detection auto
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@@ -20,7 +20,7 @@ import threading
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import logging
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from datetime import datetime, timezone
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from pathlib import Path
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from typing import Optional, Callable, TYPE_CHECKING
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from typing import Optional, Callable, TYPE_CHECKING, Any
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from django.conf import settings
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from modules.planarian_tracker import PlanarianTracker
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@@ -78,15 +78,15 @@ class VideoCaptureInterface(abc.ABC):
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dead_zone_px = 5, # en-dessous → rien à faire
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display = display,
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)
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self._last_detection = None # résultat du dernier alignement
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self.align_detection = None # résultat du test
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def on_well_change(self):
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"""
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Appelé par le CNC lors du changement de puits.
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Réinitialise le fond appris et l'état inter-frame du tracker.
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"""
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self._tracker.reset()
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self._tracker.reset()
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# ------------------------------------------------------------------
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# Méthodes abstraites — obligatoires dans les sous-classes
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@@ -236,8 +236,8 @@ class VideoCaptureInterface(abc.ABC):
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# Mode debug
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if self._aligner.debug:
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self._last_detection = self._aligner.detect_tube(frame, self.parent.data.tube_diameter or 16.0)
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annotated = self._last_detection.get('frame_annotated')
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self.align_detection = self._aligner.detect_tube(frame)
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annotated = self.align_detection.get('frame_annotated')
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frame = annotated if annotated is not None else frame
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# mode racking
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@@ -168,7 +168,7 @@ class GRBLController:
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def get_mpos(self):
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return self._mpos(self.get_status())
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def wait_idle(self, timeout=10):
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def wait_idle(self, timeout=20):
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start = time.time()
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while True:
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if time.time() - start > timeout:
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@@ -27,14 +27,21 @@ class TubeAligner:
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self.grbl_threshold_px = grbl_threshold_px
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self.dead_zone_px = dead_zone_px
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self.debug = debug
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self.display = display
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self.display = display
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self.TUBE_DIAMETER_MM = 16.0
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def set_tube_diameter(self, tube_diameter: float = 16.0) -> None:
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self.TUBE_DIAMETER_MM = tube_diameter
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# ------------------------------------------------------------------ #
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# Détection principale
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# ------------------------------------------------------------------ #
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def detect_tube(self, frame: np.ndarray, tube_diameter: float = 16.0) -> dict:
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TUBE_DIAMETER_MM = tube_diameter
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def detect_tube(self, frame: np.ndarray, tube_diameter: float = None) -> dict:
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if tube_diameter is not None:
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self.set_tube_diameter(tube_diameter)
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h, w = frame.shape[:2]
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cx_img = w // 2
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cy_img = h // 2
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@@ -44,12 +51,13 @@ class TubeAligner:
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"tube_cx" : None,
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"tube_cy" : None,
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"tube_radius" : None,
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"offset_x_px" : 0,
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"offset_y_px" : 0,
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"offset_x_mm" : 0.0,
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"offset_y_mm" : 0.0,
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"offset_x_px" : 0,
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"offset_y_px" : 0,
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"offset_x_mm" : 0.0,
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"offset_y_mm" : 0.0,
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"action" : "none",
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"frame_annotated": None,
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"msg" : None,
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}
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frame_out = frame.copy()
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@@ -81,7 +89,8 @@ class TubeAligner:
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all_r.append(int(best[2]))
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if not all_cx:
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logger.warning("TubeAligner: aucun cercle détecté (%dx%d)", w, h)
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msg = f"TubeAligner: aucun cercle détecté ({w}x{h})"
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result["msg"] =msg
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if self.debug:
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frame_out = self._draw_debug_no_detection(frame_out, cx_img, cy_img)
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result["frame_annotated"] = frame_out
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@@ -92,7 +101,7 @@ class TubeAligner:
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ty = int(np.mean(all_cy))
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tr = int(np.mean(all_r))
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if tr > 0:
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self.px_per_mm = (2 * tr) / TUBE_DIAMETER_MM
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self.px_per_mm = (2 * tr) / self.TUBE_DIAMETER_MM
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offset_x_px = tx - cx_img
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offset_y_px = ty - cy_img
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@@ -118,7 +127,8 @@ class TubeAligner:
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dist_px, action,
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votes=len(all_cx), # ← affiche le nombre de configs ayant détecté
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)
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dx_mm , dy_mm = round(offset_x_mm, 3), round(offset_y_mm, 3)
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result.update({
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"detected" : True,
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"tube_cx" : tx,
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@@ -126,40 +136,15 @@ class TubeAligner:
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"tube_radius" : tr,
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"offset_x_px" : offset_x_px,
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"offset_y_px" : offset_y_px,
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"offset_x_mm" : round(offset_x_mm, 3),
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"offset_y_mm" : round(offset_y_mm, 3),
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"offset_x_mm" : dx_mm,
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"offset_y_mm" : dy_mm,
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"action" : action,
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"frame_annotated": frame_out,
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"msg" : f"Correction CNC relative (dx={dx_mm:}, dy={dy_mm}), action: {action}"
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})
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return result
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def crop_to_tube(self, frame: np.ndarray, detection: dict) -> np.ndarray:
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"""
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Recadrage logiciel : recentre l'image sur le tube détecté.
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Utilisé quand action == "crop".
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"""
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if not detection["detected"]:
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return frame
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tx = detection["tube_cx"]
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ty = detection["tube_cy"]
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tr = detection["tube_radius"]
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h, w = frame.shape[:2]
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# Fenêtre carrée autour du centre du tube
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half = tr
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x1 = max(tx - half, 0)
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y1 = max(ty - half, 0)
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x2 = min(tx + half, w)
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y2 = min(ty + half, h)
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cropped = frame[y1:y2, x1:x2]
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# Redimensionne à la taille originale pour ne pas changer le pipeline
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return cv2.resize(cropped, (w, h), interpolation=cv2.INTER_LINEAR)
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# ------------------------------------------------------------------ #
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# ------------------------------------------------------------------ #
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# Dessin debug
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# ------------------------------------------------------------------ #
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