#! /bin/csh -f
#
#	Bring the sample into focus
#
#
set tempfile = /tmp/focus_$$
if(-w /tmp/$USER) set tempfile = /tmp/${USER}/focus_$$
set path = ( /programs/kuim/bin/ $path )
set step = 0.1

set edge = 100
set focusbox = ""

foreach arg ( $* )
    if ("$arg" == "beam") set around_beam
    set int = `echo $arg | awk '{print int($1)}'`
    if ("$arg" == "$int") then
	set edge = $int
    endif
end

if($?around_beam) then
    set corner = `beam.com | awk -v edge=$edge '{printf "+%d+%d", 352*$7-edge/2,240*$8-edge/2}'`
    set focusbox = ${edge}x${edge}$corner
    echo "selecting $edge x $edge area around $corner"
endif


echo -n >! ${tempfile}.scores
snap.com ${tempfile}.jpg 352x240 -nodisplay -fast >& /dev/null
if($?around_beam) then
    convert -crop $focusbox ${tempfile}.jpg ${tempfile}cropped.jpg
    mv ${tempfile}cropped.jpg ${tempfile}.jpg
endif
rm -f ${tempfile}.im >& /dev/null
type -f ${tempfile}.jpg ${tempfile}.im >& /dev/null
rm -f ${tempfile}.jpg ${tempfile}out.im >& /dev/null
median -s 3 3 ${tempfile}.im ${tempfile}out.im >& /dev/null
#laplacian ${tempfile}.im ${tempfile}out.im >& /dev/null
mv ${tempfile}out.im ${tempfile}.im
set score = `header ${tempfile}.im | awk '/^Var/{print $NF}'`
rm -f ${tempfile}.im

set bestscore = ( $score )
set pos = 0
set bestpos = ( $pos )
echo "$score $bestpos" | tee -a ${tempfile}.scores
set steps = 0
while ($step != 0)
@ steps = ( $steps + 1 )
sample.com ${step} 0 0 > /dev/null
set pos = `echo $pos $step | awk '{print $1+$2}'`

snap.com ${tempfile}.jpg 352x240 -nodisplay -fast >& /dev/null
if($?around_beam) then
    convert -crop $focusbox ${tempfile}.jpg ${tempfile}cropped.jpg
    mv ${tempfile}cropped.jpg ${tempfile}.jpg
endif
rm -f ${tempfile}.im >& /dev/null
type -f ${tempfile}.jpg ${tempfile}.im >& /dev/null
rm -f ${tempfile}.jpg ${tempfile}out.im >& /dev/null
median -s 3 3 ${tempfile}.im ${tempfile}out.im >& /dev/null
#laplacian ${tempfile}.im ${tempfile}out.im >& /dev/null
mv ${tempfile}out.im ${tempfile}.im
set newscore = `header ${tempfile}.im | awk '/^Var/{print $NF}'`
rm -f ${tempfile}.im

set rightdirection = `echo $score $newscore | awk '{print ($2-$1)/(2*sqrt(($2-$1)^2))+0.5}'`
set rightdirection = `echo $score $newscore | awk '{diff=sqrt(($2-$1)^2);dir=($2-$1)/diff} {print (diff )}'`
set rightdirection = `echo $score $newscore $bestscore | awk '{print (($2-$1) > -0.02*$3)}'`

if(! $rightdirection && $steps > 1) then
    # reverse what we just did?
    set step = `echo $step | awk '$1*$1<0.01{print 0;exit} {printf "%.2f", -0.61*$1}'`
endif

echo "$newscore $pos" | tee -a ${tempfile}.scores


set score = $newscore

if( `echo $score $bestscore | awk '{print ($1+0>$2+0)}'` ) then
    set bestscore = ( $score )
    set bestpos = ( $pos )
endif

end

sort -n ${tempfile}.scores | tail -7 >! ${tempfile}
mv ${tempfile} ${tempfile}.scores
gnuplot -persist << EOF >&! ${tempfile}.fitlog
c=$bestscore[1]
b=$bestpos[1]
a=-10000
fit a*(x-b)**2+c '${tempfile}.scores' using 2:1 via a
fit a*(x-b)**2+c '${tempfile}.scores' using 2:1 via a,c
fit a*(x-b)**2+c '${tempfile}.scores' using 2:1 via a,b,c
plot '${tempfile}.scores' using 2:1 , a*(x-b)**2+c
EOF
rm -f fit.log

set fitpos = `awk '$1=="b" && $2=="="{print $3}' ${tempfile}.fitlog | tail -1`
set dist = `echo $fitpos $bestpos | awk '{printf "%d", 1000*sqrt(($1-$2)^2)}'`
if ($dist < 100) then
    echo "using fitted position"
    set bestpos[1] = $fitpos
endif

# make sure we don't do any wild moves
set dist = `echo $bestpos | awk '{printf "%d", 1000*sqrt(($1-$4)^2)}'`
if($dist < 500) then
    set delta = `echo $bestpos $pos | awk '{print $1-$2}'`
    sample.com $delta
endif

rm -f ${tempfile}.scores
rm -f ${tempfile}.fitlog