root/Autoscope-Controller
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

reset

Browse source
This commit is contained in:
2ManyProjects 2026-01-10 03:55:22 -06:00
parent 4ad089c698
commit ac8657f2ed
1 changed files with 51 additions and 46 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

95
src/stitching_scanner.py
View file

@ -160,80 +160,88 @@ class StitchingScanner:
self.log(f"Initialized mosaic: {frame.shape[1]}x{frame.shape[0]}")
def _blend_horizontal_at_y(self, base: np.ndarray, strip: np.ndarray,
blend_width: int, append_right: bool, x_offset: int = None,
y_offset: int = 0) -> np.ndarray:
blend_width: int, append_right: bool, x_offset: int = None,
y_offset: int = 0) -> np.ndarray:
h_base, w_base = base.shape[:2]
h_strip, w_strip = strip.shape[:2]
# Calculate y_offset based on mosaic growth (mirror of vertical's x_offset calculation)
y_offset = max(0, h_base - self.state.mosaic_init_height)
# Clamp y_offset
y_offset = max(0, min(y_offset, h_base - h_strip))
blend_w = min(blend_width, w_strip, w_base)
# Create full-height strip with actual strip placed at y_offset
full_strip = np.zeros((h_base, w_strip, 3), dtype=np.uint8)
available_height = h_base - y_offset
copy_height = min(h_strip, available_height)
full_strip[y_offset:y_offset + copy_height, :] = strip[:copy_height, :]
self.log(f"=== _blend_horizontal_at_y ===")
self.log(f" base: {w_base}x{h_base}, strip: {w_strip}x{h_strip}")
self.log(f" y_offset: {y_offset} (h_base - init_height = {h_base} - {self.state.mosaic_init_height})")
self.log(f" full_strip: {full_strip.shape[1]}x{full_strip.shape[0]}")
if append_right:
# Expand mosaic to the right
if blend_w <= 0 or blend_w >= w_strip:
return np.hstack([base, full_strip])
result_width = w_base + w_strip - blend_w
result = np.zeros((h_base, result_width, 3), dtype=np.uint8)
self.log(f"=== _blend_horizontal_at_y (append_right) ===")
self.log(f" base: {w_base}x{h_base}, strip: {w_strip}x{h_strip}")
self.log(f" y_offset: {y_offset}, blend_w: {blend_w}")
self.log(f" result: {result_width}x{h_base}")
# Step 1: Copy entire base
result[:, :w_base] = base
# Step 2: Copy non-overlap portion of strip at correct Y
x_place = w_base
self.log(f" Placing strip at X={w_base - blend_w}:{result_width}, Y={y_offset}:{y_offset + h_strip}")
result[y_offset:y_offset + h_strip, w_base:] = strip[:, blend_w:]
# Step 3: Create blend
alpha = np.linspace(1, 0, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
base_overlap = base[:, -blend_w:].astype(np.float32)
strip_overlap = full_strip[:, :blend_w].astype(np.float32)
base_overlap = base[y_offset:y_offset + h_strip, -blend_w:].astype(np.float32)
strip_overlap = strip[:, :blend_w].astype(np.float32)
blended = (base_overlap * alpha + strip_overlap * (1 - alpha)).astype(np.uint8)
result[:, w_base - blend_w:w_base] = blended
result[:, w_base:] = full_strip[:, blend_w:]
# Step 4: Place blend
result[y_offset:y_offset + h_strip, w_base - blend_w:w_base] = blended
self.log(f" append_right: result {result_width}x{h_base}")
return result
else: # append_left - place at x_offset, NO width expansion
# x_offset is where the LEFT edge of the strip should go
if x_offset is None:
x_offset = 0
# Clamp x_offset to valid range
x_offset = max(0, min(x_offset, w_base - w_strip))
x_offset = 0 - min(x_offset, w_base - blend_w)
self.log(f" append_left: x_offset={x_offset}")
self.log(f"=== _blend_horizontal_at_y (append_left) ===")
self.log(f" base: {w_base}x{h_base}, strip: {w_strip}x{h_strip}")
self.log(f" x_offset: {x_offset}, y_offset: {y_offset}, blend_w: {blend_w}")
# Result is same size as base (no expansion when going left)
result = base.copy()
# Place full_strip at x_offset, blending on the RIGHT edge
# Non-blend portion
non_blend_width = w_strip - blend_w
if non_blend_width > 0:
result[:, x_offset:x_offset + non_blend_width] = full_strip[:, :non_blend_width]
self.log(f" Placed non-blend at X={x_offset}:{x_offset + non_blend_width}")
# Calculate placement bounds
strip_x_start = x_offset
strip_x_end = min(x_offset + w_strip, w_base)
strip_cols_to_copy = strip_x_end - strip_x_start
# Blend zone on the right edge of the strip
blend_x_start = x_offset + non_blend_width
blend_x_end = x_offset + w_strip
self.log(f" Placing strip at X={strip_x_start}:{strip_x_end}, Y={y_offset}:{y_offset + h_strip}")
self.log(f" Strip cols to copy: {strip_cols_to_copy}")
if blend_w > 0 and blend_x_end <= w_base:
# Step 1: Copy strip content (non-blend portion) at correct position
# For LEFT scanning, blend is on the RIGHT side of the strip
non_blend_end = strip_cols_to_copy - blend_w
if non_blend_end > 0:
result[y_offset:y_offset + h_strip, strip_x_start:strip_x_start + non_blend_end] = strip[:, :non_blend_end]
self.log(f" Step 1: Placed non-blend at X={strip_x_start}:{strip_x_start + non_blend_end}")
# Step 2: Create blend on the RIGHT edge of strip (blending with existing content)
blend_x_start = strip_x_end - blend_w
blend_x_end = strip_x_end
if blend_w > 0 and blend_x_start >= strip_x_start:
alpha = np.linspace(1, 0, blend_w, dtype=np.float32)[np.newaxis, :, np.newaxis]
strip_overlap = full_strip[:, -blend_w:].astype(np.float32)
base_overlap = base[:, blend_x_start:blend_x_end].astype(np.float32)
strip_overlap = strip[:, -blend_w:].astype(np.float32)
base_overlap = base[y_offset:y_offset + h_strip, blend_x_start:blend_x_end].astype(np.float32)
blended = (strip_overlap * alpha + base_overlap * (1 - alpha)).astype(np.uint8)
result[:, blend_x_start:blend_x_end] = blended
self.log(f" Blend zone at X={blend_x_start}:{blend_x_end}")
result[y_offset:y_offset + h_strip, blend_x_start:blend_x_end] = blended
self.log(f" Step 2: Blend zone at X={blend_x_start}:{blend_x_end}")
self.log(f" Final: strip at X={x_offset}, Y={y_offset} (via full_strip)")
self.log(f" Final: Strip placed at X={strip_x_start}, Y={y_offset}, mosaic size unchanged: {w_base}x{h_base}")
return result
def _blend_horizontal(self, base: np.ndarray, strip: np.ndarray,
@ -334,8 +342,6 @@ class StitchingScanner:
result[h_strip - blend_h:h_strip, :] = blended
result[h_strip:, :] = base[blend_h:, :]
return result
def _blend_vertical(self, base: np.ndarray, strip: np.ndarray,
blend_height: int, append_below: bool) -> np.ndarray:
mh, mw = base.shape[:2]
@ -416,9 +422,8 @@ class StitchingScanner:
else:
strip_end = min(w, append_width + BLEND_WIDTH)
new_strip = frame[:, :strip_end]
x_offset = int(self.state.mosaic_width - abs(self.state.current_x) - new_strip.shape[1])
self.mosaic = self._blend_horizontal_at_y(
self.mosaic, new_strip, BLEND_WIDTH, append_right=False, x_offset=x_offset, y_offset=y_offset)
self.mosaic, new_strip, BLEND_WIDTH, append_right=False, x_offset=int(self.state.current_x), y_offset=y_offset)
self._displacement_since_append_x = fractional_remainder
self._displacement_since_append_y = 0.0