helper region fn
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1 changed files with 161 additions and 164 deletions
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@ -207,106 +207,166 @@ class StitchingScanner:
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return (dx, dy)
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return (dx, dy)
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def _get_row_start_regions(self, frame: np.ndarray, direction: ScanDirection):
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"""
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Helper method to calculate the comparison regions (ROIs) for row start alignment.
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Returns a dictionary containing the coordinates for Y (vertical) and X (horizontal) checks.
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Returns:
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dict or None: Keys 'y_check', 'x_check', 'debug_info'. Returns None if mosaic not ready.
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Each check contains:
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'mosaic_roi': (y1, y2, x1, x2),
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'frame_roi': (y1, y2, x1, x2)
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"""
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if self.mosaic is None:
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return None
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mh, mw = self.mosaic.shape[:2]
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fh, fw = frame.shape[:2]
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# Calculate layout
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# x_offset is where the DOWN transition strips were placed horizontally
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x_offset = max(0, mw - self.state.mosaic_init_width)
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# Transition height is how much was added during DOWN transition
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transition_height = mh - fh
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regions = {
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'y_check': None,
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'x_check': None,
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'debug_info': {
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'x_offset': x_offset,
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'transition_height': transition_height,
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'mw': mw, 'mh': mh
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}
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}
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vertical_overlap = min(200, fh // 3)
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min_overlap = 50
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# ---------------------------------------------
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# 1. Y Alignment Regions (Top of frame vs Bottom of transition)
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# ---------------------------------------------
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transition_compare_y_start = transition_height
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transition_compare_y_end = max(0, transition_height + vertical_overlap)
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# X range centered on transition strips
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x_end = x_offset
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x_start = min(x_offset - fw, mw)
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compare_width = x_end - x_start
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if transition_compare_y_start >= 0 and compare_width >= min_overlap:
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# Mosaic ROI coordinates
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m_y1, m_y2 = transition_compare_y_start, transition_compare_y_end
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m_x1, m_x2 = x_start, x_end
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# Frame ROI coordinates (Top portion)
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f_y1, f_y2 = 0, vertical_overlap
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f_x1, f_x2 = 0, compare_width
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regions['y_check'] = {
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'mosaic_roi': (m_y1, m_y2, m_x1, m_x2),
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'frame_roi': (f_y1, f_y2, f_x1, f_x2)
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}
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# ---------------------------------------------
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# 2. X Alignment Regions
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# ---------------------------------------------
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horizontal_overlap = min(200, fw // 3)
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# Y range for X check
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y_start = 0
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y_end = min(transition_height, fh)
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if direction == ScanDirection.LEFT:
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transition_x_start = x_offset
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transition_x_end = max(x_offset, x_offset + horizontal_overlap)
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if transition_x_end - transition_x_start >= min_overlap:
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# Mosaic ROI
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m_y1, m_y2 = y_start, y_end
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m_x1, m_x2 = transition_x_start, transition_x_end
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# Frame ROI (Right edge)
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f_y1, f_y2 = 0, y_end
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f_x1, f_x2 = fw - (transition_x_end - transition_x_start), fw
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regions['x_check'] = {
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'mosaic_roi': (m_y1, m_y2, m_x1, m_x2),
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'frame_roi': (f_y1, f_y2, f_x1, f_x2)
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}
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else: # ScanDirection.RIGHT or others
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transition_x_start = x_offset
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transition_x_end = min(x_offset + horizontal_overlap, mw)
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if transition_x_end - transition_x_start >= min_overlap:
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# Mosaic ROI
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m_y1, m_y2 = y_start, y_end
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m_x1, m_x2 = transition_x_start, transition_x_end
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# Frame ROI (Left edge)
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f_y1, f_y2 = 0, y_end
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f_x1, f_x2 = 0, transition_x_end - transition_x_start
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regions['x_check'] = {
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'mosaic_roi': (m_y1, m_y2, m_x1, m_x2),
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'frame_roi': (f_y1, f_y2, f_x1, f_x2)
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}
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return regions
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def _detect_row_start_alignment(self, frame: np.ndarray, direction: ScanDirection) -> AlignmentOffset:
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def _detect_row_start_alignment(self, frame: np.ndarray, direction: ScanDirection) -> AlignmentOffset:
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"""
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"""
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Detect alignment at the START of a new row.
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Detect alignment at the START of a new row.
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Uses _get_row_start_regions to determine overlap areas.
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After a DOWN transition with prepend, the mosaic layout is:
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- Y=0 to Y≈transition_height: TRANSITION STRIPS (placed at x_offset)
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- Y≈transition_height to Y=mosaic_height: OLD row 1 content (shifted down)
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The current frame should overlap with the TRANSITION STRIPS, not old row 1.
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The camera is at the X position where transition strips were placed.
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"""
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"""
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offset = AlignmentOffset()
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offset = AlignmentOffset()
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with self._mosaic_lock:
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with self._mosaic_lock:
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if self.mosaic is None:
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# --- Get the standard regions ---
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regions = self._get_row_start_regions(frame, direction)
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if not regions:
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return offset
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return offset
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mh, mw = self.mosaic.shape[:2]
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debug_info = regions['debug_info']
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x_offset = debug_info['x_offset']
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transition_height = debug_info['transition_height']
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mw, mh = debug_info['mw'], debug_info['mh']
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fh, fw = frame.shape[:2]
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fh, fw = frame.shape[:2]
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# Calculate where transition strips are in the mosaic
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# x_offset is where the DOWN transition strips were placed horizontally
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x_offset = max(0, mw - self.state.mosaic_init_width)
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# Transition height is how much was added during DOWN transition
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# transition_height = mh - original_height_before_transition
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# But since row 1 was just fh tall, transition_height = mh - fh
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transition_height = mh - fh
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self.log(f" Row-start alignment: mosaic {mw}x{mh}, frame {fw}x{fh}")
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self.log(f" Row-start alignment: mosaic {mw}x{mh}, frame {fw}x{fh}")
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self.log(f" Transition strips at: X={x_offset}, Y=0 to Y={transition_height}")
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self.log(f" Old row 1 shifted to: Y={transition_height} to Y={mh}")
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# ========== DEBUG: Draw borders showing layout ==========
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# ========== DEBUG: Draw borders showing layout (Visuals only) ==========
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# WHITE border: Where TRANSITION STRIPS are (this is what we should compare with)
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# WHITE border: Where TRANSITION STRIPS are
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cv2.rectangle(self.mosaic,
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cv2.rectangle(self.mosaic,
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(x_offset, 0),
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(x_offset, 0),
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(min(x_offset + fw, mw), transition_height),
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(min(x_offset + fw, mw), transition_height),
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(255, 255, 255), 3) # WHITE - transition strips location
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(255, 255, 255), 3)
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self.log(f" DEBUG: WHITE border - TRANSITION STRIPS at X={x_offset}:{min(x_offset + fw, mw)}, Y=0:{transition_height}")
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# BLUE line at transition boundary (where transition ends and old row 1 begins)
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# BLUE line at transition boundary
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cv2.line(self.mosaic, (0, transition_height), (mw, transition_height), (255, 0, 0), 3)
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cv2.line(self.mosaic, (0, transition_height), (mw, transition_height), (255, 0, 0), 3)
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self.log(f" DEBUG: BLUE line at Y={transition_height} (transition/row1 boundary)")
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vertical_overlap = min(200, fh // 3)
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min_overlap = 50
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min_overlap = 50
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# =============================================
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# =============================================
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# Step 1: Detect Y alignment
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# Step 1: Detect Y alignment
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# =============================================
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# =============================================
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# Compare frame's TOP with the BOTTOM of transition strips
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y_check = regions.get('y_check')
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# Frame's top portion overlaps with mosaic's transition bottom
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if y_check:
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#
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# Extract coordinates
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# Transition strips are at Y=0 to Y=transition_height
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my1, my2, mx1, mx2 = y_check['mosaic_roi']
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# So transition bottom is around Y=(transition_height - overlap) to Y=transition_height
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fy1, fy2, fx1, fx2 = y_check['frame_roi']
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transition_compare_y_start = transition_height
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# Extract image slices
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transition_compare_y_end = max(0, transition_height + vertical_overlap)
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mosaic_transition_bottom = self.mosaic[my1:my2, mx1:mx2]
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frame_compare = frame[fy1:fy2, fx1:fx2]
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# Frame's TOP should overlap with transition BOTTOM
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# Draw Debug (Cyan)
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frame_top = frame[:vertical_overlap, :]
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cv2.rectangle(self.mosaic, (mx1, my1), (mx2, my2), (255, 255, 0), 2)
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self.log(f" DEBUG: CYAN border - mosaic Y comparison region")
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# Get the X range - centered on where transition strips are
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x_end = x_offset
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x_start = min(x_offset - fw, mw)
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compare_width = x_end - x_start
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if transition_compare_y_start >= 0 and compare_width >= min_overlap:
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# Mosaic region: bottom of transition strips
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mosaic_transition_bottom = self.mosaic[transition_compare_y_start:transition_compare_y_end,
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x_start:x_end]
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# Frame region: top portion (what overlaps with transition)
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frame_compare = frame_top[:, :compare_width]
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# ========== DEBUG: Save frame with comparison region marked ==========
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debug_frame = frame.copy()
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cv2.rectangle(debug_frame, (0, 0), (compare_width, vertical_overlap),
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(255, 255, 0), 2) # CYAN - frame's top region used for Y comparison
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self.log(f" DEBUG: Frame Y comparison region: X=0:{compare_width}, Y=0:{vertical_overlap}")
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try:
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cv2.imwrite('/tmp/debug_frame_row2_start.png', debug_frame)
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except:
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pass
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# ========== DEBUG: Draw CYAN border on mosaic for Y comparison region ==========
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cv2.rectangle(self.mosaic,
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(x_start, transition_compare_y_start),
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(x_end, transition_compare_y_end),
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(255, 255, 0), 2) # CYAN - mosaic comparison region for Y
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self.log(f" DEBUG: CYAN border - mosaic Y comparison region X={x_start}:{x_end}, Y={transition_compare_y_start}:{transition_compare_y_end}")
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# MAGENTA border: Where frame is EXPECTED to be placed (at transition position)
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cv2.rectangle(self.mosaic,
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(x_start, 0),
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(x_end, fh),
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(255, 0, 255), 2) # MAGENTA - expected frame position
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self.log(f" DEBUG: MAGENTA border - expected frame position X={x_start}:{x_end}, Y=0:{fh}")
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# Ensure dimensions match for displacement
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min_w = min(frame_compare.shape[1], mosaic_transition_bottom.shape[1])
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min_w = min(frame_compare.shape[1], mosaic_transition_bottom.shape[1])
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min_h = min(frame_compare.shape[0], mosaic_transition_bottom.shape[0])
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min_h = min(frame_compare.shape[0], mosaic_transition_bottom.shape[0])
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@ -314,20 +374,11 @@ class StitchingScanner:
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frame_compare = frame_compare[:min_h, :min_w]
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frame_compare = frame_compare[:min_h, :min_w]
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mosaic_transition_bottom = mosaic_transition_bottom[:min_h, :min_w]
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mosaic_transition_bottom = mosaic_transition_bottom[:min_h, :min_w]
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# ========== DEBUG: Save the comparison regions as images ==========
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try:
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cv2.imwrite('/tmp/debug_frame_top_region.png', frame_compare)
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cv2.imwrite('/tmp/debug_mosaic_transition_region.png', mosaic_transition_bottom)
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self.log(f" DEBUG: Saved comparison regions to /tmp/debug_*.png")
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except:
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pass
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# Detect displacement
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# Detect displacement
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dx_v, dy_v, conf_v = self._detect_displacement_with_confidence(
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dx_v, dy_v, conf_v = self._detect_displacement_with_confidence(
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mosaic_transition_bottom, frame_compare)
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mosaic_transition_bottom, frame_compare)
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self.log(f" Row-start Y alignment: dx={dx_v:.1f}, dy={dy_v:.1f}, conf={conf_v:.3f}")
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self.log(f" Row-start Y alignment: dx={dx_v:.1f}, dy={dy_v:.1f}, conf={conf_v:.3f}")
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self.log(f" Compared frame[0:{vertical_overlap}] with mosaic[{transition_compare_y_start}:{transition_compare_y_end}]")
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if conf_v > 0.1:
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if conf_v > 0.1:
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offset.y_offset = dy_v
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offset.y_offset = dy_v
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@ -336,95 +387,41 @@ class StitchingScanner:
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# =============================================
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# =============================================
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# Step 2: Detect X alignment
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# Step 2: Detect X alignment
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# =============================================
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# =============================================
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horizontal_overlap = min(200, fw // 3)
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x_check = regions.get('x_check')
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if x_check:
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my1, my2, mx1, mx2 = x_check['mosaic_roi']
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fy1, fy2, fx1, fx2 = x_check['frame_roi']
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if direction == ScanDirection.LEFT:
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mosaic_edge = self.mosaic[my1:my2, mx1:mx2]
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# For LEFT scan: frame starts at the transition X position
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frame_edge = frame[fy1:fy2, fx1:fx2]
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# Compare frame's RIGHT edge with mosaic's transition strip RIGHT edge
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transition_x_start = x_offset
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# Draw Debug (Yellow)
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transition_x_end = max(x_offset, x_offset + horizontal_overlap)
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cv2.rectangle(self.mosaic, (mx1, my1), (mx2, my2), (0, 255, 255), 2)
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self.log(f" DEBUG: YELLOW border - mosaic X comparison region")
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# Y range: within the transition strip area
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min_h = min(mosaic_edge.shape[0], frame_edge.shape[0])
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y_start = 0
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min_w = min(mosaic_edge.shape[1], frame_edge.shape[1])
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y_end = min(transition_height, fh)
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if transition_x_end - transition_x_start >= min_overlap:
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if min_h >= min_overlap and min_w >= min_overlap:
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mosaic_edge = self.mosaic[y_start:y_end, transition_x_start:transition_x_end]
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mosaic_edge = mosaic_edge[:min_h, :min_w]
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frame_edge = frame[:y_end, fw - (transition_x_end - transition_x_start):fw]
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frame_edge = frame_edge[:min_h, :min_w]
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# ========== DEBUG: Draw YELLOW border for X comparison region ==========
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dx_h, dy_h, conf_h = self._detect_displacement_with_confidence(
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cv2.rectangle(self.mosaic,
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mosaic_edge, frame_edge)
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(transition_x_start, y_start),
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(transition_x_end, y_end),
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(0, 255, 255), 2) # YELLOW - mosaic comparison region for X
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self.log(f" DEBUG: YELLOW border - mosaic X comparison region X={transition_x_start}:{transition_x_end}, Y={y_start}:{y_end}")
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min_h = min(mosaic_edge.shape[0], frame_edge.shape[0])
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self.log(f" Row-start X alignment: dx={dx_h:.1f}, dy={dy_h:.1f}, conf={conf_h:.3f}")
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min_w = min(mosaic_edge.shape[1], frame_edge.shape[1])
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if min_h >= min_overlap and min_w >= min_overlap:
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if conf_h > 0.1:
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mosaic_edge = mosaic_edge[:min_h, :min_w]
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offset.x_offset = -dx_h
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frame_edge = frame_edge[:min_h, :min_w]
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if conf_h > offset.confidence:
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offset.confidence = conf_h
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dx_h, dy_h, conf_h = self._detect_displacement_with_confidence(
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mosaic_edge, frame_edge)
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self.log(f" Row-start X alignment: dx={dx_h:.1f}, dy={dy_h:.1f}, conf={conf_h:.3f}")
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if conf_h > 0.1:
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offset.x_offset = -dx_h
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if conf_h > offset.confidence:
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offset.confidence = conf_h
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else:
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# For RIGHT scan at row start (similar logic but for left edge)
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transition_x_start = x_offset
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transition_x_end = min(x_offset + horizontal_overlap, mw)
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y_start = 0
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y_end = min(transition_height, fh)
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||||||
|
|
||||||
if transition_x_end - transition_x_start >= min_overlap:
|
|
||||||
mosaic_edge = self.mosaic[y_start:y_end, transition_x_start:transition_x_end]
|
|
||||||
frame_edge = frame[:y_end, :transition_x_end - transition_x_start]
|
|
||||||
|
|
||||||
cv2.rectangle(self.mosaic,
|
|
||||||
(transition_x_start, y_start),
|
|
||||||
(transition_x_end, y_end),
|
|
||||||
(0, 255, 255), 2) # YELLOW
|
|
||||||
self.log(f" DEBUG: YELLOW border - mosaic X comparison region X={transition_x_start}:{transition_x_end}, Y={y_start}:{y_end}")
|
|
||||||
|
|
||||||
min_h = min(mosaic_edge.shape[0], frame_edge.shape[0])
|
|
||||||
min_w = min(mosaic_edge.shape[1], frame_edge.shape[1])
|
|
||||||
|
|
||||||
if min_h >= min_overlap and min_w >= min_overlap:
|
|
||||||
mosaic_edge = mosaic_edge[:min_h, :min_w]
|
|
||||||
frame_edge = frame_edge[:min_h, :min_w]
|
|
||||||
|
|
||||||
dx_h, dy_h, conf_h = self._detect_displacement_with_confidence(
|
|
||||||
mosaic_edge, frame_edge)
|
|
||||||
|
|
||||||
self.log(f" Row-start X alignment: dx={dx_h:.1f}, dy={dy_h:.1f}, conf={conf_h:.3f}")
|
|
||||||
|
|
||||||
if conf_h > 0.1:
|
|
||||||
offset.x_offset = -dx_h
|
|
||||||
if conf_h > offset.confidence:
|
|
||||||
offset.confidence = conf_h
|
|
||||||
|
|
||||||
# Limit maximum adjustment
|
# Limit maximum adjustment
|
||||||
max_adjust = 80
|
max_adjust = 80
|
||||||
if abs(offset.x_offset) > max_adjust:
|
offset.x_offset = max(-max_adjust, min(max_adjust, offset.x_offset))
|
||||||
self.log(f" Limiting X offset from {offset.x_offset:.1f} to ±{max_adjust}")
|
offset.y_offset = max(-max_adjust, min(max_adjust, offset.y_offset))
|
||||||
offset.x_offset = max(-max_adjust, min(max_adjust, offset.x_offset))
|
|
||||||
if abs(offset.y_offset) > max_adjust:
|
|
||||||
self.log(f" Limiting Y offset from {offset.y_offset:.1f} to ±{max_adjust}")
|
|
||||||
offset.y_offset = max(-max_adjust, min(max_adjust, offset.y_offset))
|
|
||||||
|
|
||||||
offset.valid = offset.confidence > 0.1
|
offset.valid = offset.confidence > 0.1
|
||||||
|
|
||||||
if offset.valid:
|
|
||||||
self.log(f" Row-start alignment FINAL: X={offset.x_offset:.1f}, Y={offset.y_offset:.1f}, conf={offset.confidence:.3f}")
|
|
||||||
|
|
||||||
return offset
|
return offset
|
||||||
|
|
||||||
def _detect_strip_alignment(self, frame: np.ndarray, direction: ScanDirection,
|
def _detect_strip_alignment(self, frame: np.ndarray, direction: ScanDirection,
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue