.slopes.append(sofast.data_calculation_facet[0].slopes_facet_xy) + cls.surf_coefs.append(sofast.data_calculation_facet[0].surf_coefs_facet) + cls.v_surf_points_facet.append(sofast.data_calculation_facet[0].v_surf_points_facet.data) def test_slopes(self): datasets = ['DataSofastCalculation/facet/facet_000/SlopeSolverData/slopes_facet_xy'] From f1a525724664219da735ec483c99ae2697bbc737 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 14:29:19 -0600 Subject: [PATCH 35/54] Added save_to_hdf to PSA. --- .../app/sofast/lib/ProcessSofastAbstract.py | 83 ++++++++++++++----- opencsp/app/sofast/lib/ProcessSofastFixed.py | 43 +--------- opencsp/app/sofast/lib/ProcessSofastFringe.py | 59 +------------ 3 files changed, 66 insertions(+), 119 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastAbstract.py b/opencsp/app/sofast/lib/ProcessSofastAbstract.py index 79b9563f0..86c8a53ba 100644 --- a/opencsp/app/sofast/lib/ProcessSofastAbstract.py +++ b/opencsp/app/sofast/lib/ProcessSofastAbstract.py @@ -1,34 +1,15 @@ from typing import Literal -import numpy as np - -import opencsp.app.sofast.lib.AbstractMeasurementSofast as ams import opencsp.app.sofast.lib.calculation_data_classes as cdc from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet -from opencsp.app.sofast.lib.DisplayShape import DisplayShape as Display -import opencsp.app.sofast.lib.image_processing as ip -from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe -from opencsp.app.sofast.lib.ParamsSofastFringe import ParamsSofastFringe -import opencsp.app.sofast.lib.process_optics_geometry as po -from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation -from opencsp.common.lib.camera.Camera import Camera -from opencsp.common.lib.csp.Facet import Facet -from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble -from opencsp.common.lib.csp.MirrorPoint import MirrorPoint -from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract -from opencsp.common.lib.geometry.RegionXY import RegionXY -from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ -from opencsp.common.lib.geometry.Uxyz import Uxyz -from opencsp.common.lib.geometry.Vxy import Vxy -from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt -class ProcessSofastAbstract: +class ProcessSofastAbstract(HDF5_SaveAbstract): def __init__(self): self.num_facets: int = None self.optic_type: Literal['undefined', 'single', 'multi'] = None @@ -38,10 +19,70 @@ def __init__(self): self.data_surfaces: list[Surface2DAbstract] = None self.data_geometry_general: cdc.CalculationDataGeometryGeneral = None - self.data_image_proccessing_general: cdc.CalculationImageProcessingGeneral = None + self.data_image_processing_general: cdc.CalculationImageProcessingGeneral = None self.data_geometry_facet: list[cdc.CalculationDataGeometryFacet] = None self.data_image_processing_facet: list[cdc.CalculationImageProcessingFacet] = None self.data_error: cdc.CalculationError = None self.data_calculation_facet: list[SlopeSolverData] = None self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None + + self.params = None + + def save_to_hdf(self, file: str, prefix: str = ''): + """Saves data to given file. Data is stored as: PREFIX + Folder/Field_1 + + Parameters + ---------- + file : str + HDF file to save to + prefix : str + Prefix to append to folder path within HDF file (folders must be separated by "/") + """ + # Log + lt.info(f'Saving Sofast data to: {file:s}, in HDF5 folder: "{prefix:s}"') + + # One per measurement + if self.data_error is not None: + self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') + self.data_geometry_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') + self.data_image_processing_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') + + # Sofast parameters + self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') + + # Facet definition + if self.data_facet_def is not None: + for idx_facet, facet_data in enumerate(self.data_facet_def): + facet_data.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx_facet:03d}/') + + # Ensemble definition + if self.data_ensemble_def is not None: + self.data_ensemble_def.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/') + + # Surface definition + for idx_facet, surface in enumerate(self.data_surfaces): + surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx_facet:03d}/') + + # Calculations, one per facet + for idx_facet in range(self.num_facets): + # Save facet slope data + if self.data_calculation_facet is not None: + self.data_calculation_facet[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' + ) + # Save facet geometry data + if self.data_geometry_facet is not None: + self.data_geometry_facet[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' + ) + # Save facet image processing data + if self.data_image_processing_facet is not None: + self.data_image_processing_facet[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' + ) + # Save ensemle data + if self.data_calculation_ensemble is not None: + self.data_calculation_ensemble[idx_facet].save_to_hdf( + file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' + ) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 05c1a9b78..8efda44b3 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -29,11 +29,10 @@ from opencsp.common.lib.geometry.Uxyz import Uxyz from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.geometry.Vxy import Vxy -from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt -class ProcessSofastFixed(HDF5_SaveAbstract, ProcessSofastAbstract): +class ProcessSofastFixed(ProcessSofastAbstract): """Fixed Pattern Deflectrometry data processing class""" def __init__( @@ -132,7 +131,7 @@ def _process_optic_singlefacet_geometry(self, blob_index: BlobIndex, mask_raw: n # Process optic geometry (find mask corners, etc.) ( self.data_geometry_general, - self.data_image_proccessing_general, + self.data_image_processing_general, self.data_geometry_facet, # list self.data_image_processing_facet, # list self.data_error, @@ -192,7 +191,7 @@ def _process_optic_multifacet_geometry(self, blob_index: BlobIndex, mask_raw: np # Process optic geometry (find mask corners, etc.) ( self.data_geometry_general, - self.data_image_proccessing_general, + self.data_image_processing_general, self.data_geometry_facet, # list self.data_image_processing_facet, # list self.data_error, @@ -483,39 +482,3 @@ def get_optic( return ensemble else: return facets[0] - - def save_to_hdf(self, file: str, prefix: str = ''): - """Saves data to given HDF5 file. Data is stored in CalculationsFixedPattern/... - - Parameters - ---------- - file : str - HDF file to save to - prefix : str, optional - Prefix to append to folder path within HDF file (folders must be separated by "/"). - Default is empty string ''. - """ - # Sofast input parameters - self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') - for idx, (data_facet_def, data_surfaces) in enumerate(zip(self.data_facet_def, self.data_surfaces)): - data_surfaces.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') - data_facet_def.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx:03d}/') - - # General - self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - self.data_geometry_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - self.data_image_proccessing_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - - # Calculations - for idx_facet in range(self.num_facets): - self.data_calculation_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - self.data_geometry_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - self.data_image_processing_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - - lt.info(f'SofastFixed data saved to: {file:s} with prefix: {prefix:s}') diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index b9a723aa9..87f0ba4a1 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -27,11 +27,10 @@ from opencsp.common.lib.geometry.Uxyz import Uxyz from opencsp.common.lib.geometry.Vxy import Vxy from opencsp.common.lib.geometry.Vxyz import Vxyz -from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt -class ProcessSofastFringe(HDF5_SaveAbstract, ProcessSofastAbstract): +class ProcessSofastFringe(ProcessSofastAbstract): """Class that processes measurement data captured by a SOFAST system. Computes optic surface slope and saves data to HDF5 format. @@ -668,59 +667,3 @@ def get_optic( return ensemble else: return facets[0] - - def save_to_hdf(self, file: str, prefix: str = ''): - """Saves data to given file. Data is stored as: PREFIX + Folder/Field_1 - - Parameters - ---------- - file : str - HDF file to save to - prefix : str - Prefix to append to folder path within HDF file (folders must be separated by "/") - """ - # Log - lt.info(f'Saving SofastFringe data to: {file:s}, in HDF5 folder: "{prefix:s}"') - - # One per measurement - if self.data_error is not None: - self.data_error.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - self.data_geometry_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - self.data_image_processing_general.save_to_hdf(file, f'{prefix:s}DataSofastCalculation/general/') - - # Sofast parameters - self.params.save_to_hdf(file, f'{prefix:s}DataSofastInput/') - - # Facet definition - if self.data_facet_def is not None: - for idx_facet, facet_data in enumerate(self.data_facet_def): - facet_data.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx_facet:03d}/') - - # Ensemble definition - if self.data_ensemble_def is not None: - self.data_ensemble_def.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/') - - # Surface definition - for idx_facet, surface in enumerate(self.data_surfaces): - surface.save_to_hdf(file, f'{prefix:s}DataSofastInput/optic_definition/facet_{idx_facet:03d}/') - - # Calculations, one per facet - for idx_facet in range(self.num_facets): - # Save facet slope data - self.data_calculation_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - # Save facet geometry data - self.data_geometry_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - # Save facet image processing data - self.data_image_processing_facet[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) - - if self.data_calculation_ensemble: - # Save ensemle data - self.data_calculation_ensemble[idx_facet].save_to_hdf( - file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' - ) From b0cbd4ad573689e1dde28f9dcbef6ecfc1a50a65 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 16:38:31 -0600 Subject: [PATCH 36/54] Added facet pointing test data to SFi calcultion HDF5 --- .../calculation_facet_ensemble.h5 | Bin 75656 -> 80208 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/opencsp/test/data/sofast_fixed/data_expected/calculation_facet_ensemble.h5 b/opencsp/test/data/sofast_fixed/data_expected/calculation_facet_ensemble.h5 index 79d8bc9837cf58b4c553c196f677d97fa0a0e05d..193dfaebadccffcbfef3974ac5747794ef89b1d4 100644 GIT binary patch delta 714 zcmeA;&vM}t%LEOk0LzV9e({q(=yFVMh*uDIPRvOz%}FfD%+GVpD^AT#%1LDag30=N znwuZQFJJ~M>`2C^&~a1BIwnmf1__WxAm~tM1k(_bfnfube?b#0vUz=)B;)1}>Bo@u zcxa*ODS+}P=s@&r&jRZCkv(DeWCdmkZX^>Yul7{q(1mE`*tn6M$x;DqIRnE7h;>jN z14BtsVqS54T4Hi)Nqj1jS0Q>C7%V1k)CZf6WcTFXJgS@=7TAp60C5><#zz<^NU}h+ zV9=8bl^i)c^dXitOgY2fQ6fBwI>Kky`;``{HO z`v>Ab^6&b_+VA$br+B~W%Kis))=k>JjcNZe?vmgCf$A8({+nH&uCRZ>{1hFzFVF25 zGK%aU`Nr;N2wGVmnW|vVH<5oK$h?B=n#Cpuo$M!WluP-_o>pzTY)6hUnH1-8ZBLA>>=p41Dw2aO-*-vGLb!Jm2k(oBW@{7_pG dVy{=}L2P0AV81!hqJe$#hAaW*2YTSZ007C!((C{L delta 90 zcmccciKXK_%LEOk4)u*%e({qX(l{nJ#4AiL$nuz^%CY%F`~+sOSVuBQ%we(uv&5#9 mbxf1*MRRR_kS4%5c>|BbW{wP~$croi#)$_sHvh<;up0nd+$9$P From ac6706948cfe48895377cb2fe2fb7ab8e73abd55 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 16:39:10 -0600 Subject: [PATCH 37/54] Added facet pointing test to SFi test --- .../sofast/test/test_ProcessSofastFixed.py | 21 +++++++++++++++++-- 1 file changed, 19 insertions(+), 2 deletions(-) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index bfe2e54d2..053437813 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -1,4 +1,4 @@ -"""Example script that runs fixed pattern deflectometry analysis on saved data +"""Test script that runs fixed pattern deflectometry analysis on saved data """ from os.path import join @@ -41,6 +41,7 @@ def setUpClass(cls): cls.sofast_facet_ensemble: ProcessSofastFixed = None cls.exp_slopes_xy_single_facet: np.ndarray = None cls.exp_slopes_xy_facet_ensemble: list[np.ndarray] = None + cls.exp_facet_pointing_trans: list[np.ndarray] = None cls._process_facet_ensemble(cls) cls._process_single_facet(cls) @@ -68,10 +69,15 @@ def _process_facet_ensemble(self): # Load expected data self.exp_slopes_xy_facet_ensemble = [] + self.exp_facet_pointing_trans = [] for idx_facet in range(ensemble_data.num_facets): - datasets = [f'DataSofastCalculation/facet/facet_{idx_facet:03d}/SlopeSolverData/slopes_facet_xy'] + datasets = [ + f'DataSofastCalculation/facet/facet_{idx_facet:03d}/SlopeSolverData/slopes_facet_xy', + f'DataSofastCalculation/facet/facet_{idx_facet:03d}/CalculationEnsemble/trans_facet_ensemble', + ] data = h5.load_hdf5_datasets(datasets, file_exp) self.exp_slopes_xy_facet_ensemble.append(data['slopes_facet_xy']) + self.exp_facet_pointing_trans.append(data['trans_facet_ensemble']) # Instantiate class params = ParamsSofastFixed.load_from_hdf(file_exp, 'DataSofastInput/') @@ -165,6 +171,17 @@ def test_slopes_xy_single_facet(self): atol=1e-6, ) + def test_facet_pointing_ensemble(self): + """Tests facet pointing""" + for idx_facet in range(self.sofast_facet_ensemble.num_facets): + with self.subTest(i=idx_facet): + np.testing.assert_allclose( + self.sofast_facet_ensemble.data_calculation_ensemble[idx_facet].trans_facet_ensemble.matrix, + self.exp_facet_pointing_trans[idx_facet], + rtol=0, + atol=1e-6, + ) + def tearDown(self) -> None: # Make sure we release all matplotlib resources. plt.close('all') From d3d63c1fda45a18c2fec9a5dbacff0829c9457b7 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 16:41:28 -0600 Subject: [PATCH 38/54] Moved get_optic and _calculate_facet_pointing methods to abstract process sofast class. --- .../app/sofast/lib/ProcessSofastAbstract.py | 210 +++++++++++++++++- opencsp/app/sofast/lib/ProcessSofastFixed.py | 123 ---------- opencsp/app/sofast/lib/ProcessSofastFringe.py | 149 ------------- 3 files changed, 209 insertions(+), 273 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastAbstract.py b/opencsp/app/sofast/lib/ProcessSofastAbstract.py index 86c8a53ba..baee5a261 100644 --- a/opencsp/app/sofast/lib/ProcessSofastAbstract.py +++ b/opencsp/app/sofast/lib/ProcessSofastAbstract.py @@ -1,15 +1,81 @@ +""" +Abstract module for processing SOFAST data. + +This module provides the `ProcessSofastAbstract` class, which defines common attributes and methods +used for processing SOFAST data. It includes functionality for saving data to HDF5 files, calculating +facet pointing, and generating OpenCSP representations of the optic under test. + +Notes +----- +- The `ProcessSofastAbstract` class is designed to be subclassed and extended with specific + processing logic. + +ChatGPT 40 assisted in generating some docstrings in this module. +""" + from typing import Literal +import numpy as np + + import opencsp.app.sofast.lib.calculation_data_classes as cdc from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet +from opencsp.common.lib.csp.Facet import Facet +from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble +from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolverData import SlopeSolverData from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract +from opencsp.common.lib.geometry.RegionXY import RegionXY +from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ +from opencsp.common.lib.geometry.Uxyz import Uxyz +from opencsp.common.lib.geometry.Vxy import Vxy +from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.tool.hdf5_tools import HDF5_SaveAbstract import opencsp.common.lib.tool.log_tools as lt class ProcessSofastAbstract(HDF5_SaveAbstract): + """ + Abstract class for ProcessSofast classes defining common attributes and methods. + + Attributes + ---------- + num_facets : int + Number of facets in the optic. + optic_type : Literal['undefined', 'single', 'multi'] + Type of optic being processed. + data_facet_def : list[DefinitionFacet] + List of facet definitions. + data_ensemble_def : DefinitionEnsemble + Ensemble definition of the optic. + data_surfaces : list[Surface2DAbstract] + List of surface definitions. + data_geometry_general : cdc.CalculationDataGeometryGeneral + General geometry data for the calculation. + data_image_processing_general : cdc.CalculationImageProcessingGeneral + General image processing data for the calculation. + data_geometry_facet : list[cdc.CalculationDataGeometryFacet] + List of geometry data for each facet. + data_image_processing_facet : list[cdc.CalculationImageProcessingFacet] + List of image processing data for each facet. + data_error : cdc.CalculationError + Error data for the calculation. + data_calculation_facet : list[SlopeSolverData] + List of slope solver data for each facet. + data_calculation_ensemble : list[cdc.CalculationFacetEnsemble] + List of calculation data for the ensemble. + params : HDF5_SaveAbstract + Parameters for the calculation. + + Methods + ------- + save_to_hdf(file: str, prefix: str = '') + Saves data to the given HDF file. + get_optic(interp_type: Literal['bilinear', 'clough_tocher', 'nearest'] = 'nearest') -> FacetEnsemble | Facet + Returns the OpenCSP representation of the optic under test. + """ + def __init__(self): self.num_facets: int = None self.optic_type: Literal['undefined', 'single', 'multi'] = None @@ -27,7 +93,7 @@ def __init__(self): self.data_calculation_facet: list[SlopeSolverData] = None self.data_calculation_ensemble: list[cdc.CalculationFacetEnsemble] = None - self.params = None + self.params: HDF5_SaveAbstract = None def save_to_hdf(self, file: str, prefix: str = ''): """Saves data to given file. Data is stored as: PREFIX + Folder/Field_1 @@ -86,3 +152,145 @@ def save_to_hdf(self, file: str, prefix: str = ''): self.data_calculation_ensemble[idx_facet].save_to_hdf( file, f'{prefix:s}DataSofastCalculation/facet/facet_{idx_facet:03d}/' ) + + def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'average') -> None: + """ + Calculates facet pointing relative to the given reference. + + Parameters + ---------- + reference : 'average' | int + If 'average', the pointing reference is the average of all + facet pointing directions. If, int, that facet index is assumed + to have perfect pointing. + """ + if self.data_calculation_facet is None: + lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') + if reference != 'average' and not isinstance(reference, int): + lt.error_and_raise(ValueError, 'Given reference must be int or "average".') + if isinstance(reference, int) and reference >= self.num_facets: + lt.error_and_raise( + ValueError, f'Given facet index, {reference:d}, is out of range of 0-{self.num_facets - 1:d}.' + ) + + # Instantiate data list + self.data_calculation_ensemble = [] + + trans_facet_ensemble_list = [] + v_pointing_matrix = np.zeros((3, self.num_facets)) + for idx in range(self.num_facets): + # Get transformation from user-input and slope solving + trans_1 = TransformXYZ.from_R_V( + self.data_ensemble_def.r_facet_ensemble[idx], self.data_ensemble_def.v_facet_locations[idx] + ) + trans_2 = self.data_calculation_facet[idx].trans_alignment + # Calculate inverse of slope solving transform + trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) + # Create local to global transformation + trans_facet_ensemble_list.append(trans_2 * trans_1) + + # Calculate pointing vector in ensemble coordinates + v_pointing = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) + v_pointing_matrix[:, idx] = v_pointing.data.squeeze() + + # Calculate reference pointing direction + if isinstance(reference, int): + v_pointing_ref = Vxyz(v_pointing_matrix[:, reference]) + elif reference == 'average': + v_pointing_ref = Vxyz(v_pointing_matrix.mean(1)) + # Calculate rotation to align pointing vectors + r_align_pointing = v_pointing_ref.align_to(Vxyz((0, 0, 1))) + trans_align_pointing = TransformXYZ.from_R(r_align_pointing) + + # Apply alignment rotation to total transformation + trans_facet_ensemble_list = [trans_align_pointing * t for t in trans_facet_ensemble_list] + + # Calculate global slope and surface points + for idx in range(self.num_facets): + # Get slope data + slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats + + # Calculate surface normals in local (facet) coordinates + u_surf_norms = np.ones((3, slopes.shape[1])) + u_surf_norms[:2] = -slopes + u_surf_norms = Uxyz(u_surf_norms).as_Vxyz() + + # Apply rotation to normal vectors + u_surf_norms_global = u_surf_norms.rotate(trans_facet_ensemble_list[idx].R) + # Convert normal vectors to global (ensemble) slopes + slopes_ensemble_xy = -u_surf_norms_global.data[:2] / u_surf_norms_global.data[2:] + + # Convert surface points to global (ensemble) coordinates + v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( + self.data_calculation_facet[idx].v_surf_points_facet + ) + + # Calculate pointing vectors in ensemble coordinates + v_facet_pointing_ensemble = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) + + data = cdc.CalculationFacetEnsemble( + trans_facet_ensemble_list[idx], slopes_ensemble_xy, v_surf_points_ensemble, v_facet_pointing_ensemble + ) + self.data_calculation_ensemble.append(data) + + def get_optic( + self, interp_type: Literal['bilinear', 'clough_tocher', 'nearest'] = 'nearest' + ) -> FacetEnsemble | Facet: + """Returns the OpenCSP representation of the optic under test. Returns either + a Facet or FacetEnsemble object depending on the optic type. Each mirror is + represented by a MirrorPoint object. Each mirror origin is co-located with its + parent facet origin. + + Parameters + ---------- + interp_type : {'bilinear', 'clough_tocher', 'nearest'}, optional + Mirror interpolation type, by default 'nearest' + + Returns + ------- + FacetEnsemble | Facet + Optic object + """ + if self.data_calculation_facet is None: + lt.error_and_raise(ValueError, 'Sofast data must be processed before optic is available.') + + facets = [] + trans_list = [] + for idx_mirror in range(self.num_facets): + # Get surface points + pts: Vxyz = self.data_calculation_facet[idx_mirror].v_surf_points_facet + # Get normals from slopes + slopes: np.ndarray = self.data_calculation_facet[idx_mirror].slopes_facet_xy + norm_data = np.ones((3, slopes.shape[1])) + norm_data[:2] = -slopes + norm_vecs = Uxyz(norm_data) + # Get mirror shape + if self.optic_type == 'undefined': + # Find bounding box + x1 = pts.x.min() + x2 = pts.x.max() + y1 = pts.y.min() + y2 = pts.y.max() + vertices = Vxy(([x1, x1, x2, x2], [y1, y2, y2, y1])) + else: + # Get optic region from optic definition + vertices = self.data_facet_def[idx_mirror].v_facet_corners.projXY() + shape = RegionXY.from_vertices(vertices) + # Create mirror + mirror = MirrorPoint(pts, norm_vecs, shape, interp_type) + # Create facet + facet = Facet(mirror) + # Locate facet within ensemble + if self.optic_type == 'multi': + trans: TransformXYZ = self.data_calculation_ensemble[idx_mirror].trans_facet_ensemble + trans_list.append(trans) + # Save facets + facets.append(facet) + + # Return optics + if self.optic_type == 'multi': + ensemble = FacetEnsemble(facets) + ensemble.set_facet_transform_list(trans_list) + return ensemble + else: + return facets[0] diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 8efda44b3..8564f2401 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -1,14 +1,11 @@ """Class that handles the processing of fixed pattern deflectometry data. """ -from typing import Literal - import cv2 as cv import numpy as np from numpy import ndarray from opencsp.app.sofast.lib.BlobIndex import BlobIndex -import opencsp.app.sofast.lib.calculation_data_classes as cdc from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet from opencsp.app.sofast.lib.DotLocationsFixedPattern import DotLocationsFixedPattern @@ -19,15 +16,8 @@ import opencsp.app.sofast.lib.process_optics_geometry as pr from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera -from opencsp.common.lib.csp.Facet import Facet -from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble -from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract -from opencsp.common.lib.geometry.RegionXY import RegionXY -from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ -from opencsp.common.lib.geometry.Uxyz import Uxyz -from opencsp.common.lib.geometry.Vxyz import Vxyz from opencsp.common.lib.geometry.Vxy import Vxy import opencsp.common.lib.tool.log_tools as lt @@ -369,116 +359,3 @@ def process_multi_facet_optic( # Calculate facet pointing self._calculate_facet_pointing() - - def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'average') -> None: - """ - Calculates facet pointing relative to the given reference. - - Parameters - ---------- - reference : 'average' | int - If 'average', the pointing reference is the average of all - facet pointing directions. If, int, that facet index is assumed - to have perfect pointing. - """ - if self.data_calculation_facet is None: - lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') - if (reference != 'average') and not isinstance(reference, int): - lt.error_and_raise(ValueError, 'Given reference must be int or "average".') - if isinstance(reference, int) and (reference >= self.num_facets): - lt.error_and_raise( - ValueError, f'Given facet index, {reference:d}, is out of range of 0-{self.num_facets - 1:d}.' - ) - - # Instantiate data list - self.data_calculation_ensemble = [] - - trans_facet_ensemble_list = [] - v_pointing_matrix = np.zeros((3, self.num_facets)) - for idx in range(self.num_facets): - # Get transformation from user-input and slope solving - trans_1 = TransformXYZ.from_R_V( - self.data_ensemble_def.r_facet_ensemble[idx], self.data_ensemble_def.v_facet_locations[idx] - ) - trans_2 = self.data_calculation_facet[idx].trans_alignment - # Calculate inverse of slope solving transform - trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) - # Create local to global transformation - trans_facet_ensemble_list.append(trans_2 * trans_1) - - # Calculate pointing vector in ensemble coordinates - v_pointing = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) - v_pointing_matrix[:, idx] = v_pointing.data.squeeze() - - # Calculate reference pointing direction - if isinstance(reference, int): - v_pointing_ref = Vxyz(v_pointing_matrix[:, reference]) - elif reference == 'average': - v_pointing_ref = Vxyz(v_pointing_matrix.mean(1)) - # Calculate rotation to align pointing vectors - r_align_pointing = v_pointing_ref.align_to(Vxyz((0, 0, 1))) - trans_align_pointing = TransformXYZ.from_R(r_align_pointing) - - # Apply alignment rotation to total transformation - trans_facet_ensemble_list = [trans_align_pointing * t for t in trans_facet_ensemble_list] - - # Calculate global slope and surface points - for idx in range(self.num_facets): - # Get slope data - slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats - - # Calculate surface normals in local (facet) coordinates - u_surf_norms = np.ones((3, slopes.shape[1])) - u_surf_norms[:2] = -slopes - u_surf_norms = Uxyz(u_surf_norms).as_Vxyz() - - # Apply rotation to normal vectors - u_surf_norms_global = u_surf_norms.rotate(trans_facet_ensemble_list[idx].R) - # Convert normal vectors to global (ensemble) slopes - slopes_ensemble_xy = -u_surf_norms_global.data[:2] / u_surf_norms_global.data[2:] - - # Convert surface points to global (ensemble) coordinates - v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( - self.data_calculation_facet[idx].v_surf_points_facet - ) - - # Calculate pointing vectors in ensemble coordinates - v_facet_pointing_ensemble = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) - - data = cdc.CalculationFacetEnsemble( - trans_facet_ensemble_list[idx], slopes_ensemble_xy, v_surf_points_ensemble, v_facet_pointing_ensemble - ) - self.data_calculation_ensemble.append(data) - - def get_optic( - self, interpolation_type: Literal['given', 'bilinear', 'clough_tocher', 'nearest'] = 'nearest' - ) -> Facet | FacetEnsemble: - """Returns mirror object with slope data""" - facets = [] - trans_list = [] - for idx_facet in range(self.num_facets): - # Get mirror surface points - v_surf_pts = self.data_calculation_facet[idx_facet].v_surf_points_facet - # Get point normal vectors - v_normals_data = np.ones((3, len(v_surf_pts))) - v_normals_data[:2, :] = self.data_calculation_facet[idx_facet].slopes_facet_xy - v_normals_data[:2, :] *= -1 - v_normals = Uxyz(v_normals_data) - # Get optic shape - shape = RegionXY.from_vertices(self.data_facet_def[idx_facet].v_facet_corners.projXY()) - # Create mirror - mirror = MirrorPoint(v_surf_pts, v_normals, shape, interpolation_type) - # Create facet - facets.append(Facet(mirror)) - # Get facet pointing if multi-facet - if self.optic_type == 'multi': - trans: TransformXYZ = self.data_calculation_ensemble[idx_facet].trans_facet_ensemble - trans_list.append(trans) - - # Return either ensemble or facet - if self.optic_type == 'multi': - ensemble = FacetEnsemble(facets) - ensemble.set_facet_transform_list(trans_list) - return ensemble - else: - return facets[0] diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index 87f0ba4a1..40d959af1 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -2,11 +2,8 @@ to calculate surface slopes. """ -from typing import Literal - import numpy as np -import opencsp.app.sofast.lib.calculation_data_classes as cdc from opencsp.app.sofast.lib.DefinitionEnsemble import DefinitionEnsemble from opencsp.app.sofast.lib.DefinitionFacet import DefinitionFacet from opencsp.app.sofast.lib.DisplayShape import DisplayShape as Display @@ -17,16 +14,9 @@ import opencsp.app.sofast.lib.process_optics_geometry as po from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation from opencsp.common.lib.camera.Camera import Camera -from opencsp.common.lib.csp.Facet import Facet -from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble -from opencsp.common.lib.csp.MirrorPoint import MirrorPoint from opencsp.common.lib.deflectometry.SlopeSolver import SlopeSolver from opencsp.common.lib.deflectometry.Surface2DAbstract import Surface2DAbstract -from opencsp.common.lib.geometry.RegionXY import RegionXY -from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ -from opencsp.common.lib.geometry.Uxyz import Uxyz from opencsp.common.lib.geometry.Vxy import Vxy -from opencsp.common.lib.geometry.Vxyz import Vxyz import opencsp.common.lib.tool.log_tools as lt @@ -528,142 +518,3 @@ def _solve_slopes(self, surfaces: list[Surface2DAbstract]) -> None: # Save input surface parameters data self.data_surfaces = surfaces - - def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'average') -> None: - """ - Calculates facet pointing relative to the given reference. - - Parameters - ---------- - reference : 'average' | int - If 'average', the pointing reference is the average of all - facet pointing directions. If, int, that facet index is assumed - to have perfect pointing. - """ - if self.data_calculation_facet is None: - lt.error_and_raise(ValueError, 'Slopes must be solved first by running "solve_slopes".') - if reference != 'average' and not isinstance(reference, int): - lt.error_and_raise(ValueError, 'Given reference must be int or "average".') - if isinstance(reference, int) and reference >= self.num_facets: - lt.error_and_raise( - ValueError, f'Given facet index, {reference:d}, is out of range of 0-{self.num_facets - 1:d}.' - ) - - # Instantiate data list - self.data_calculation_ensemble = [] - - trans_facet_ensemble_list = [] - v_pointing_matrix = np.zeros((3, self.num_facets)) - for idx in range(self.num_facets): - # Get transformation from user-input and slope solving - trans_1 = TransformXYZ.from_R_V( - self.data_ensemble_def.r_facet_ensemble[idx], self.data_ensemble_def.v_facet_locations[idx] - ) - trans_2 = self.data_calculation_facet[idx].trans_alignment - # Calculate inverse of slope solving transform - trans_2 = TransformXYZ.from_V(-trans_2.V) * TransformXYZ.from_R(trans_2.R.inv()) - # Create local to global transformation - trans_facet_ensemble_list.append(trans_2 * trans_1) - - # Calculate pointing vector in ensemble coordinates - v_pointing = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) - v_pointing_matrix[:, idx] = v_pointing.data.squeeze() - - # Calculate reference pointing direction - if isinstance(reference, int): - v_pointing_ref = Vxyz(v_pointing_matrix[:, reference]) - elif reference == 'average': - v_pointing_ref = Vxyz(v_pointing_matrix.mean(1)) - # Calculate rotation to align pointing vectors - r_align_pointing = v_pointing_ref.align_to(Vxyz((0, 0, 1))) - trans_align_pointing = TransformXYZ.from_R(r_align_pointing) - - # Apply alignment rotation to total transformation - trans_facet_ensemble_list = [trans_align_pointing * t for t in trans_facet_ensemble_list] - - # Calculate global slope and surface points - for idx in range(self.num_facets): - # Get slope data - slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats - - # Calculate surface normals in local (facet) coordinates - u_surf_norms = np.ones((3, slopes.shape[1])) - u_surf_norms[:2] = -slopes - u_surf_norms = Uxyz(u_surf_norms).as_Vxyz() - - # Apply rotation to normal vectors - u_surf_norms_global = u_surf_norms.rotate(trans_facet_ensemble_list[idx].R) - # Convert normal vectors to global (ensemble) slopes - slopes_ensemble_xy = -u_surf_norms_global.data[:2] / u_surf_norms_global.data[2:] - - # Convert surface points to global (ensemble) coordinates - v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( - self.data_calculation_facet[idx].v_surf_points_facet - ) - - # Calculate pointing vectors in ensemble coordinates - v_facet_pointing_ensemble = Vxyz((0, 0, 1)).rotate(trans_facet_ensemble_list[idx].R) - - data = cdc.CalculationFacetEnsemble( - trans_facet_ensemble_list[idx], slopes_ensemble_xy, v_surf_points_ensemble, v_facet_pointing_ensemble - ) - self.data_calculation_ensemble.append(data) - - def get_optic( - self, interp_type: Literal['bilinear', 'clough_tocher', 'nearest'] = 'nearest' - ) -> FacetEnsemble | Facet: - """Returns the OpenCSP representation of the optic under test. For - single facet data collects, returns a Facet object, and for multi-facet - collects, returns a FacetEnsemble object. Each mirror is represented - by a MirrorPoint object. Each mirror origin is co-located with its - parent facet origin. - - Parameters - ---------- - interp_type : {'bilinear', 'clough_tocher', 'nearest'}, optional - Mirror interpolation type, by default 'nearest' - - Returns - ------- - FacetEnsemble if ProcessSofastFringe.optic_type = 'multi', otherwise Facet - """ - facets = [] - trans_list = [] - for idx_mirror, data in enumerate(self.data_calculation_facet): - # Get surface points - pts: Vxyz = data.v_surf_points_facet - # Get normals from slopes - slopes: np.ndarray = data.slopes_facet_xy - norm_data = np.ones((3, slopes.shape[1])) - norm_data[:2] = -slopes - norm_vecs = Uxyz(norm_data) - # Get mirror shape - if self.optic_type == 'undefined': - # Find bounding box - x1 = pts.x.min() - x2 = pts.x.max() - y1 = pts.y.min() - y2 = pts.y.max() - vertices = Vxy(([x1, x1, x2, x2], [y1, y2, y2, y1])) - else: - # Get optic region from optic definition - vertices = self.data_facet_def[idx_mirror].v_facet_corners.projXY() - shape = RegionXY.from_vertices(vertices) - # Create mirror - mirror = MirrorPoint(pts, norm_vecs, shape, interp_type) - # Create facet - facet = Facet(mirror) - # Locate facet within ensemble - if self.optic_type == 'multi': - trans: TransformXYZ = self.data_calculation_ensemble[idx_mirror].trans_facet_ensemble - trans_list.append(trans) - # Save facets - facets.append(facet) - - # Return optics - if self.optic_type == 'multi': - ensemble = FacetEnsemble(facets) - ensemble.set_facet_transform_list(trans_list) - return ensemble - else: - return facets[0] From 61a4e42c09b774a39aae87a8b400f056f497513c Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 16:42:32 -0600 Subject: [PATCH 39/54] Updated all calls to data_characterization_facet to data_calculation_facet --- .../sofast_fringe/generate_test_data_multi_facet.py | 2 +- .../sofast_fringe/generate_test_data_single_facet.py | 2 +- .../sofast_fringe/generate_test_data_undefined.py | 2 +- example/sofast_fringe/example_process_facet_ensemble.py | 2 +- example/sofast_fringe/example_process_single_facet.py | 2 +- example/sofast_fringe/example_process_undefined_shape.py | 2 +- opencsp/app/sofast/lib/SofastConfiguration.py | 2 +- opencsp/app/sofast/test/test_integration_multi_facet.py | 4 ++-- opencsp/app/sofast/test/test_integration_undefined.py | 4 ++-- 9 files changed, 11 insertions(+), 11 deletions(-) diff --git a/contrib/test_data_generation/sofast_fringe/generate_test_data_multi_facet.py b/contrib/test_data_generation/sofast_fringe/generate_test_data_multi_facet.py index 51e7a3e88..d2acc6346 100644 --- a/contrib/test_data_generation/sofast_fringe/generate_test_data_multi_facet.py +++ b/contrib/test_data_generation/sofast_fringe/generate_test_data_multi_facet.py @@ -73,7 +73,7 @@ def generate_dataset( image = np.zeros(mask.shape) * np.nan for idx in range(sofast.num_facets): mask = sofast.data_image_processing_facet[idx].mask_processed - slopes_xy = sofast.data_characterization_facet[idx].slopes_facet_xy + slopes_xy = sofast.data_calculation_facet[idx].slopes_facet_xy slopes = np.sqrt(np.sum(slopes_xy**2, 0)) image[mask] = slopes plt.figure() diff --git a/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py b/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py index f92c41a90..a3e7b2711 100644 --- a/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py +++ b/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py @@ -74,7 +74,7 @@ def generate_dataset( # Show slope map mask = sofast.data_image_processing_facet[0].mask_processed - slopes_xy = sofast.data_characterization_facet[0].slopes_facet_xy + slopes_xy = sofast.data_calculation_facet[0].slopes_facet_xy slopes = np.sqrt(np.sum(slopes_xy**2, 0)) image = np.zeros(mask.shape) * np.nan image[mask] = slopes diff --git a/contrib/test_data_generation/sofast_fringe/generate_test_data_undefined.py b/contrib/test_data_generation/sofast_fringe/generate_test_data_undefined.py index 1282f6f05..b6ba77c26 100644 --- a/contrib/test_data_generation/sofast_fringe/generate_test_data_undefined.py +++ b/contrib/test_data_generation/sofast_fringe/generate_test_data_undefined.py @@ -54,7 +54,7 @@ def generate_dataset( # Show slope map mask = sofast.data_image_processing_facet[0].mask_processed - slopes_xy = sofast.data_characterization_facet[0].slopes_facet_xy + slopes_xy = sofast.data_calculation_facet[0].slopes_facet_xy slopes = np.sqrt(np.sum(slopes_xy**2, 0)) image = np.zeros(mask.shape) * np.nan image[mask] = slopes diff --git a/example/sofast_fringe/example_process_facet_ensemble.py b/example/sofast_fringe/example_process_facet_ensemble.py index 1e1ce4c3c..223331f24 100644 --- a/example/sofast_fringe/example_process_facet_ensemble.py +++ b/example/sofast_fringe/example_process_facet_ensemble.py @@ -145,7 +145,7 @@ def example_process_facet_ensemble(): # 3. Log best-fit parabolic focal lengths # ======================================= for idx in range(sofast.num_facets): - surf_coefs = sofast.data_characterization_facet[idx].surf_coefs_facet + surf_coefs = sofast.data_calculation_facet[idx].surf_coefs_facet focal_lengths_xy = [1 / 4 / surf_coefs[2], 1 / 4 / surf_coefs[5]] lt.info(f'Facet {idx:d} xy focal lengths (meters): {focal_lengths_xy[0]:.3f}, {focal_lengths_xy[1]:.3f}') diff --git a/example/sofast_fringe/example_process_single_facet.py b/example/sofast_fringe/example_process_single_facet.py index 3974ea6d6..a2772487a 100644 --- a/example/sofast_fringe/example_process_single_facet.py +++ b/example/sofast_fringe/example_process_single_facet.py @@ -74,7 +74,7 @@ def example_process_single_facet(): # 3. Log best-fit parabolic focal lengths # ======================================= - surf_coefs = sofast.data_characterization_facet[0].surf_coefs_facet + surf_coefs = sofast.data_calculation_facet[0].surf_coefs_facet focal_lengths_xy = [1 / 4 / surf_coefs[2], 1 / 4 / surf_coefs[5]] lt.info(f'Facet xy focal lengths (meters): ' f'{focal_lengths_xy[0]:.3f}, {focal_lengths_xy[1]:.3f}') diff --git a/example/sofast_fringe/example_process_undefined_shape.py b/example/sofast_fringe/example_process_undefined_shape.py index cae41551e..45efa07f0 100644 --- a/example/sofast_fringe/example_process_undefined_shape.py +++ b/example/sofast_fringe/example_process_undefined_shape.py @@ -72,7 +72,7 @@ def example_process_undefined_shape_facet(): # 3. Log best-fit parabolic focal lengths # ======================================= - surf_coefs = sofast.data_characterization_facet[0].surf_coefs_facet + surf_coefs = sofast.data_calculation_facet[0].surf_coefs_facet focal_lengths_xy = [1 / 4 / surf_coefs[2], 1 / 4 / surf_coefs[5]] lt.info(f'Facet xy focal lengths (meters): ' f'{focal_lengths_xy[0]:.3f}, {focal_lengths_xy[1]:.3f}') diff --git a/opencsp/app/sofast/lib/SofastConfiguration.py b/opencsp/app/sofast/lib/SofastConfiguration.py index d26b027f7..c30f960d1 100644 --- a/opencsp/app/sofast/lib/SofastConfiguration.py +++ b/opencsp/app/sofast/lib/SofastConfiguration.py @@ -62,7 +62,7 @@ def get_measurement_stats(self) -> list[dict]: for idx_facet in range(num_facets): if self._is_fringe: # Get data - data_calc = self.data_sofast_object.data_characterization_facet[idx_facet] + data_calc = self.data_sofast_object.data_calculation_facet[idx_facet] data_im_proc = self.data_sofast_object.data_image_processing_facet[idx_facet] data_surf = self.data_sofast_object.data_surfaces[idx_facet] diff --git a/opencsp/app/sofast/test/test_integration_multi_facet.py b/opencsp/app/sofast/test/test_integration_multi_facet.py index 0dc1c1b6c..fcdb71f35 100644 --- a/opencsp/app/sofast/test/test_integration_multi_facet.py +++ b/opencsp/app/sofast/test/test_integration_multi_facet.py @@ -132,8 +132,8 @@ def setUpClass(cls, base_dir: str | None = None): cls.file_dataset = file_dataset for idx in range(sofast.num_facets): - cls.data_test['slopes_facet_xy'].append(sofast.data_characterization_facet[idx].slopes_facet_xy) - cls.data_test['surf_coefs_facet'].append(sofast.data_characterization_facet[idx].surf_coefs_facet) + cls.data_test['slopes_facet_xy'].append(sofast.data_calculation_facet[idx].slopes_facet_xy) + cls.data_test['surf_coefs_facet'].append(sofast.data_calculation_facet[idx].surf_coefs_facet) def test_slope(self): for idx in range(self.num_facets): diff --git a/opencsp/app/sofast/test/test_integration_undefined.py b/opencsp/app/sofast/test/test_integration_undefined.py index 15ce0aa21..845bd118e 100644 --- a/opencsp/app/sofast/test/test_integration_undefined.py +++ b/opencsp/app/sofast/test/test_integration_undefined.py @@ -91,8 +91,8 @@ def test_undefined(self): sofast.process_optic_undefined(surface) # Test - slopes = sofast.data_characterization_facet[0].slopes_facet_xy - slope_coefs = sofast.data_characterization_facet[0].slope_coefs_facet + slopes = sofast.data_calculation_facet[0].slopes_facet_xy + slope_coefs = sofast.data_calculation_facet[0].slope_coefs_facet np.testing.assert_allclose(data['slopes_facet_xy'], slopes, atol=1e-7, rtol=0) np.testing.assert_allclose(data['slope_coefs_facet'], slope_coefs, atol=1e-8, rtol=0) From 6fc92cd0fa5e54f3ae12a3f3b4990313b310db6c Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 17:07:01 -0600 Subject: [PATCH 40/54] Revert of removing ABC from OO --- opencsp/common/lib/csp/OpticOrientationAbstract.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/opencsp/common/lib/csp/OpticOrientationAbstract.py b/opencsp/common/lib/csp/OpticOrientationAbstract.py index 2c6156804..766aa7935 100644 --- a/opencsp/common/lib/csp/OpticOrientationAbstract.py +++ b/opencsp/common/lib/csp/OpticOrientationAbstract.py @@ -1,11 +1,11 @@ -from abc import abstractmethod +from abc import abstractmethod, ABC import copy from warnings import warn from opencsp.common.lib.geometry.TransformXYZ import TransformXYZ -class OpticOrientationAbstract: +class OpticOrientationAbstract(ABC): """ Classes that extend OpticOrientationAbstract are objects that can be in different orientations, and can contain child objects (that also extend OpticOrientationAbstract) From 6dd5d978c7ed6aaa80413e249df6866e562e1bf7 Mon Sep 17 00:00:00 2001 From: Braden Date: Thu, 22 Aug 2024 17:18:19 -0600 Subject: [PATCH 41/54] Fixed reference to slope_solver and slope_solver_data in SofastConfiguration class. --- opencsp/app/sofast/lib/SofastConfiguration.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/opencsp/app/sofast/lib/SofastConfiguration.py b/opencsp/app/sofast/lib/SofastConfiguration.py index c30f960d1..f12d7e703 100644 --- a/opencsp/app/sofast/lib/SofastConfiguration.py +++ b/opencsp/app/sofast/lib/SofastConfiguration.py @@ -77,10 +77,10 @@ def get_measurement_stats(self) -> list[dict]: num_samps = len(data_calc.v_surf_points_facet) else: # Get data - data_surf = self.data_sofast_object.slope_solver[idx_facet].surface - data_calc = self.data_sofast_object.data_slope_solver[idx_facet] + data_surf = self.data_sofast_object.slope_solvers[idx_facet].surface + data_calc = self.data_sofast_object.data_calculation_facet[idx_facet] # Sample resolution - surf_points = self.data_sofast_object.data_slope_solver[idx_facet].v_surf_points_facet + surf_points = self.data_sofast_object.data_calculation_facet[idx_facet].v_surf_points_facet pts_index_xy = self.data_sofast_object.blob_index.get_data()[1] point_indices_mat = self.data_sofast_object.blob_index.get_data_mat()[1] offset_x = self.data_sofast_object.blob_index._offset_x From 71ba3a6f72feb5cac19592ee2a751d57e1d5bae6 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 15:02:52 -0600 Subject: [PATCH 42/54] Fixed typing in generate_dataset() --- .../sofast_fringe/generate_test_data_single_facet.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py b/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py index a3e7b2711..f3a550df8 100644 --- a/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py +++ b/contrib/test_data_generation/sofast_fringe/generate_test_data_single_facet.py @@ -3,7 +3,7 @@ """ from os.path import join, dirname, exists -from typing import Literal +from typing import Literal, Final import matplotlib.pyplot as plt import numpy as np @@ -73,8 +73,9 @@ def generate_dataset( print(f'All data saved to: {file_dataset_out:s}') # Show slope map - mask = sofast.data_image_processing_facet[0].mask_processed - slopes_xy = sofast.data_calculation_facet[0].slopes_facet_xy + idx_facet: Final = 0 + mask = sofast.data_image_processing_facet[idx_facet].mask_processed + slopes_xy = sofast.data_calculation_facet[idx_facet].slopes_facet_xy slopes = np.sqrt(np.sum(slopes_xy**2, 0)) image = np.zeros(mask.shape) * np.nan image[mask] = slopes From 6c226aca90e6fcc89e0c6b4ad0f2810bcdc5cef6 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 15:03:21 -0600 Subject: [PATCH 43/54] Got rid or explianed 'magic numbers' in example process facet ensemble.py --- .../example_process_facet_ensemble.py | 20 +++++++++---------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/example/sofast_fringe/example_process_facet_ensemble.py b/example/sofast_fringe/example_process_facet_ensemble.py index 223331f24..b0314b1a2 100644 --- a/example/sofast_fringe/example_process_facet_ensemble.py +++ b/example/sofast_fringe/example_process_facet_ensemble.py @@ -8,6 +8,7 @@ from opencsp.app.sofast.lib.MeasurementSofastFringe import MeasurementSofastFringe from opencsp.app.sofast.lib.ProcessSofastFringe import ProcessSofastFringe from opencsp.app.sofast.lib.SpatialOrientation import SpatialOrientation +from opencsp.app.sofast.lib.SofastConfiguration import SofastConfiguration from opencsp.common.lib.camera.Camera import Camera from opencsp.common.lib.csp.FacetEnsemble import FacetEnsemble from opencsp.common.lib.deflectometry.Surface2DParabolic import Surface2DParabolic @@ -132,21 +133,16 @@ def example_process_facet_ensemble(): data['robust_least_squares'] = bool(data['robust_least_squares']) surfaces.append(Surface2DParabolic(**data)) - # Update search parameters - # sofast.params.mask_hist_thresh = 0.83 - # sofast.params.geometry.perimeter_refine_perpendicular_search_dist = 15.0 - # sofast.params.geometry.facet_corns_refine_frac_keep = 1.0 - # sofast.params.geometry.facet_corns_refine_perpendicular_search_dist = 3.0 - # sofast.params.geometry.facet_corns_refine_step_length = 5.0 - # Process sofast.process_optic_multifacet(facet_data, ensemble_data, surfaces) # 3. Log best-fit parabolic focal lengths # ======================================= - for idx in range(sofast.num_facets): - surf_coefs = sofast.data_calculation_facet[idx].surf_coefs_facet - focal_lengths_xy = [1 / 4 / surf_coefs[2], 1 / 4 / surf_coefs[5]] + sofast_config = SofastConfiguration() + sofast_config.load_sofast_object(sofast) + sofast_stats = sofast_config.get_measurement_stats() + for stat in sofast_stats: + focal_lengths_xy = stat['focal_lengths_parabolic_xy'] lt.info(f'Facet {idx:d} xy focal lengths (meters): {focal_lengths_xy[0]:.3f}, {focal_lengths_xy[1]:.3f}') # 4. Plot slope magnitude @@ -165,8 +161,10 @@ def example_process_facet_ensemble(): axis_control_m = rca.meters() # Plot slope map + res = 0.002 # meter, make the plot with 2mm spatial resolution + clim = 7 # mrad, draw the plot with +/-7mrad scale bars, this mirror has erorrs that extent to about +/-7mrad fig_record = fm.setup_figure(figure_control, axis_control_m, title='') - ensemble.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_record.axis) + ensemble.plot_orthorectified_slope(res=res, clim=clim, axis=fig_record.axis) fig_record.save(dir_save, 'slope_magnitude', 'png') # 5. Plot 3d representation of facet ensemble From 43c6422e3ff53762af5a0ec6d3659aef7e0ee123 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 15:04:01 -0600 Subject: [PATCH 44/54] Added typing argument in ProcessSofastFringe --- opencsp/app/sofast/lib/ProcessSofastFringe.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFringe.py b/opencsp/app/sofast/lib/ProcessSofastFringe.py index 40d959af1..163d0e331 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFringe.py +++ b/opencsp/app/sofast/lib/ProcessSofastFringe.py @@ -170,7 +170,7 @@ def __init__( self.camera = camera self.measurement = measurement self.display = display - self.params = ParamsSofastFringe() + self.params: ParamsSofastFringe = ParamsSofastFringe() def help(self) -> None: """Prints Sofast doc string""" From 99d7d0d663cbc44ef0cd2be0b1fce8ca0c6aa98f Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 15:42:01 -0600 Subject: [PATCH 45/54] Used Enum in BlobIndex step. --- opencsp/app/sofast/lib/BlobIndex.py | 57 +++++++++++++++++++---------- 1 file changed, 37 insertions(+), 20 deletions(-) diff --git a/opencsp/app/sofast/lib/BlobIndex.py b/opencsp/app/sofast/lib/BlobIndex.py index 0e68a6176..b842cd77c 100644 --- a/opencsp/app/sofast/lib/BlobIndex.py +++ b/opencsp/app/sofast/lib/BlobIndex.py @@ -1,3 +1,4 @@ +from enum import Enum from typing import Literal import matplotlib.pyplot as plt @@ -8,6 +9,16 @@ from opencsp.common.lib.tool import log_tools as lt +class Step(Enum): + """Gives step direction + - Left/right for horizontal searches + - Up/down for vertical searches + """ + + RIGHT_OR_DOWN = 1 + LEFT_OR_UP = -1 + + class BlobIndex: """Class containing blob indexing algorithms to assign indices to blobs in a rough grid pattern. X/Y axes correspond to image axes; +x is to right, +y is down. Class takes in points (in units @@ -17,12 +28,15 @@ class BlobIndex: Attributes ---------- search_thresh : float - + Threshold, in pixels. As algorithm calculates the expected location of the next blob, if a blob + is within "search_thresh" of the expected location, that blob is considered found. + max_num_iters : int + Maximum number of iterations to use when fitting found blobs to grid pattern. search_perp_axis_ratio : float Ratio of point distances: (perpendicular to axis) / (along axis) used to search for points. apply_filter : bool - To filter bad points (experimental) + To filter bad points (experimental, not implemented yet) """ def __init__(self, points: Vxy, x_min: int, x_max: int, y_min: int, y_max: int) -> 'BlobIndex': @@ -47,11 +61,15 @@ def __init__(self, points: Vxy, x_min: int, x_max: int, y_min: int, y_max: int) self._is_assigned = np.zeros(self._num_pts, dtype=bool) self._neighbor_dists = np.zeros((self._num_pts, 4)) * np.nan # left, right, up, down - self.search_thresh = 5.0 # pixels + self.search_thresh: float = 5.0 # pixels + """Threshold, in pixels. As algorithm calculates the expected location of the next blob, if a blob + is within 'search_thresh' of the expected location, that blob is considered found""" self.max_num_iters: int = 100 - """Maximum number of search iterations""" - self.search_perp_axis_ratio = 3.0 - self.apply_filter = False + """Maximum number of iterations to use when fitting found blobs to grid pattern""" + self.search_perp_axis_ratio: float = 3.0 + """Ratio of point distances: (perpendicular to axis) / (along axis) used to search for points""" + self.apply_filter: bool = False + """To filter bad points (experimental, not implemented yet)""" self._offset_x = -x_min # index self._offset_y = -y_min # index @@ -270,19 +288,18 @@ def _find_3x3_center_block(self, idx_x: int, idx_y: int) -> None: idx_g, x, y = self._find_nearest_in_direction(idx_d, 'down') self._assign(idx_g, x, y) - def _extend_data(self, direction: Literal['x', 'y'], step: Literal[1, -1]) -> None: + def _extend_data(self, direction: Literal['x', 'y'], step: Step) -> None: # Extends found blob rows/collumns in given direction # Steps in the given axis, a or b + # # Parameters # ---------- # direction : Literal['x', 'y'] # Axis to search - # step : Literal[1, -1] + # step : Step # Direction to search - # - 1 = right/down - # - -1 = left/up - if step not in [-1, 1]: - raise ValueError(f'Step must be -1 or 1, not {step}') + if not isinstance(step, Step): + raise ValueError(f'Step must be a Step class, not type {type(step)}') if direction == 'x': idxs_a = self._idx_y @@ -302,8 +319,8 @@ def _extend_data(self, direction: Literal['x', 'y'], step: Literal[1, -1]) -> No is_b = idxs_b[mask] # indices of points on axis # Step through all points on axis for i_b in is_b: - if not i_b + step in is_b: # If adjacent point is not assigned, find it - idx_b_prev = i_b - step # Index used for slope calc + if not i_b + step.value in is_b: # If adjacent point is not assigned, find it + idx_b_prev = i_b - step.value # Index used for slope calc if idx_b_prev in is_b: # If history exists, find points for idx_b_next in range(500): # First iteration, use previously assigned points @@ -329,11 +346,11 @@ def _extend_data(self, direction: Literal['x', 'y'], step: Literal[1, -1]) -> No # Assign point if dist < self.search_thresh: if direction == 'x': - idx_x = int(i_b + step + (idx_b_next * step)) + idx_x = int(i_b + step.value + (idx_b_next * step.value)) idx_y = int(idx_a) else: idx_x = int(idx_a) - idx_y = int(i_b + step + (idx_b_next * step)) + idx_y = int(i_b + step.value + (idx_b_next * step.value)) self._assign(idx_new, idx_x, idx_y) else: break @@ -396,12 +413,12 @@ def run(self, pt_known: Vxy, x_known: int, y_known: int) -> None: # Extend rows prev_num_unassigned = self._num_unassigned() for idx in range(self.max_num_iters): - self._extend_data('x', -1) - self._extend_data('x', 1) + self._extend_data('x', Step(-1)) + self._extend_data('x', Step(1)) if self.apply_filter: self._filter_bad_points() - self._extend_data('y', -1) - self._extend_data('y', 1) + self._extend_data('y', Step(-1)) + self._extend_data('y', Step(1)) if self.apply_filter: self._filter_bad_points() From 0d6be36f2b3accf2bac03e479eea9a2826093c7b Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 15:42:56 -0600 Subject: [PATCH 46/54] Fixed typo in Processsofastabstract --- opencsp/app/sofast/lib/ProcessSofastAbstract.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastAbstract.py b/opencsp/app/sofast/lib/ProcessSofastAbstract.py index baee5a261..3b959e6f7 100644 --- a/opencsp/app/sofast/lib/ProcessSofastAbstract.py +++ b/opencsp/app/sofast/lib/ProcessSofastAbstract.py @@ -10,7 +10,7 @@ - The `ProcessSofastAbstract` class is designed to be subclassed and extended with specific processing logic. -ChatGPT 40 assisted in generating some docstrings in this module. +ChatGPT 4o assisted in generating some docstrings in this module. """ from typing import Literal From c6a83b828f3193e480415b8aa8e23da8034f225d Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 16:02:16 -0600 Subject: [PATCH 47/54] Updated readability in ProcessSofastAbstract --- opencsp/app/sofast/lib/ProcessSofastAbstract.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastAbstract.py b/opencsp/app/sofast/lib/ProcessSofastAbstract.py index 3b959e6f7..a7badf09e 100644 --- a/opencsp/app/sofast/lib/ProcessSofastAbstract.py +++ b/opencsp/app/sofast/lib/ProcessSofastAbstract.py @@ -211,14 +211,15 @@ def _calculate_facet_pointing(self, reference: Literal['average'] | int = 'avera slopes = self.data_calculation_facet[idx].slopes_facet_xy # facet coordinats # Calculate surface normals in local (facet) coordinates - u_surf_norms = np.ones((3, slopes.shape[1])) + number_data_points = slopes.shape[1] + u_surf_norms = np.ones((3, number_data_points)) u_surf_norms[:2] = -slopes u_surf_norms = Uxyz(u_surf_norms).as_Vxyz() # Apply rotation to normal vectors u_surf_norms_global = u_surf_norms.rotate(trans_facet_ensemble_list[idx].R) # Convert normal vectors to global (ensemble) slopes - slopes_ensemble_xy = -u_surf_norms_global.data[:2] / u_surf_norms_global.data[2:] + slopes_ensemble_xy = -u_surf_norms_global.projXY().data / u_surf_norms_global.z # Convert surface points to global (ensemble) coordinates v_surf_points_ensemble = trans_facet_ensemble_list[idx].apply( @@ -261,7 +262,8 @@ def get_optic( pts: Vxyz = self.data_calculation_facet[idx_mirror].v_surf_points_facet # Get normals from slopes slopes: np.ndarray = self.data_calculation_facet[idx_mirror].slopes_facet_xy - norm_data = np.ones((3, slopes.shape[1])) + number_data_points = slopes.shape[1] + norm_data = np.ones((3, number_data_points)) norm_data[:2] = -slopes norm_vecs = Uxyz(norm_data) # Get mirror shape From 4f3843643dfeb94073968296b6011bd0e80d74a8 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 16:32:51 -0600 Subject: [PATCH 48/54] Updated typing in PSF --- opencsp/app/sofast/lib/ProcessSofastFixed.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opencsp/app/sofast/lib/ProcessSofastFixed.py b/opencsp/app/sofast/lib/ProcessSofastFixed.py index 8564f2401..95ae9d58a 100644 --- a/opencsp/app/sofast/lib/ProcessSofastFixed.py +++ b/opencsp/app/sofast/lib/ProcessSofastFixed.py @@ -45,7 +45,7 @@ def __init__( self.camera = camera self.measurement: MeasurementSofastFixed self.fixed_pattern_dot_locs = fixed_pattern_dot_locs - self.params = ParamsSofastFixed() + self.params: ParamsSofastFixed = ParamsSofastFixed() # Define blob detector self.blob_detector: cv.SimpleBlobDetector_Params = cv.SimpleBlobDetector_Params() From 0c350605068372f7e1b023ec0367ec3ef1f2bec0 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 16:39:02 -0600 Subject: [PATCH 49/54] Updated documentation in test PSF --- .../sofast/test/test_ProcessSofastFixed.py | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/opencsp/app/sofast/test/test_ProcessSofastFixed.py b/opencsp/app/sofast/test/test_ProcessSofastFixed.py index 053437813..395bb782d 100644 --- a/opencsp/app/sofast/test/test_ProcessSofastFixed.py +++ b/opencsp/app/sofast/test/test_ProcessSofastFixed.py @@ -138,7 +138,9 @@ def test_save_facet_ensemble_slope_figure(self): fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') ensemble = self.sofast_facet_ensemble.get_optic('bilinear') - ensemble.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) + res_meter = 0.002 # meter, 2mm resolution + clim_mrad = 7 # +/- 7 mrad color bar limits + ensemble.plot_orthorectified_slope(res=res_meter, clim=clim_mrad, axis=fig_mng.axis) fig_mng.save(self.save_dir, 'slope_magnitude_facet_ensemble', 'png') def test_save_single_facet_slope_figure(self): @@ -148,7 +150,9 @@ def test_save_single_facet_slope_figure(self): fig_mng = fm.setup_figure(figure_control, axis_control_m, title='') facet = self.sofast_single_facet.get_optic('bilinear') - facet.plot_orthorectified_slope(res=0.002, clim=7, axis=fig_mng.axis) + res_meter = 0.002 # meter, 2mm resolution + clim_mrad = 7 # +/- 7 mrad color bar limits + facet.plot_orthorectified_slope(res=res_meter, clim=clim_mrad, axis=fig_mng.axis) fig_mng.save(self.save_dir, 'slope_magnitude_single_facet', 'png') def test_slopes_xy_facet_ensemble(self): @@ -158,8 +162,8 @@ def test_slopes_xy_facet_ensemble(self): np.testing.assert_allclose( self.sofast_facet_ensemble.data_calculation_facet[idx_facet].slopes_facet_xy, self.exp_slopes_xy_facet_ensemble[idx_facet], - rtol=0, - atol=1e-6, + rtol=0, # relative tolerance (i.e. +/- a fixed fraction of the expected value) + atol=1e-6, # absolute tolerance (i.e. +/- a fixed value) ) def test_slopes_xy_single_facet(self): @@ -167,8 +171,8 @@ def test_slopes_xy_single_facet(self): np.testing.assert_allclose( self.sofast_single_facet.data_calculation_facet[0].slopes_facet_xy, self.exp_slopes_xy_single_facet, - rtol=0, - atol=1e-6, + rtol=0, # relative tolerance (i.e. +/- a fixed fraction of the expected value) + atol=1e-6, # absolute tolerance (i.e. +/- a fixed value) ) def test_facet_pointing_ensemble(self): @@ -178,8 +182,8 @@ def test_facet_pointing_ensemble(self): np.testing.assert_allclose( self.sofast_facet_ensemble.data_calculation_ensemble[idx_facet].trans_facet_ensemble.matrix, self.exp_facet_pointing_trans[idx_facet], - rtol=0, - atol=1e-6, + rtol=0, # relative tolerance (i.e. +/- a fixed fraction of the expected value) + atol=1e-6, # absolute tolerance (i.e. +/- a fixed value) ) def tearDown(self) -> None: From d798e1c5a2c13d1d27de0401a02777c33134051c Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 16:42:37 -0600 Subject: [PATCH 50/54] updated docs in test_sofastConfiguration --- opencsp/app/sofast/test/test_SofastConfiguration.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/opencsp/app/sofast/test/test_SofastConfiguration.py b/opencsp/app/sofast/test/test_SofastConfiguration.py index 489e80ca1..e4cec6035 100644 --- a/opencsp/app/sofast/test/test_SofastConfiguration.py +++ b/opencsp/app/sofast/test/test_SofastConfiguration.py @@ -65,6 +65,10 @@ def _get_process_sofast_fixed(): sofast.load_measurement_data(measurement) # Process + # - Since we are using an NSTTF mirror with about a 150m focal length, + # we will seed the initial focal lengths with 150 in x and y + # - Since we are testing SofastFixed (which has sparse data compared + # to SofastFringe), we will not downsample the data (set downsample to 1) surface = Surface2DParabolic(initial_focal_lengths_xy=(150.0, 150), robust_least_squares=False, downsample=1) pt_known = measurement.origin xy_known = (0, 0) @@ -95,6 +99,10 @@ def _get_process_sofast_fringe(): facet_data = DefinitionFacet.load_from_json(file_facet) # Define surface definition (parabolic surface) + # - Since we are using an NSTTF mirror with about a 300m focal length, + # we will seed the initial focal lengths with 300 in x and y + # - Since we are testing SofastFringe (which has dense data sampling), + # we will downsample the data by a factor of 10 surface = Surface2DParabolic(initial_focal_lengths_xy=(300.0, 300.0), robust_least_squares=True, downsample=10) # Calibrate fringes From 059170560843e6709bdbb2d50fc1371e289f8470 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 16:44:03 -0600 Subject: [PATCH 51/54] updated docs in FacetEnsemble --- opencsp/common/lib/csp/FacetEnsemble.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opencsp/common/lib/csp/FacetEnsemble.py b/opencsp/common/lib/csp/FacetEnsemble.py index 61208ff8c..e28f320c5 100644 --- a/opencsp/common/lib/csp/FacetEnsemble.py +++ b/opencsp/common/lib/csp/FacetEnsemble.py @@ -63,7 +63,7 @@ def axis_aligned_bounding_box(self) -> tuple[float, float, float, float]: points_z = facet.mirror.surface_displacement_at(points_xy) # mirror frame # If the corners aren't in range of the mirror's interpolation function, set to 0 if np.any(np.isnan(points_z)): - lt.warn(f'Could not find corner z values for facet number {facet_idx:d}; filling with zeros.') + lt.warn(f'Could not find corner z values for facet number {facet_idx:3d}; filling with zeros.') points_z = np.nan_to_num(points_z, nan=0) # Translate xyz points to their locations in the ensemble points_xyz = Pxyz((points_xy.x, points_xy.y, points_z)) # mirror frame From 14ab57796b50b55459b41824ff3cc8aa4771a0d0 Mon Sep 17 00:00:00 2001 From: Braden Date: Tue, 8 Oct 2024 17:06:44 -0600 Subject: [PATCH 52/54] Updated calculated facet hdf5 --- .../data_expected/calculation_facet.h5 | Bin 82944 -> 173856 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/opencsp/test/data/sofast_fixed/data_expected/calculation_facet.h5 b/opencsp/test/data/sofast_fixed/data_expected/calculation_facet.h5 index 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