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calibrage auto

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This commit is contained in:
denis
2026-04-21 23:51:01 +02:00
parent 04da5da162
commit bc72850034
17 changed files with 1138 additions and 942 deletions
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test_tube_scanner/modules/capture_interface.py
+16 -19
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@@ -45,11 +45,11 @@ class VideoCaptureInterface(abc.ABC):
Les sous-classes doivent implémenter les méthodes abstraites
pour gérer le matériel spécifique.
"""
# Cadence par défaut en images par seconde
DEFAULT_FPS: float = 5.0
def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, px_per_mm: float = 2.15, display=None):
def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, display=None, parent=None):
"""
Initialise l'interface de capture.
@@ -58,6 +58,7 @@ class VideoCaptureInterface(abc.ABC):
self._fps: float = fps
self.use_tracking = use_tracking
self.display = display
self.parent = parent
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
@@ -73,16 +74,16 @@ class VideoCaptureInterface(abc.ABC):
min_area_px = settings.TRACKER_MIN_AREA,
)
self._aligner = TubeAligner(
px_per_mm = px_per_mm, # à calibrer selon la caméra
grbl_threshold_px = 20, # au-delà → correction GRBL
dead_zone_px = 5, # en-dessous → rien à faire
display = display,
)
self._last_detection = None # résultat du dernier alignement
self._last_detection = None # résultat du dernier alignement
# calibrage ou lecture réelle
#
def align_on_well_arrival(self, frame: bytes, cnc_controller) -> dict:
def align_on_well_arrival(self, frame: bytes, cnc_controller, tube_diameter: float = 16.0) -> dict:
"""
Appelé UNE FOIS à l'arrivée sur un nouveau puits.
Détecte le tube, décide l'action, exécute la correction.
@@ -93,7 +94,7 @@ class VideoCaptureInterface(abc.ABC):
"""
nparr = np.frombuffer(frame, np.uint8)
img = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
detection = self._aligner.detect_tube(img)
detection = self._aligner.detect_tube(img, tube_diameter=tube_diameter)
# Stockage pour process_frame
self._last_detection = detection
@@ -108,7 +109,7 @@ class VideoCaptureInterface(abc.ABC):
dy_mm = detection["offset_y_mm"]
msg = f"align_on_well_arrival: correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
#cnc_controller.move_relative(dx=-dx_mm, dy=-dy_mm, feed=150)
cnc_controller.move_relative(dx=dx_mm, dy=dy_mm, feed=150)
self._tracker.reset()
self._last_detection["action"] = "none"
@@ -118,7 +119,7 @@ class VideoCaptureInterface(abc.ABC):
logger.info(msg)
self.display(state='detect_tube', msg=msg)
return detection
return detection
def on_well_change(self):
@@ -276,18 +277,14 @@ class VideoCaptureInterface(abc.ABC):
# Mode debug
if self._aligner.debug:
self._last_detection = detection = self._aligner.detect_tube(frame)
annotated = detection.get('frame_annotated')
self._last_detection = self._aligner.detect_tube(frame, self.parent.data.tube_diameter or 16.0)
annotated = self._last_detection.get('frame_annotated')
frame = annotated if annotated is not None else frame
'''
else:
detection = self._last_detection or {}
# --- Crop logiciel si nécessaire ---
if (detection.get("action") == "crop" and detection.get("detected") and not self._aligner.debug ):
frame = self._aligner.crop_to_tube(frame, detection)
'''
#if (self._last_detection.get("action") == "crop" and self._last_detection.get("detected")):
# frame = self._aligner.crop_to_tube(frame, self._last_detection)
# mode racking
if self.use_tracking:
ts = datetime.now(timezone.utc).timestamp()
frame, metrics = self._tracker.process(frame, ts)