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Video plate capture: calibration, edge enhance, auto-detect well borders

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denis defolie
2026-06-03 17:56:23 +02:00
parent 4b42c03756
commit 9bb8fc1bce
58 changed files with 1699 additions and 274 deletions
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test_tube_scanner/modules/tube_aligner.py
+23 -8
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@@ -22,13 +22,24 @@ class TubeAligner:
grbl_threshold_px : int = 20,
dead_zone_px : int = 5,
debug : bool = False, # ← activable depuis la vue
display = None, # display function
display = None, # display function
):
self.grbl_threshold_px = grbl_threshold_px
self.dead_zone_px = dead_zone_px
self.debug = debug
self.display = display
self.TUBE_DIAMETER_MM = 16.0
# Plage de recherche du rayon en fraction de min(w,h)
# Défaut : tube occupe ~30% du champ (camera).
# Mode vidéo : puit remplit le crop → ratio ~0.50 → appeler set_radius_range(0.35, 0.52)
self._min_radius_ratio = 0.26
self._max_radius_ratio = 0.37
self.draw_annotations = True # masquer l'overlay sans couper la détection
def set_radius_range(self, min_ratio: float, max_ratio: float) -> None:
"""Ajuste la plage de recherche HoughCircles. Appeler avant detect_tube()."""
self._min_radius_ratio = min_ratio
self._max_radius_ratio = max_ratio
def set_tube_diameter(self, tube_diameter: float = 16.0) -> None:
@@ -64,14 +75,18 @@ class TubeAligner:
frame_out = frame.copy()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# CLAHE pour renforcer le contraste local (paroi du puit sur fond gris uniforme)
clahe = cv2.createCLAHE(clipLimit=3.0, tileGridSize=(8, 8))
gray = clahe.apply(gray)
blurred = cv2.GaussianBlur(gray, (15, 15), 3)
lo = self._min_radius_ratio
hi = self._max_radius_ratio
# 3 configurations légèrement différentes — vote majoritaire
# Fonctionne sur fond sombre ET fond clair
configs = [
dict(param1=50, param2=30, minRadius=int(min(w,h)*0.26), maxRadius=int(min(w,h)*0.36)),
dict(param1=60, param2=30, minRadius=int(min(w,h)*0.26), maxRadius=int(min(w,h)*0.37)),
dict(param1=50, param2=28, minRadius=int(min(w,h)*0.25), maxRadius=int(min(w,h)*0.365)),
dict(param1=50, param2=30, minRadius=int(min(w,h)*lo), maxRadius=int(min(w,h)*hi)),
dict(param1=60, param2=28, minRadius=int(min(w,h)*lo), maxRadius=int(min(w,h)*(hi+0.01))),
dict(param1=50, param2=26, minRadius=int(min(w,h)*(lo-0.01)), maxRadius=int(min(w,h)*(hi+0.005))),
]
all_cx, all_cy, all_r = [], [], []
@@ -93,7 +108,7 @@ class TubeAligner:
if not all_cx:
msg = f"TubeAligner: aucun cercle détecté ({w}x{h})"
result["msg"] =msg
if self.debug:
if self.debug and self.draw_annotations:
frame_out = self._draw_debug_no_detection(frame_out, cx_img, cy_img)
result["frame_annotated"] = frame_out
return result
@@ -120,7 +135,7 @@ class TubeAligner:
else:
action = "grbl"
if self.debug:
if self.debug and self.draw_annotations:
frame_out = self._draw_debug(
frame_out, cx_img, cy_img,
tx, ty, tr,