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detection auto

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denis
2026-04-22 13:38:52 +02:00
parent 4c9271612d
commit 8df347fa7f
7 changed files with 136 additions and 135 deletions
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test_tube_scanner/modules/tube_aligner.py
+25 -40
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@@ -27,14 +27,21 @@ class TubeAligner:
self.grbl_threshold_px = grbl_threshold_px
self.dead_zone_px = dead_zone_px
self.debug = debug
self.display = display
self.display = display
self.TUBE_DIAMETER_MM = 16.0
def set_tube_diameter(self, tube_diameter: float = 16.0) -> None:
self.TUBE_DIAMETER_MM = tube_diameter
# ------------------------------------------------------------------ #
# Détection principale
# ------------------------------------------------------------------ #
def detect_tube(self, frame: np.ndarray, tube_diameter: float = 16.0) -> dict:
TUBE_DIAMETER_MM = tube_diameter
def detect_tube(self, frame: np.ndarray, tube_diameter: float = None) -> dict:
if tube_diameter is not None:
self.set_tube_diameter(tube_diameter)
h, w = frame.shape[:2]
cx_img = w // 2
cy_img = h // 2
@@ -44,12 +51,13 @@ class TubeAligner:
"tube_cx" : None,
"tube_cy" : None,
"tube_radius" : None,
"offset_x_px" : 0,
"offset_y_px" : 0,
"offset_x_mm" : 0.0,
"offset_y_mm" : 0.0,
"offset_x_px" : 0,
"offset_y_px" : 0,
"offset_x_mm" : 0.0,
"offset_y_mm" : 0.0,
"action" : "none",
"frame_annotated": None,
"msg" : None,
}
frame_out = frame.copy()
@@ -81,7 +89,8 @@ class TubeAligner:
all_r.append(int(best[2]))
if not all_cx:
logger.warning("TubeAligner: aucun cercle détecté (%dx%d)", w, h)
msg = f"TubeAligner: aucun cercle détecté ({w}x{h})"
result["msg"] =msg
if self.debug:
frame_out = self._draw_debug_no_detection(frame_out, cx_img, cy_img)
result["frame_annotated"] = frame_out
@@ -92,7 +101,7 @@ class TubeAligner:
ty = int(np.mean(all_cy))
tr = int(np.mean(all_r))
if tr > 0:
self.px_per_mm = (2 * tr) / TUBE_DIAMETER_MM
self.px_per_mm = (2 * tr) / self.TUBE_DIAMETER_MM
offset_x_px = tx - cx_img
offset_y_px = ty - cy_img
@@ -118,7 +127,8 @@ class TubeAligner:
dist_px, action,
votes=len(all_cx), # ← affiche le nombre de configs ayant détecté
)
dx_mm , dy_mm = round(offset_x_mm, 3), round(offset_y_mm, 3)
result.update({
"detected" : True,
"tube_cx" : tx,
@@ -126,40 +136,15 @@ class TubeAligner:
"tube_radius" : tr,
"offset_x_px" : offset_x_px,
"offset_y_px" : offset_y_px,
"offset_x_mm" : round(offset_x_mm, 3),
"offset_y_mm" : round(offset_y_mm, 3),
"offset_x_mm" : dx_mm,
"offset_y_mm" : dy_mm,
"action" : action,
"frame_annotated": frame_out,
"msg" : f"Correction CNC relative (dx={dx_mm:}, dy={dy_mm}), action: {action}"
})
return result
def crop_to_tube(self, frame: np.ndarray, detection: dict) -> np.ndarray:
"""
Recadrage logiciel : recentre l'image sur le tube détecté.
Utilisé quand action == "crop".
"""
if not detection["detected"]:
return frame
tx = detection["tube_cx"]
ty = detection["tube_cy"]
tr = detection["tube_radius"]
h, w = frame.shape[:2]
# Fenêtre carrée autour du centre du tube
half = tr
x1 = max(tx - half, 0)
y1 = max(ty - half, 0)
x2 = min(tx + half, w)
y2 = min(ty + half, h)
cropped = frame[y1:y2, x1:x2]
# Redimensionne à la taille originale pour ne pas changer le pipeline
return cv2.resize(cropped, (w, h), interpolation=cv2.INTER_LINEAR)
# ------------------------------------------------------------------ #
# ------------------------------------------------------------------ #
# Dessin debug
# ------------------------------------------------------------------ #