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annotate src/laser/rasterize.clj @ 20:6bed8ceb51a9

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obtained a linear relation between output and target.
author Robert McIntyre <rlm@mit.edu>
date Mon, 30 Aug 2010 01:01:35 -0400
parents 3b255dcd6c50
children e72220627685
rev   line source
rlm@15 1 (ns laser.rasterize
rlm@15 2 (:use [rlm
rlm@15 3 image-utils
rlm@15 4 map-utils]
rlm@15 5 [clojure.contrib
rlm@19 6 [str-utils :only [str-join re-gsub re-split]]
rlm@15 7 [seq :only [indexed]]
rlm@19 8 [math]])
rlm@15 9 (:import [ij ImagePlus IJ]))
rlm@0 10
rlm@15 11 ;(import '(java.io File))
rlm@15 12 ;(import '(org.apache.commons.io FileUtils))
rlm@15 13 ;(import '(javax.imageio ImageIO) )
rlm@0 14
rlm@0 15
rlm@15 16 (set! *print-length* 20)
rlm@1 17 (def feed 120)
rlm@1 18 (def dpi [500, 500])
rlm@19 19 (def paramaters {:x-dpi 500 :y-dpi 500 :margin 0 :x-offset 1 :y-offset 1})
rlm@8 20
rlm@15 21 ;;; this process is divided into two tasks,
rlm@15 22 ;;; creating the raster g-code, which sweeps back and forth
rlm@15 23 ;;; and creating the gmask, which turns the laser on and off.
rlm@1 24
rlm@1 25
rlm@15 26 ;;; we'll be using frame-hashes, which represent picutres as
rlm@15 27 ;;; a 3D vector field over 2D space, with the vectors representing
rlm@19 28 ;;; the rgb values at that particulat point.
rlm@2 29
rlm@15 30 (defn select-row
rlm@15 31 "returns a frame hash that is just a single line at the chosen y"
rlm@15 32 [y window]
rlm@19 33 (filter-keys (comp (partial = y) last) window))
rlm@1 34
rlm@15 35 (defn make-rows [pic]
rlm@15 36 (map (partial sort #(< (first %1) (first %2)))
rlm@15 37 (partition-by last
rlm@15 38 (sort (fn [[x1 y1][x2 y2]] (> y2 y1))
rlm@15 39 (map first (filter-vals (partial = black) pic))))))
rlm@1 40
rlm@19 41
rlm@15 42 ;;; generate rastering g-code
rlm@1 43
rlm@3 44 (defn raster-preamble []
rlm@19 45 (str-join \newline
rlm@19 46 ["M63 P0\nG61"
rlm@19 47 (str "F" feed)
rlm@19 48 "M101"
rlm@19 49 "M3 S1\n"]))
rlm@3 50
rlm@4 51 (defn raster-epilogue []
rlm@19 52 (str-join \newline
rlm@19 53 ["M63 P0"
rlm@19 54 "M5"
rlm@19 55 "M2\n"]))
rlm@3 56
rlm@19 57 (defn raster-comment [string]
rlm@4 58 (str "(" (re-gsub #"[()]" "" string) ")"))
rlm@1 59
rlm@19 60
rlm@19 61 ;this is a sequence of rows
rlm@19 62
rlm@19 63 ;(defn span [row]
rlm@19 64 ; (let [sorted-row (sort #(< (first %1) (first %2)) row)]
rlm@19 65 ; (vector (first sorted-row) (last sorted-row))))
rlm@19 66
rlm@19 67
rlm@20 68 (comment
rlm@19 69
rlm@20 70 (import 'org.im4java.core.ConvertCmd)
rlm@20 71 (import 'org.im4java.core.IMOperation)
rlm@20 72 (import 'org.im4java.core.Stream2BufferedImage)
rlm@20 73
rlm@20 74 (def target (.getBufferedImage (ImagePlus. sing)))
rlm@20 75 (def shiv (IMOperation.))
rlm@20 76 (.addImage shiv)
rlm@20 77 (.addImage shiv (into-array String ["png:-"]))
rlm@20 78 (def conv-shiv (ConvertCmd.))
rlm@20 79 (def s2b (Stream2BufferedImage.))
rlm@20 80 (.setOutputConsumer conv-shiv s2b)
rlm@20 81 (.run conv-shiv shiv (into-array Object [target]))
rlm@20 82 (def result (.getImage s2b ))
rlm@20 83
rlm@20 84 )
rlm@20 85
rlm@20 86 (defn mirror [#^ImagePlus img]
rlm@20 87 (let [title (.getTitle img)
rlm@20 88 target (.getBufferedImage img)
rlm@20 89 s2b (Stream2BufferedImage.)
rlm@20 90 shiv (doto (IMOperation.)
rlm@20 91 ;(.blur 2.0)
rlm@20 92 (.flip)
rlm@20 93 (.addImage)
rlm@20 94 (.addImage (into-array String ["png:-"])))
rlm@20 95 conv-shiv (doto (ConvertCmd.)
rlm@20 96 (.setOutputConsumer s2b))]
rlm@20 97
rlm@20 98 (.run conv-shiv shiv (into-array Object [target]))
rlm@20 99 (ImagePlus. title (.getImage s2b))))
rlm@20 100
rlm@20 101
rlm@20 102
rlm@19 103 (defn row->gcode [{:keys [x-dpi y-dpi margin x-offset y-offset]} forward? row]
rlm@16 104
rlm@19 105 (let [[x1 y1] (if forward? (last row) (first row))
rlm@19 106 [x2 y2] (if forward? (first row) (last row))]
rlm@5 107
rlm@19 108 (let [x1 (* x1 (/ x-dpi))
rlm@19 109 x2 (* x2 (/ x-dpi))
rlm@19 110 y1 (* y1 (/ y-dpi))
rlm@20 111 y2 (* y2 (/ y-dpi))]
rlm@7 112
rlm@19 113 (let [x1 (+ x1 x-offset)
rlm@19 114 x2 (+ x2 x-offset)
rlm@19 115 y1 (+ y1 y-offset)
rlm@19 116 y2 (+ y2 y-offset)]
rlm@20 117
rlm@20 118
rlm@19 119
rlm@16 120 (str (format "G0 X%.3f Y%.3f\n"
rlm@19 121 (float x1 )
rlm@19 122 (float y1))
rlm@16 123
rlm@16 124 (format "G1 X%.3f Y%.3f\n"
rlm@19 125 (float x2)
rlm@19 126 (float y2)))))))
rlm@14 127
rlm@15 128 (defn generate-gcode [pic]
rlm@15 129 (str (raster-preamble)
rlm@19 130 (str-join ""
rlm@19 131 (map
rlm@19 132 (fn [[index row]]
rlm@19 133 (row->gcode paramaters (even? index) row))
rlm@19 134 (indexed (make-rows pic))))
rlm@19 135 (raster-epilogue)))
rlm@15 136
rlm@15 137
rlm@15 138
rlm@15 139
rlm@15 140
rlm@15 141
rlm@15 142
rlm@15 143
rlm@15 144
rlm@15 145
rlm@15 146
rlm@15 147
rlm@15 148
rlm@15 149
rlm@15 150
rlm@15 151
rlm@15 152
rlm@15 153
rlm@15 154
rlm@7 155 (defn gather-row [row]
rlm@7 156 (let [base [[(first (first row)) (first (first row))]]]
rlm@7 157 ; (println base)
rlm@7 158 (reduce
rlm@7 159 (fn colapse [collection new-n]
rlm@7 160
rlm@7 161 (let [collection (apply vector collection)
rlm@7 162 prevoius (last (last collection))
rlm@7 163 range-start (first (last collection))]
rlm@7 164 ; (println new-n)
rlm@7 165 ; (println prevoius)
rlm@7 166 ; (println range-start)
rlm@7 167 (if (<= new-n (+ prevoius 1))
rlm@11 168 (do ;(println "join")
rlm@7 169 ;(println (butlast collection))
rlm@11 170 (conj (apply vector (butlast collection))
rlm@11 171 (vector range-start new-n)))
rlm@11 172 (conj collection (vector new-n new-n)))))
rlm@7 173
rlm@7 174 base
rlm@11 175 (map first row))))
rlm@11 176
rlm@7 177
rlm@7 178
rlm@7 179
rlm@7 180 (defn row->gmask [[x-dpi y-dpi] forward? row]
rlm@11 181 (let [start (float (* (/ x-dpi) (first (first
rlm@11 182 (if forward?
rlm@11 183 (reverse row) row)))))]
rlm@11 184 (let [preamble (if-not forward?
rlm@7 185 (format "0 0 0 %.3f\n" start)
rlm@11 186 (format "0 0 1 %.3f\n" start))
rlm@7 187 body
rlm@11 188 (for [[x y]
rlm@11 189 (if forward?
rlm@11 190 (reverse (gather-row row))
rlm@11 191 (gather-row row))]
rlm@7 192 (let [x (float (* x (/ x-dpi)))
rlm@15 193 y (float (* y (/ x-dpi)))]
rlm@14 194 ;; x (+ x 0.159)];; shift by a small margin.
rlm@11 195 (if-not forward?
rlm@7 196 (str (format "0 0 1 %.3f\n" x)
rlm@7 197 (format "0 1 1 %.3f\n" y))
rlm@7 198
rlm@11 199 (str (format "0 0 0 %.3f\n" y)
rlm@11 200 (format "0 1 0 %.3f\n" x)))))]
rlm@7 201
rlm@7 202 (str preamble (str-join "" body)))))
rlm@7 203
rlm@7 204
rlm@7 205 (defn generate-gmask [pic]
rlm@7 206 (str "1 0 0 0\n"
rlm@8 207 (str-join "" (map (fn [[index row]]
rlm@11 208 (row->gmask dpi (even? index) row))
rlm@8 209 (indexed (make-rows pic))))))
rlm@8 210
rlm@11 211
rlm@11 212
rlm@8 213
rlm@8 214 ;;;; testing
rlm@8 215
rlm@15 216 (defn generate-files [pic]
rlm@15 217 (println "made-image")
rlm@15 218 (spit "/home/r/kevin/out.ngc" (generate-gcode pic))
rlm@15 219 (println "/home/r/kevin/out.ngc")
rlm@15 220 (spit "/home/r/kevin/out.gmask" (generate-gmask pic))
rlm@15 221 (println "/home/r/kevin/out.gmask")
rlm@15 222 pic)
rlm@8 223
rlm@15 224 (defn update-state []
rlm@15 225 (def sing "/home/r/kevin/sing.png")
rlm@20 226 (def pic (frame-hash (mirror (ImagePlus. sing))))
rlm@19 227 (def pic (b&w pic)))
rlm@8 228
rlm@19 229 (defn compare-gen-fn [n f cmp]
rlm@15 230 (let [theirs (re-split #"\n" (slurp cmp))
rlm@15 231 ours (re-split #"\n" (f pic))]
rlm@15 232 (println (format "%1$-25s%2$s" "OURS" "THEIRS"))
rlm@15 233 (println "_______________________________________")
rlm@15 234 (dorun (map (fn [[us them]] (println
rlm@15 235 (format "%1$-25s%2$s" us them)))
rlm@19 236 (take n (partition 2 (interleave ours theirs)))))))
rlm@8 237
rlm@19 238 (defn compare-gcode [n]
rlm@19 239 (compare-gen-fn n generate-gcode "/home/r/kevin/reference.ngc"))
rlm@19 240 (defn compare-gmask [n]
rlm@19 241 (compare-gen-fn n generate-gmask "/home/r/kevin/reference.gmask"))
rlm@15 242
rlm@8 243
rlm@8 244
rlm@8 245
rlm@8 246