diff --git a/openflexure_microscope/api/default_extensions/picamera_autocalibrate/extension.py b/openflexure_microscope/api/default_extensions/picamera_autocalibrate/extension.py index 3b7de2ea..1a0bf539 100644 --- a/openflexure_microscope/api/default_extensions/picamera_autocalibrate/extension.py +++ b/openflexure_microscope/api/default_extensions/picamera_autocalibrate/extension.py @@ -1,19 +1,23 @@ import logging from contextlib import contextmanager +from typing import Iterator, Tuple -import picamerax +import labthings.fields as fields from flask import abort from labthings import find_component from labthings.extensions import BaseExtension from labthings.views import ActionView +from picamerax import PiCamera from openflexure_microscope.camera.base import BaseCamera from openflexure_microscope.microscope import Microscope from .recalibrate_utils import ( - auto_expose_and_freeze_settings, + adjust_shutter_and_gain_from_raw, + adjust_white_balance_from_raw, flat_lens_shading_table, - recalibrate_camera, + get_channel_percentiles, + lst_from_camera, ) @@ -61,64 +65,178 @@ class LSTExtension(BaseExtension): "/delete_lens_shading_table", endpoint="delete_lens_shading_table", ) + self.add_view( + GetRawChannelPercentilesView, + "/get_raw_channel_percentiles", + endpoint="get_raw_channel_percentiles", + ) + self.add_view( + AutoExposureFromRawView, + "/auto_exposure_from_raw", + endpoint="auto_exposure_from_raw", + ) + self.add_view( + AutoWhiteBalanceFromRawView, + "/auto_white_balance_from_raw", + endpoint="auto_white_balance_from_raw", + ) + self.add_view( + AutoLensShadingTableView, + "/auto_lens_shading_table", + endpoint="auto_lens_shading_table", + ) - def recalibrate(self, microscope: Microscope): + +@contextmanager +def find_picamera() -> Iterator[Tuple[PiCamera, BaseCamera, Microscope]]: + """Locate the microscope and raise a sensible error if it's missing.""" + microscope = find_component("org.openflexure.microscope") + + if not microscope: + abort( + 503, "No microscope connected. Unable to use camera calibration functions." + ) + + scamera = microscope.camera + + if not hasattr(scamera, "picamera"): + abort(503, "The PiCamera calibration plugin requires a Raspberry Pi camera.") + + with scamera.lock: + yield scamera.picamera, scamera, microscope + + +class RecalibrateView(ActionView): + def post(self): """Reset the camera's settings. This generates new gains, exposure time, and lens shading table such that the background is as uniform as possible with a gray level of 230. It takes a little while to run. + + This consists of three steps: + + * Reset gain and exposure time, then increase them until + we have a suitably bright image + * Set the auto white balance based on a raw image + * Set the lens shading table based on a raw image + + Each of these steps has its own endpoint if you want to + perform them separately. """ - with pause_stream(microscope.camera) as scamera: - if hasattr(scamera, "picamera"): - picamera_obj: picamerax.PiCamera = getattr(scamera, "picamera") - auto_expose_and_freeze_settings(picamera_obj) - recalibrate_camera(picamera_obj) - microscope.save_settings() - else: - raise RuntimeError( - "Recalibrate can only be used with a Raspberry Pi camera" - ) + with find_picamera() as (picamera, scamera, microscope): + logging.info("Starting microscope recalibration...") + adjust_shutter_and_gain_from_raw(picamera) + adjust_white_balance_from_raw(picamera) + lst = lst_from_camera(picamera) + with pause_stream(scamera): + picamera.lens_shading_table = lst + microscope.save_settings() -class RecalibrateView(ActionView): +class AutoLensShadingTableView(ActionView): def post(self): - microscope = find_component("org.openflexure.microscope") + """Perform flat-field correction - if not microscope: - abort(503, "No microscope connected. Unable to recalibrate.") - - logging.info("Starting microscope recalibration...") - - return self.extension.recalibrate(microscope) + This routine acquires a new image (which should be an + empty field of view, i.e. a perfect microscope would + record a uniform white image), and then uses it to set + the "lens shading table" such that future images will + be corrected for vignetting. + """ + with find_picamera() as (picamera, scamera, microscope): + logging.info("Generating lens shading table") + lst = lst_from_camera(picamera) + with pause_stream(scamera): + picamera.lens_shading_table = lst + microscope.save_settings() class FlattenLSTView(ActionView): def post(self): - microscope = find_component("org.openflexure.microscope") - - if not microscope: - abort( - 503, - "No microscope connected. Unable to flatten the lens shading table.", - ) - - with pause_stream(microscope.camera) as scamera: - flat_lst = flat_lens_shading_table(scamera.camera) - scamera.camera.lens_shading_table = flat_lst - microscope.save_settings() + with find_picamera() as (picamera, scamera, microscope): + with pause_stream(scamera): + flat_lst = flat_lens_shading_table(picamera) + picamera.lens_shading_table = flat_lst + microscope.save_settings() class DeleteLSTView(ActionView): def post(self): - microscope = find_component("org.openflexure.microscope") + with find_picamera() as (picamera, scamera, microscope): + with pause_stream(scamera): + picamera.lens_shading_table = None + microscope.save_settings() - if not microscope: - abort( - 503, - "No microscope connected. Unable to flatten the lens shading table.", - ) - with pause_stream(microscope.camera) as scamera: - scamera.camera.lens_shading_table = None - microscope.save_settings() +class AutoExposureFromRawView(ActionView): + args = { + "target_white_level": fields.Int( + missing=700, + example=700, + description=( + "The pixel value (10-bit format) that we aim for when adjusting shutter/gain." + ), + ), + "max_iterations": fields.Int( + missing=20, + description=( + "The number of adjustments to the camera's settings to make before giving up." + ), + ), + "tolerance": fields.Float( + missing=0.05, + example=0.05, + description=( + "We stop adjusting when we get within this fraction of the target " + "value. It is a number between 0 and 1, usually 0.01--0.1." + ), + ), + "percentile": fields.Float( + missing=99.9, + example=99.9, + description=( + "A float between 0 and 100 setting the centile to use " + "to measure the white point of the image. A value " + "of 99.9 allows 0.1% of the pixels to be erroneously " + "bright - this helps stability in low light." + ), + ), + } + + def post(self, args): + with find_picamera() as (picamera, _, _): + adjust_shutter_and_gain_from_raw(picamera, **args) + + +class AutoWhiteBalanceFromRawView(ActionView): + args = { + "percentile": fields.Float( + missing=99.9, + example=99.9, + description=( + "A float between 0 and 100 setting the centile to use " + "to measure the white point of the image. A value " + "of 99.9 allows 0.1% of the pixels to be erroneously " + "bright - this helps stability in low light." + ), + ) + } + + def post(self, args): + with find_picamera() as (picamera, _, _): + adjust_white_balance_from_raw(picamera, **args) + + +class GetRawChannelPercentilesView(ActionView): + args = { + "percentile": fields.Float( + example=99.9, + description="A float between 0 and 100 setting the centile to calculate", + ) + } + schema = fields.List(fields.Integer) + + def post(self, args): + with find_picamera() as (picamera, _, _): + return get_channel_percentiles(picamera, args["percentile"]) diff --git a/openflexure_microscope/api/default_extensions/picamera_autocalibrate/recalibrate_utils.py b/openflexure_microscope/api/default_extensions/picamera_autocalibrate/recalibrate_utils.py index 445687a9..450584ed 100644 --- a/openflexure_microscope/api/default_extensions/picamera_autocalibrate/recalibrate_utils.py +++ b/openflexure_microscope/api/default_extensions/picamera_autocalibrate/recalibrate_utils.py @@ -1,7 +1,39 @@ +""" +Functions to set up a Raspberry Pi Camera v2 for scientific use + +This module provides slower, simpler functions to set the +gain, exposure, and white balance of a Raspberry Pi camera, using +`picamerax` (a fork of `picamera`) to get as-manual-as-possible +control over the camera. It's mostly used by the OpenFlexure +Microscope, though it deliberately has no hard dependencies on +said software, so that it's useful on its own. + +There are three main calibration steps: + +* Setting exposure time and gain to get a reasonably bright + image. +* Fixing the white balance to get a neutral image +* Taking a uniform white image and using it to calibrate + the Lens Shading Table + +The most reliable way to do this, avoiding any issues relating +to "memory" or nonlinearities in the camera's image processing +pipeline, is to use raw images. This is quite slow, but very +reliable. The three steps above can be accomplished by: + +``` +picamera = picamerax.PiCamera() + +adjust_shutter_and_gain_from_raw(picamera) +adjust_white_balance_from_raw(picamera) +lst = lst_from_camera(picamera) +picamera.lens_shading_table = lst +``` +""" + import logging import time -from fractions import Fraction -from typing import List, Optional, Tuple +from typing import List, NamedTuple, Optional, Tuple import numpy as np from picamerax import PiCamera @@ -33,48 +65,190 @@ def flat_lens_shading_table(camera: PiCamera) -> np.ndarray: def adjust_exposure_to_setpoint(camera: PiCamera, setpoint: int): - """Adjust the camera's exposure time until the maximum pixel value is .""" - print("Adjusting shutter speed to hit setpoint {}".format(setpoint), end="") + """Adjust the camera's exposure time until the maximum pixel value is . + + NB this method uses RGB images (i.e. processed ones) not raw images. + """ + logging.info(f"Adjusting shutter speed to hit setpoint {setpoint}") for _ in range(3): - print(".", end="") camera.shutter_speed = int( camera.shutter_speed * setpoint / np.max(rgb_image(camera)) ) time.sleep(1) - print("done") -def auto_expose_and_freeze_settings(camera: PiCamera): - """Freeze the settings after auto-exposing to white illumination""" - logging.info("Allowing the camera to auto-expose") - if "greyworld" in camera.AWB_MODES: - print("Calibrating with greyworld AWB") - camera.awb_mode = "greyworld" - else: - print("Calibrating with auto AWB") - camera.awb_mode = "auto" - camera.exposure_mode = "auto" - camera.iso = ( - 0 # This is important, if it's on a fixed ISO, gain might not set properly. - ) - for _ in range(6): - print(".", end="") - time.sleep(0.5) - logging.info("done") - - logging.info("Freezing the camera settings...") - camera.shutter_speed = camera.exposure_speed - logging.info("Shutter speed = %s", (camera.shutter_speed)) +def set_minimum_exposure(camera: PiCamera): + """Enable manual exposure, with low gain and shutter speed + + We set exposure mode to manual, analog and digital gain + to 1, and shutter speed to the minimum (8us for Pi Camera v2) + NB ISO is left at auto, because this is needed for the gains + to be set correctly. + """ camera.exposure_mode = "off" - logging.info("Auto exposure disabled") - g: Tuple[Fraction, Fraction] = camera.awb_gains - camera.awb_mode = "off" - camera.awb_gains = g - logging.info("Auto white balance disabled, gains are %s", (g)) + camera.iso = 0 # We must set ISO=0 (auto) or we can't set gain + camera.analog_gain = 1 + camera.digital_gain = 1 + # Setting the shutter speed to 1us will result in it being set + # to the minimum possible, which is probably 8us for PiCamera v2 + camera.shutter_speed = 1 + time.sleep(0.5) + + +class ExposureTest(NamedTuple): + """Record the results of testing the camera's current exposure settings""" + + level: int + shutter_speed: int + analog_gain: float + + +def test_exposure_settings(camera: PiCamera, percentile: float) -> ExposureTest: + """Evaluate current exposure settings using a raw image + + We will acquire a raw image and calculate the given percentile + of the pixel values. We return a dictionary containing the + percentile (which will be compared to the target), as well as + the camera's shutter and gain values. + """ + max_brightness = np.max(get_channel_percentiles(camera, percentile)) + # The reported brightness can, theoretically, be negative or zero + # because of black level compensation. The line below forces a + # minimum value of 1 which will keep things well-behaved! + if max_brightness < 1: + logging.warning( + f"Measured brightness of {max_brightness}. " + "This should normally be >= 1, and may indicate the " + "camera's black level compensation has gone wrong." + ) + max_brightness = 1 + shutter_speed = int(camera.shutter_speed) + analog_gain = float(camera.analog_gain) logging.info( - "Analogue gain: %s, Digital gain: %s", camera.analog_gain, camera.digital_gain + f"Brightness: {max_brightness: >5.0f}, " + f"Gain: {analog_gain: >4.1f}, " + f"Shutter: {shutter_speed: >7.0f}" ) - adjust_exposure_to_setpoint(camera, 215) + return ExposureTest(max_brightness, shutter_speed, analog_gain) + + +def check_convergence(test: ExposureTest, target: int, tolerance: float): + """Check whether the brightness is within the specified target range""" + converged = abs(test.level - target) < target * tolerance + return converged + + +def adjust_shutter_and_gain_from_raw( + camera: PiCamera, + target_white_level: int = 700, + max_iterations: int = 20, + tolerance: float = 0.05, + percentile: float = 99.9, +) -> float: + """Adjust exposure and analog gain based on raw images. + + This routine is slow but effective. It uses raw images, so we + are not affected by white balance or digital gain. + + + Arguments: + target_white_level: + The raw, 10-bit value we aim for. The brightest pixels + should be approximately this bright. Maximum possible + is about 900, 700 is reasonable. + max_iterations: + We will terminate once we perform this many iterations, + whether or not we converge. More than 10 shouldn't happen. + tolerance: + How close to the target value we consider "done". Expressed + as a fraction of the ``target_white_level`` so 0.05 means + +/- 5% + percentile: + Rather then use the maximum value for each channel, we + calculate a percentile. This makes us robust to single + pixels that are bright/noisy. 99.9% still picks the top + of the brightness range, but seems much more reliable + than just ``np.max()``. + """ + if target_white_level * (tolerance + 1) >= 959: + raise ValueError( + "The target level is too high - a saturated image would be " + "considered successful. target_white_level * (tolerance + 1) " + "must be less than 959." + ) + + set_minimum_exposure(camera) + + # We start with very low exposure settings and work up + # until either the brightness is high enough, or we can't increase the + # shutter speed any more. + iterations = 0 + while iterations < max_iterations: + test = test_exposure_settings(camera, percentile) + + if check_convergence(test, target_white_level, tolerance): + break + iterations += 1 + + # Adjust shutter speed so that the brightness approximates the target + # NB we put a maximum of 32 on this, to stop it increasing too quickly. + camera.shutter_speed = int( + test.shutter_speed * min(target_white_level / test.level, 32) + ) + time.sleep(0.5) + + # Check whether the shutter speed is still going up - if not, we've hit a maximum + if camera.shutter_speed == test.shutter_speed: + logging.info("Shutter speed has maxed out.") + break + + # Now, if we've not converged, increase gain until we converge or run out of options. + while iterations < max_iterations: + test = test_exposure_settings(camera, percentile) + if check_convergence(test, target_white_level, tolerance): + break + iterations += 1 + + # Adjust gain to make the white level hit the target, again with a maximum + camera.analog_gain *= min(target_white_level / test.level, 2) + time.sleep(0.5) + + # Check the gain is still changing - if not, we have probably hit the maximum + if camera.analog_gain == test.analog_gain: + logging.info("Gain has maxed out.") + break + + if check_convergence(test, target_white_level, tolerance): + logging.info(f"Brightness has converged to within {tolerance * 100 :.0f}%.") + else: + logging.warning( + f"Failed to reach target brightness of {target_white_level}." + f"Brightness reached {test.level} after {iterations} iterations." + ) + + return test.level + + +def adjust_white_balance_from_raw( + camera: PiCamera, percentile: float = 99 +) -> Tuple[float, float]: + """Adjust the white balance in a single shot, based on the raw image. + + NB if ``channels_from_raw_image`` is broken, this will go haywire. + We should probably have better logic to verify the channels really + are BGGR... + """ + blue, g1, g2, red = get_channel_percentiles(camera, percentile) + green = (g1 + g2) / 2.0 + new_awb_gains = (green / red, green / blue) + logging.info( + f"Raw white point is R: {red} G: {green} B: {blue}, " + f"setting AWB gains to ({new_awb_gains[0]:.2f}, " + f"{new_awb_gains[1]:.2f})." + ) + camera.awb_mode = "off" + camera.awb_gains = new_awb_gains + return new_awb_gains def channels_from_bayer_array(bayer_array: np.ndarray) -> np.ndarray: @@ -95,6 +269,21 @@ def channels_from_bayer_array(bayer_array: np.ndarray) -> np.ndarray: return channels +def get_channel_percentiles(camera: PiCamera, percentile: float) -> np.ndarray: + """Calculate the brightness percentile of the pixels in each channel + + This is a number between -64 and 959 for each channel, because the + camera takes 10-bit images (maximum=1023) and its zero level is set + at 64 for denoising purposes (there's black level compensation built + in, and to avoid skewing the noise, the black level is set as 64 to + leave some room for negative values. + """ + with PiBayerArray(camera) as output: + camera.capture(output, format="jpeg", bayer=True) + channels = channels_from_bayer_array(output.array) + return np.percentile(channels, percentile, axis=(1, 2)) - 64 + + def lst_from_channels(channels: np.ndarray) -> np.ndarray: """Given the 4 Bayer colour channels from a white image, generate a LST.""" full_resolution: np.ndarray = np.array( @@ -165,6 +354,20 @@ def lst_from_channels(channels: np.ndarray) -> np.ndarray: return lens_shading_table[::-1, :, :].copy() +def lst_from_camera(camera: PiCamera) -> np.ndarray: + """Acquire a raw image and use it to calculate a lens shading table.""" + with PiBayerArray(camera) as a: + camera.capture(a, format="jpeg", bayer=True) + raw_image = a.array.copy() + + # Now we need to calculate a lens shading table that would make this flat. + # raw_image is a 3D array, with full resolution and 3 colour channels. No + # de-mosaicing has been done, so 2/3 of the values are zero (3/4 for R and B + # channels, 1/2 for green because there's twice as many green pixels). + channels = channels_from_bayer_array(raw_image) + return lst_from_channels(channels) + + def recalibrate_camera(camera: PiCamera): """Reset the lens shading table and exposure settings. @@ -178,16 +381,7 @@ def recalibrate_camera(camera: PiCamera): camera.lens_shading_table = flat_lens_shading_table(camera) _ = rgb_image(camera) # for some reason the camera won't work unless I do this! - with PiBayerArray(camera) as a: - camera.capture(a, format="jpeg", bayer=True) - raw_image = a.array.copy() - - # Now we need to calculate a lens shading table that would make this flat. - # raw_image is a 3D array, with full resolution and 3 colour channels. No - # de-mosaicing has been done, so 2/3 of the values are zero (3/4 for R and B - # channels, 1/2 for green because there's twice as many green pixels). - channels = channels_from_bayer_array(raw_image) - lens_shading_table = lst_from_channels(channels) + lens_shading_table = lst_from_camera(camera) camera.lens_shading_table = lens_shading_table _ = rgb_image(camera) diff --git a/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettings.vue b/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettings.vue index 8e37a0b9..67c1fdda 100644 --- a/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettings.vue +++ b/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettings.vue @@ -3,7 +3,7 @@

Manual camera settings

-
+
  • @@ -31,7 +31,7 @@ v-model="picamera.analog_gain" class="uk-input uk-form-small" type="number" - step="0.000001" + step="0.0000000000000001" />
@@ -45,7 +45,29 @@ v-model="picamera.digital_gain" class="uk-input uk-form-small" type="number" - step="0.000001" + step="0.0000000000000001" + /> +
+ + +
+ +
+ + + +
@@ -194,7 +216,8 @@ export default { shutter_speed: undefined, analog_gain: undefined, digital_gain: undefined, - framerate: undefined + framerate: undefined, + awb_gains: undefined }, mjpeg_bitrate: undefined, stream_resolution: undefined, @@ -244,6 +267,7 @@ export default { this.picamera.digital_gain = cameraSettings.picamera.digital_gain; this.picamera.shutter_speed = cameraSettings.picamera.shutter_speed; this.picamera.framerate = cameraSettings.picamera.framerate; + this.picamera.awb_gains = cameraSettings.picamera.awb_gains; } }) .catch(error => { @@ -263,7 +287,11 @@ export default { shutter_speed: parseFloat(this.picamera.shutter_speed), analog_gain: parseFloat(this.picamera.analog_gain), digital_gain: parseFloat(this.picamera.digital_gain), - framerate: parseInt(this.picamera.framerate) + framerate: parseInt(this.picamera.framerate), + awb_gains: [ + parseFloat(this.picamera.awb_gains[0]), + parseFloat(this.picamera.awb_gains[1]), + ], } } }; diff --git a/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettingsComponents/cameraCalibrationSettings.vue b/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettingsComponents/cameraCalibrationSettings.vue index e6f3c8d8..c306e87b 100644 --- a/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettingsComponents/cameraCalibrationSettings.vue +++ b/openflexure_microscope/api/static/src/components/tabContentComponents/settingsComponents/cameraSettingsComponents/cameraCalibrationSettings.vue @@ -9,7 +9,44 @@ 'Start recalibration? This may take a while, and the microscope will be locked during this time.' " :submit-url="recalibrationLinks.recalibrate.href" - :submit-label="'Auto-Calibrate'" + :submit-label="'Full Auto-Calibrate'" + @response="onRecalibrateResponse" + @error="modalError" + > + + +
+ + +
+
+ + +
+
+ @@ -22,15 +59,7 @@ class="uk-button uk-button-danger uk-width-1-1" @click="flattenLensShadingTableRequest" > - Disable flat-field correction - - -
diff --git a/poetry.lock b/poetry.lock deleted file mode 100644 index 2e5f3cbe..00000000 --- a/poetry.lock +++ /dev/null @@ -1,1592 +0,0 @@ -[[package]] -name = "alabaster" -version = "0.7.12" -description = "A configurable sidebar-enabled Sphinx theme" -category = "dev" -optional = false -python-versions = "*" - -[[package]] -name = "apispec" -version = "4.0.0" -description = "A pluggable API specification generator. 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