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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/home/settings.py
+4 -1
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@@ -391,6 +391,9 @@ EXPORT_DESTINATIONS = ["local", "remote"]
TEST_VIDEOFILE = False
TRACKING = False
TRACKER_TUBE_AXIS = "horizontal" #"vertical"
TRACKER_TUBE_AXIS = "vertical"
TRACKER_MIN_AREA = 200
CALIBRATION_AUTO_DURATION = 45.0
CALIBRATION_AUTO_TIMEOUT = 2.5
test_tube_scanner/modules/capture_interface.py
+7 -7
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@@ -20,7 +20,7 @@ import threading
import logging
from datetime import datetime, timezone
from pathlib import Path
from typing import Optional, Callable, TYPE_CHECKING
from typing import Optional, Callable, TYPE_CHECKING, Any
from django.conf import settings
from modules.planarian_tracker import PlanarianTracker
@@ -78,15 +78,15 @@ class VideoCaptureInterface(abc.ABC):
dead_zone_px = 5, # en-dessous → rien à faire
display = display,
)
self._last_detection = None # résultat du dernier alignement
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()
self._tracker.reset()
# ------------------------------------------------------------------
# Méthodes abstraites — obligatoires dans les sous-classes
@@ -236,8 +236,8 @@ class VideoCaptureInterface(abc.ABC):
# Mode debug
if self._aligner.debug:
self._last_detection = self._aligner.detect_tube(frame, self.parent.data.tube_diameter or 16.0)
annotated = self._last_detection.get('frame_annotated')
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
test_tube_scanner/modules/grbl.py
+1 -1
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@@ -168,7 +168,7 @@ class GRBLController:
def get_mpos(self):
return self._mpos(self.get_status())
def wait_idle(self, timeout=10):
def wait_idle(self, timeout=20):
start = time.time()
while True:
if time.time() - start > timeout:
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
# ------------------------------------------------------------------ #
test_tube_scanner/scanner/multiwell.py
+87 -74
View File
@@ -13,10 +13,9 @@ from threading import Thread, Event
#from django.utils.translation import gettext_lazy as _
from django.utils import timezone
from django.utils.html import mark_safe
from django.conf import settings
from . import models
CALIBRATION_AUTO_DURATION = 45.0
CALIBRATION_AUTO_TIMEOUT = 3.0
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
@@ -113,8 +112,8 @@ class MultiWellManager:
def multiwell_buttons(self):
multiwells = []
multiwells.append('''<div class="w3-border well-btn">''')
for w in self.well_iterator:
multiwells.append(f"""<button class="w3-button well" value="{w.order}" onclick="goto_well(this)">{w.well.name}</button>""")
for wl in self.well_iterator:
multiwells.append(f"""<button class="w3-button well" value="{wl.order}" onclick="goto_well(this)">{wl.well.name}</button>""")
multiwells.append('''</div>''')
self.well_iterator.reset()
return mark_safe("\n".join(multiwells))
@@ -138,14 +137,16 @@ class MultiWellManager:
def _grid_scanning(self, observation, xnext=0, ynext=0):
multiwell = observation.multiwell
wells = models.WellPostion.objects.filter(multiwell_id=multiwell.id).order_by('order').all()
cam = self.process.cam
cam._aligner.set_tube_diameter(multiwell.diameter)
self.stop_playing = Event()
for w in wells:
for wl in wells:
if self.stop_playing.is_set():
break
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
uuid = f'{self.process.data.session}-{multiwell.position}-{w.well.name}'
uuid = f'{self.process.data.session}-{multiwell.position}-{wl.well.name}'
self._grid_scanning_capture(uuid, multiwell.duration)
logger.info(f"Scan terminé — retour à l'origine (X={xnext:.1f} Y={ynext:.1f})")
@@ -176,102 +177,114 @@ class MultiWellManager:
session.scanning_task.enabled = False
session.save()
logger.info(f"==== Session {session.name} terminée à {session.finished} après {session.finished - started} secondes.")
self.scan_thread = None
def halt_scanning(self):
self.process.data.record = False
self.stop_playing.set()
self.scan_thread = None
self.test_thread = None
self.well_iterator.reset()
self.process.cam._aligner.debugg = False
def scanning(self, sid):
try:
if self.scan_thread is None:
session = models.Session.objects.get(pk=sid)
observations = models.SessionObservation.observation_by_session(sid)
self.scan_thread = Thread(target=self._start_scanning, args=(session, observations, ), daemon=True).start()
if self.scan_thread:
return
session = models.Session.objects.get(pk=sid)
observations = models.SessionObservation.observation_by_session(sid)
self.scan_thread = Thread(target=self._start_scanning, args=(session, observations, ), daemon=True).start()
except Exception as e:
print("MultiWellManager::scan error", e)
def previous_well(self):
w = self.well_iterator.previous()
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
return {"state": "previous", "msg": f">>> ({w.x}, {w.y})"}
wl = self.well_iterator.previous()
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "previous", "msg": f">>> ({wl.x}, {wl.y})"}
def next_well(self):
w = self.well_iterator.next()
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
return {"state": "next", "msg": f">>> ({w.x}, {w.y})"}
wl = self.well_iterator.next()
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "next", "msg": f">>> ({wl.x}, {wl.y})"}
def goto_well(self, numwell):
w = self.well_iterator.seek(numwell)
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
return {"state": "goto", "msg": f">>> ({w.x}, {w.y})"}
wl = self.well_iterator.seek(numwell)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "goto", "msg": f">>> ({wl.x}, {wl.y})"}
def set_well_position(self):
w = self.well_iterator.get_current()
if w:
w.x, w.y = self.cnc_controller.get_mpos()
w.save()
if w.order == 0:
models.MultiWell.objects.filter(position__exact=w.multiwell.position).update(xbase=w.x, ybase=w.y)
return {"state": "well_position", "msg": f">>> saved ({w.x}, {w.y})"}
wl = self.well_iterator.get_current()
if wl:
wl.x, wl.y = self.cnc_controller.get_mpos()
wl.save()
if wl.order == 0:
models.MultiWell.objects.filter(position__exact=wl.multiwell.position).update(xbase=wl.x, ybase=wl.y)
return {"state": "well_position", "msg": f">>> saved ({wl.x}, {wl.y})"}
return {"state": "well_position", "msg": f">>> pas de puit"}
def _scanning_test(self, auto=False):
self.stop_playing = Event()
self.process.data.tube_diameter = self.multiwell.diameter
cam = self.process.cam
duration = self.duration if not auto else CALIBRATION_AUTO_DURATION
start_test = time.monotonic()
for w in self.well_iterator:
if self.stop_playing.is_set():
break
self.cnc_controller.wait_for(2.0)
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
self.process._send(current=w.order)
start = time.monotonic()
while not self.stop_playing.is_set():
if time.monotonic() - start > duration:
cam._aligner.set_tube_diameter(self.multiwell.diameter)
duration = self.duration if not auto else settings.CALIBRATION_AUTO_DURATION
try:
start_test = time.monotonic()
for wl in self.well_iterator:
if self.stop_playing.is_set():
break
if auto and cam._last_detection:
if cam._last_detection.get('action')=="grbl":
self.cnc_controller.wait_for(CALIBRATION_AUTO_TIMEOUT)
dx_mm = cam._last_detection["offset_x_mm"]
dy_mm = cam._last_detection["offset_y_mm"]
self.cnc_controller.move_to(self.cnc_controller.x + dx_mm, self.cnc_controller.y + dy_mm, feed=150)
msg = f"Correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
self.process._send(state='center', msg=msg)
elif cam._last_detection.get('action') in ['none',]:
msg = f"ok {w.multiwell.position}-{w.well.name}: ({self.cnc_controller.x}, {self.cnc_controller.y})"
logger.info(msg)
self.process._send(state='save', msg=msg)
w.x, w.y = self.cnc_controller.x, self.cnc_controller.y
w.save()
if w.order == 0:
models.MultiWell.objects.filter(position__exact=self.position).update(xbase=w.x, ybase=w.y)
self.cnc_controller.wait_for(2.0)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
self.process._send(current=wl.order)
start = time.monotonic()
while not self.stop_playing.is_set():
if time.monotonic() - start > duration:
break
self.cnc_controller.wait_for(0.1)
logger.info("Fin du centrage")
if auto:
msg = cam.align_detection["msg"]
if cam.align_detection.get('detected'):
if cam.align_detection.get('action')=="grbl":
self.cnc_controller.wait_for(settings.CALIBRATION_AUTO_TIMEOUT)
dx_mm, dy_mm = cam.align_detection["offset_x_mm"], cam.align_detection["offset_y_mm"]
self.cnc_controller.move_to(self.cnc_controller.x + dx_mm, self.cnc_controller.y + dy_mm, feed=150)
self.process._send(state='center', msg=msg)
elif cam.align_detection.get('action') in ['none',]:
logger.info(msg)
self.process._send(state='save', msg=msg)
wl.x, wl.y = self.cnc_controller.x, self.cnc_controller.y
wl.save()
if wl.order == 0:
models.MultiWell.objects.filter(position__exact=self.position).update(xbase=wl.x, ybase=wl.y)
break
else:
logger.info(msg)
self.process._send(state='center', msg=msg)
self.cnc_controller.wait_for(0.1)
logger.info("Fin du centrage")
except Exception as e:
print(e)
self.well_iterator.reset()
logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {time.monotonic()-start_test} s")
self.process.cam._aligner.debug = False
logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {int(time.monotonic()-start_test)} s")
self.cnc_controller.move_to(0, 0, feed=self.multiwell.feed*2)
self.test_thread = None
def scan_test(self, auto=False):
if self.test_thread is None:
self.test_thread = Thread(target=self._scanning_test, args=(auto, ), daemon=True).start()
if self.test_thread:
return
self.test_thread = Thread(target=self._scanning_test, args=(auto, ), daemon=True).start()
@property
@@ -340,9 +353,9 @@ class MultiWellManager:
def get_well_order(self):
w = self.well_iterator.get_current()
if w:
return w.order
wl = self.well_iterator.get_current()
if wl:
return wl.order
return None
@@ -351,9 +364,9 @@ class MultiWellManager:
self.cnc_controller.wait_for(2.0)
models.MultiWell.objects.filter(position__exact=self.position).update(xbase=x, ybase=y)
self._xbase, self._ybase = x, y
w = self.well_iterator.seek(0) # base puit 0
w.x, w.y = x, y
w.save()
wl = self.well_iterator.seek(0) # base puit 0
wl.x, wl.y = x, y
wl.save()
def calib_toggle_debug(self):
test_tube_scanner/scanner/process.py
+3 -4
View File
@@ -412,11 +412,10 @@ class ScannerProcess(Task):
continue
elif topic == 'center':
dx_mm = self.cam._last_detection["offset_x_mm"]
dy_mm = self.cam._last_detection["offset_y_mm"]
dx_mm = self.cam.align_detection["offset_x_mm"]
dy_mm = self.cam.align_detection["offset_y_mm"]
self.grbl.move_to(self.grbl.x + dx_mm, self.grbl.y + dy_mm, feed=150)
msg = f"Correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
self._send(state='center', msg=msg)
self._send(state='center', msg=self.cam.align_detection["msg"])
continue
elif topic == 'halt':
test_tube_scanner/scanner/templates/scanner/base.html
+9 -8
View File
@@ -91,24 +91,25 @@
</a>
<a href="{% url 'scanner:logs_worker' %}" class="w3-bar-item w3-btn w3-hover-opacity w3-margin-left">
<i class="fa-regular fa-file-lines w3-text-amber"></i> {% trans "Logs des services" %}
</a>
<a href="{% url 'scanner:calibration' %}" class="w3-bar-item w3-btn w3-hover-opacity w3-margin-left">
<i class="fa-solid fa-wrench w3-text-red"></i> {% trans "Calibration" %}
</a>
</a>
</div>
</div>
{% endif %}
{% block sidebar_smenu %}
{% if request.user.is_superuser and request.user.is_staff %}
<a href="{% url 'scanner:calibration' %}" class="w3-bar-item w3-btn w3-hover-opacity w3-margin-bottom">
<i class="fa-solid fa-wrench w3-text-red w3-xlarge"></i> {% trans "Calibration" %}
</a>
{% endif %}
<a href="{% url 'scanner:main' %}" class="w3-bar-item w3-btn w3-hover-opacity">
<i class="fa-solid fa-film w3-text-green"></i> {% trans "Balayage multi-puits" %}
<i class="fa-solid fa-film w3-text-green w3-xlarge""></i> {% trans "Balayage multi-puits" %}
</a>
<a href="{% url 'scanner:images' %}" class="w3-bar-item w3-btn w3-hover-opacity">
<i class="fa-regular fa-images w3-text-cyan"></i> {% trans "Gestionnaire d'images" %}
<i class="fa-regular fa-images w3-text-cyan w3-xlarge" w3-xlarge""></i> {% trans "Gestionnaire d'images" %}
</a>
<a href="{% url 'scanner:replay' %}" class="w3-bar-item w3-btn w3-hover-opacity">
<i class="fa-solid fa-podcast w3-text-amber"></i> {% trans "Redifusion vidéos" %}
<i class="fa-solid fa-podcast w3-text-ambe w3-xlarge"r"></i> {% trans "Redifusion vidéos" %}
</a>
{% endblock %}