283 lines
9.9 KiB
Python
283 lines
9.9 KiB
Python
'''
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Created on 17 avr. 2026
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@author: denis
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'''
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# modules/tube_aligner.py
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import cv2
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import logging
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import numpy as np
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logger = logging.getLogger(__name__)
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class TubeAligner:
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GRBL_THRESHOLD_PX = 20
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DEAD_ZONE_PX = 5
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def __init__(
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self,
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px_per_mm : float = 10.0,
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grbl_threshold_px : int = 20,
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dead_zone_px : int = 5,
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debug : bool = False, # ← activable depuis la vue
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):
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self.px_per_mm = px_per_mm
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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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# Etat calibration
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self._calib_step = 0 # 0=idle 1=point A enregistré
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self._calib_pos_A_px = None # centre tube point A en px
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self._calib_mpos_A = None # position CNC point A en mm
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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) -> dict:
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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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result = {
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"detected" : False,
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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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"action" : "none",
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"frame_annotated": None,
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}
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gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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blurred = cv2.GaussianBlur(gray, (15, 15), 3)
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circles = cv2.HoughCircles(
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blurred,
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cv2.HOUGH_GRADIENT,
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dp = 1.2,
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minDist = min(w, h) // 2,
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param1 = 50,
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param2 = 30,
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minRadius = int(min(w, h) * 0.26),
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maxRadius = int(min(w, h) * 0.36),
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)
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frame_out = frame.copy()
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if circles is None:
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logger.warning("TubeAligner: aucun cercle détecté")
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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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return result
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circles = np.round(circles[0, :]).astype(int)
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best = min(circles, key=lambda c: np.sqrt((c[0]-cx_img)**2 + (c[1]-cy_img)**2))
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tx, ty, tr = int(best[0]), int(best[1]), int(best[2])
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offset_x_px = tx - cx_img
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offset_y_px = ty - cy_img
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offset_x_mm = offset_x_px / self.px_per_mm
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offset_y_mm = offset_y_px / self.px_per_mm
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dist_px = np.sqrt(offset_x_px**2 + offset_y_px**2)
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if dist_px <= self.dead_zone_px:
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action = "none"
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elif dist_px <= self.grbl_threshold_px:
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action = "crop"
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else:
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action = "grbl"
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if self.debug:
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frame_out = self._draw_debug(
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frame_out, cx_img, cy_img,
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tx, ty, tr,
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offset_x_px, offset_y_px,
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offset_x_mm, offset_y_mm,
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dist_px, action,
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)
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result.update({
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"detected" : True,
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"tube_cx" : tx,
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"tube_cy" : ty,
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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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"action" : action,
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"frame_annotated": frame_out,
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})
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return result
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# ------------------------------------------------------------------ #
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# Calibration px/mm — 2 points
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# ------------------------------------------------------------------ #
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def calib_record_point_A(self, detection: dict, mpos: tuple) -> bool:
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"""
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Enregistre le point A (position CNC + centre tube en px).
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Appeler quand la CNC est immobile sur le point A.
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:param detection: résultat de detect_tube()
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:param mpos: (x_mm, y_mm) retourné par cnc.get_mpos()
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:return: True si enregistré
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"""
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if not detection["detected"]:
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logger.warning("calib_record_point_A: tube non détecté")
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return False
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self._calib_pos_A_px = (detection["tube_cx"], detection["tube_cy"])
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self._calib_mpos_A = mpos
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self._calib_step = 1
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logger.info("Calibration point A : px=%s mpos=%s", self._calib_pos_A_px, mpos)
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return True
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def calib_record_point_B(self, detection: dict, mpos: tuple) -> dict | None:
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"""
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Enregistre le point B et calcule px_per_mm.
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Appeler après déplacement CNC manuel d'une distance connue.
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:param detection: résultat de detect_tube()
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:param mpos: (x_mm, y_mm) retourné par cnc.get_mpos()
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:return: dict résultat calibration ou None si échec
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"""
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if self._calib_step != 1:
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logger.warning("calib_record_point_B: point A non enregistré")
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return None
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if not detection["detected"]:
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logger.warning("calib_record_point_B: tube non détecté")
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return None
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pos_B_px = (detection["tube_cx"], detection["tube_cy"])
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mpos_B = mpos
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# Déplacement en px
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dpx = np.sqrt(
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(pos_B_px[0] - self._calib_pos_A_px[0])**2 +
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(pos_B_px[1] - self._calib_pos_A_px[1])**2
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)
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# Déplacement en mm (distance euclidienne CNC)
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dmm = np.sqrt(
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(mpos_B[0] - self._calib_mpos_A[0])**2 +
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(mpos_B[1] - self._calib_mpos_A[1])**2
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)
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if dmm < 0.1 or dpx < 2:
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logger.warning("Déplacement trop faible : dpx=%.1f dmm=%.3f", dpx, dmm)
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return None
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px_per_mm_new = dpx / dmm
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self.px_per_mm = px_per_mm_new
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self._calib_step = 0
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result = {
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"px_per_mm" : round(px_per_mm_new, 4),
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"mm_per_px" : round(dmm / dpx, 6),
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"delta_px" : round(dpx, 2),
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"delta_mm" : round(dmm, 3),
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"point_A_px" : self._calib_pos_A_px,
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"point_B_px" : pos_B_px,
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"mpos_A" : self._calib_mpos_A,
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"mpos_B" : mpos_B,
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}
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logger.info("Calibration OK : %.4f px/mm (%.6f mm/px)", px_per_mm_new, dmm/dpx)
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return result
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def calib_reset(self):
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self._calib_step = 0
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self._calib_pos_A_px = None
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self._calib_mpos_A = None
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# ------------------------------------------------------------------ #
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# Dessin debug
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# ------------------------------------------------------------------ #
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def _draw_debug(
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self, frame, cx_img, cy_img,
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tx, ty, tr,
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offset_x_px, offset_y_px,
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offset_x_mm, offset_y_mm,
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dist_px, action,
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) -> np.ndarray:
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# Couleur selon action
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color = {
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"none" : (0, 255, 0), # vert — centré
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"crop" : (0, 200, 255), # orange — recadrage
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"grbl" : (0, 0, 255), # rouge — correction CNC
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}.get(action, (200, 200, 200))
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# Cercle intérieur du tube
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cv2.circle(frame, (tx, ty), tr, color, 2, cv2.LINE_AA)
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# Rayon de zone morte (dead zone) en vert clair
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cv2.circle(frame, (cx_img, cy_img), self.dead_zone_px,
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(0, 255, 100), 1, cv2.LINE_AA)
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# Rayon seuil GRBL en rouge pointillé (simulé par cercle fin)
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cv2.circle(frame, (cx_img, cy_img), self.grbl_threshold_px,
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(0, 80, 255), 1, cv2.LINE_AA)
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# Croix centre image
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cv2.drawMarker(frame, (cx_img, cy_img),
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(255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
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# Centre tube
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cv2.circle(frame, (tx, ty), 5, color, -1, cv2.LINE_AA)
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# Vecteur offset centre image → centre tube
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if dist_px > self.dead_zone_px:
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cv2.arrowedLine(frame, (cx_img, cy_img), (tx, ty),
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color, 2, cv2.LINE_AA, tipLength=0.2)
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# Panneau info — fond semi-transparent
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overlay = frame.copy()
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cv2.rectangle(overlay, (8, 8), (400, 130), (0, 0, 0), -1)
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cv2.addWeighted(overlay, 0.45, frame, 0.55, 0, frame)
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lines = [
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(f"Tube cx={tx} cy={ty} r={tr}px", (0, 255, 180)),
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(f"Offset dx={offset_x_px:+d}px dy={offset_y_px:+d}px", color),
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(f"Offset dx={offset_x_mm:+.3f}mm dy={offset_y_mm:+.3f}mm", color),
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(f"Dist={dist_px:.1f}px action={action.upper()}", color),
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(f"px/mm={self.px_per_mm:.4f}", (180, 180, 180)),
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]
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for i, (text, col) in enumerate(lines):
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cv2.putText(frame, text, (14, 30 + i * 20),
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cv2.FONT_HERSHEY_SIMPLEX, 0.48, col, 1, cv2.LINE_AA)
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# Légende zones
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cv2.putText(frame, "dead zone", (cx_img + self.dead_zone_px + 3, cy_img - 3),
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cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 255, 100), 1)
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cv2.putText(frame, "GRBL threshold", (cx_img + self.grbl_threshold_px + 3, cy_img - 3),
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cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 80, 255), 1)
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# Indicateur calibration en cours
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if self._calib_step == 1:
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cv2.putText(frame, "CALIB — En attente point B",
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(14, frame.shape[0] - 14),
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cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 200, 255), 2, cv2.LINE_AA)
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return frame
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def _draw_debug_no_detection(self, frame, cx_img, cy_img) -> np.ndarray:
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cv2.drawMarker(frame, (cx_img, cy_img),
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(255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
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cv2.putText(frame, "Tube non detecte", (14, 30),
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cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2, cv2.LINE_AA)
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return frame
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