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This commit is contained in:
denis defolie
2026-05-02 17:19:44 +02:00
parent c16a874ebd
commit 3f746b6b3f
26 changed files with 1447 additions and 422 deletions
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test_tube_scanner/modules/capture_interface.py
+33 -28
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@@ -49,16 +49,16 @@ class VideoCaptureInterface(abc.ABC):
# Cadence par défaut en images par seconde
DEFAULT_FPS: float = 5.0
def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, display=None, parent=None):
def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, display=None, parent=None, jpeg_quality=85):
"""
Initialise l'interface de capture.
:param fps: Cadence cible en images par seconde
"""
self._fps: float = fps
self.use_tracking = use_tracking
self.display = display
self.parent = parent
self.jpeg_quality = jpeg_quality
self._interval: float = 1.0 / fps # Intervalle en secondes entre chaque capture
self._running: bool = False # Indique si la capture est en cours
self._thread: Optional[threading.Thread] = None
@@ -69,10 +69,15 @@ class VideoCaptureInterface(abc.ABC):
self._active_crop = False
self._error_occured = False
self._tracker = PlanarianTracker(
tube_axis = settings.TRACKER_TUBE_AXIS,
min_area_px = settings.TRACKER_MIN_AREA,
)
self._tracker = None
if use_tracking:
self._tracker = PlanarianTracker(
tube_axis = settings.TRACKER_TUBE_AXIS,
min_area_px = settings.TRACKER_MIN_AREA,
max_area_ratio = settings.TRACKER_MAX_AREA_RATIO,
max_planarians = settings.TRACKER_MAX_PLANARIANS,
)
self._aligner = TubeAligner(
grbl_threshold_px = 20, # au-delà → correction GRBL
dead_zone_px = 5, # en-dessous → rien à faire
@@ -80,12 +85,14 @@ class VideoCaptureInterface(abc.ABC):
)
self.align_detection = None # résultat du test
def on_well_change(self):
"""
Appelé par le CNC lors du changement de puits.
Réinitialise le fond appris et l'état inter-frame du tracker.
"""
self._tracker.reset()
if self._tracker:
self._tracker.reset()
# ------------------------------------------------------------------
@@ -233,24 +240,26 @@ class VideoCaptureInterface(abc.ABC):
frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
if frame is None:
return jpeg, metrics
try:
# Mode debug
if self._aligner.debug:
self.align_detection = self._aligner.detect_tube(frame)
annotated = self.align_detection.get('frame_annotated')
frame = annotated if annotated is not None else frame
##
# mode racking
if self._tracker is not None:
ts = datetime.now(timezone.utc).timestamp()
frame, metrics = self._tracker.process(frame, ts)
##
ok, buf = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, self.jpeg_quality])
if ok:
jpeg = buf.tobytes()
return jpeg, metrics
# Mode debug
if self._aligner.debug:
self.align_detection = self._aligner.detect_tube(frame)
annotated = self.align_detection.get('frame_annotated')
frame = annotated if annotated is not None else frame
# mode racking
if self.use_tracking:
ts = datetime.now(timezone.utc).timestamp()
frame, metrics = self._tracker.process(frame, ts)
except Exception as e:
logger.error(e)
ok, buf = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, 85])
if ok:
jpeg = buf.tobytes()
return jpeg, metrics
return jpeg_bytes, metrics
def save_frame(self, jpeg_bytes: bytes, directory: str = ".", prefix: str = "frame") -> Path:
@@ -325,16 +334,12 @@ class VideoCaptureInterface(abc.ABC):
##
jpeg, metrics = self.process_frame(jpeg) # Recadrage circulaire si configuré
metrics.update({
"count": self._frame_count,
})
self._frame_count += 1
ts = datetime.now(timezone.utc)
if self._on_frame:
try:
self._on_frame(jpeg, ts, metrics)
self._on_frame(jpeg, ts, metrics, self._frame_count)
except Exception as cb_err: # noqa: BLE001
logger.error("Erreur dans le callback image : %s", cb_err)