Prev region matching
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63c65ee018
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b2a0d798ab
1 changed files with 84 additions and 101 deletions
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@ -6,30 +6,30 @@ No complex visual matching - just track displacement and append strips.
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Continuous alignment correction for gear slippage compensation.
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FIXES:
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- Y comparison: Compare frame's BOTTOM with ROW 1's TOP (at Y=transition_height)
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- X comparison (LEFT scan): Compare frame's RIGHT with transition strip's LEFT edge
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- row_start_y now positions row 2 so its bottom overlaps with row 1's top
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- Row-start alignment now compares with TRANSITION STRIPS, not old row 1
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- Correct X position tracking after row transition
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- Fixed LEFT scan stop condition
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DEBUG BORDER COLORS (for debugging row 2 placement):
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=================================================
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In _detect_row_start_alignment():
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- WHITE (thick): Outline of TRANSITION STRIPS (X=x_offset, Y=0 to transition_height)
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- BLUE line: Y=transition_height (boundary between transition strips and row 1)
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- CYAN: Y comparison region - TOP of ROW 1 (just below blue line)
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- YELLOW: X comparison region - LEFT edge of transition strips (for LEFT scan)
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- WHITE (thick): Outline of where TRANSITION STRIPS are in mosaic (X=x_offset, Y=0 to transition_height)
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- BLUE line: Y=transition_height (boundary between transition strips and old row 1)
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- CYAN: Mosaic region used for Y alignment comparison (bottom of transition strips)
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- MAGENTA: Where the new frame is EXPECTED to be placed
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- YELLOW: Mosaic region used for X alignment comparison (edge of transition strips)
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In _blend_horizontal_at_y (append_left):
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- RED (thick): Where strip WOULD have been placed (ORIGINAL position)
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- GREEN: Where strip was ACTUALLY placed (ADJUSTED position)
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- RED (thick): Where strip WOULD have been placed (ORIGINAL position before alignment)
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- GREEN: Where strip was ACTUALLY placed (ADJUSTED position after alignment)
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MOSAIC LAYOUT AFTER DOWN TRANSITION:
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====================================
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Y=0 to Y=transition_height: TRANSITION STRIPS (at X=x_offset)
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Y=transition_height to Y=mh: ROW 1 (shifted down)
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Y=0 to Y=transition_height: TRANSITION STRIPS (at X=x_offset to X=x_offset+fw)
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Y=transition_height to Y=mh: OLD ROW 1 (shifted down, at X=0 to X=mw)
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Row 2 placement: Y = transition_height - fh + overlap
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(so row 2's bottom overlaps with row 1's top)
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Where x_offset = mosaic_width - initial_frame_width
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And transition_height = mosaic_height - initial_frame_height
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"""
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import cv2
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@ -212,11 +212,11 @@ class StitchingScanner:
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Detect alignment at the START of a new row.
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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 (at X=x_offset)
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- Y=transition_height to Y=mh: OLD ROW 1 (shifted down)
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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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For Y alignment: Compare frame's BOTTOM with ROW 1's TOP (at Y=transition_height)
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For X alignment (LEFT scan): Compare frame's RIGHT with transition strip's LEFT edge
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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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offset = AlignmentOffset()
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@ -232,14 +232,16 @@ class StitchingScanner:
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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" Transition strips at: X={x_offset}, Y=0 to Y={transition_height}")
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self.log(f" Old row 1 at: Y={transition_height} to Y={mh}")
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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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# WHITE border: Where TRANSITION STRIPS are
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# WHITE border: Where TRANSITION STRIPS are (this is what we should compare with)
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cv2.rectangle(self.mosaic,
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(x_offset, 0),
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(min(x_offset + fw, mw), transition_height),
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@ -251,84 +253,81 @@ class StitchingScanner:
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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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horizontal_overlap = min(200, fw // 3)
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min_overlap = 50
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# =============================================
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# Step 1: Detect Y alignment
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# =============================================
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# Compare frame's BOTTOM with ROW 1's TOP (at Y=transition_height)
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# Frame's bottom should overlap with the area just below the blue line
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# Compare frame's TOP with the BOTTOM of transition strips
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# Frame's top portion overlaps with mosaic's transition bottom
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#
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# Row 1's top is at Y=transition_height
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# So compare mosaic[transition_height : transition_height+overlap]
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# Transition strips are at Y=0 to Y=transition_height
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# So transition bottom is around Y=(transition_height - overlap) to Y=transition_height
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row1_top_start = transition_height
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row1_top_end = min(transition_height + vertical_overlap, mh)
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transition_compare_y_end = transition_height
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transition_compare_y_start = max(0, transition_height - vertical_overlap)
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# Frame's BOTTOM portion (will overlap with row 1's top)
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frame_bottom = frame[fh - vertical_overlap:fh, :]
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# Frame's TOP should overlap with transition BOTTOM
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frame_top = frame[:vertical_overlap, :]
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# Get the X range - centered on where transition strips are
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x_start = x_offset
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x_end = min(x_offset + fw, mw)
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compare_width = x_end - x_start
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if row1_top_end > row1_top_start and compare_width >= min_overlap:
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# Mosaic region: TOP of row 1 (just below the transition)
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mosaic_row1_top = self.mosaic[row1_top_start:row1_top_end, x_start:x_end]
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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: bottom portion
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frame_compare = frame_bottom[:, :compare_width]
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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, fh - vertical_overlap), (compare_width, fh),
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(255, 255, 0), 2) # CYAN - frame's bottom region used for Y comparison
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self.log(f" DEBUG: Frame Y comparison region: X=0:{compare_width}, Y={fh - vertical_overlap}:{fh}")
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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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# CYAN at TOP of row 1 (just below blue line)
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cv2.rectangle(self.mosaic,
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(x_start, row1_top_start),
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(x_end, row1_top_end),
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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={row1_top_start}:{row1_top_end}")
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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
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expected_y_start = transition_height - fh + vertical_overlap # Frame overlaps with row 1
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expected_y_start = max(0, expected_y_start)
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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, expected_y_start),
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(x_end, expected_y_start + fh),
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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={expected_y_start}:{expected_y_start + fh}")
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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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min_w = min(frame_compare.shape[1], mosaic_row1_top.shape[1])
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min_h = min(frame_compare.shape[0], mosaic_row1_top.shape[0])
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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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if min_w >= min_overlap and min_h >= min_overlap:
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frame_compare = frame_compare[:min_h, :min_w]
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mosaic_row1_top = mosaic_row1_top[: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_bottom_region.png', frame_compare)
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cv2.imwrite('/tmp/debug_mosaic_row1top_region.png', mosaic_row1_top)
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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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dx_v, dy_v, conf_v = self._detect_displacement_with_confidence(
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mosaic_row1_top, 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" Compared frame[{fh - vertical_overlap}:{fh}] with mosaic[{row1_top_start}:{row1_top_end}]")
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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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offset.y_offset = dy_v
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@ -337,34 +336,29 @@ class StitchingScanner:
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# =============================================
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# Step 2: Detect X alignment
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# =============================================
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horizontal_overlap = min(200, fw // 3)
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if direction == ScanDirection.LEFT:
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# For LEFT scan: frame will move LEFT
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# Frame's RIGHT edge will overlap with existing content's LEFT edge
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# The LEFT edge of transition strips is at X=x_offset
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# Compare frame's RIGHT with mosaic's LEFT edge of transition strips
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# For LEFT scan: frame starts at the transition X position
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# Compare frame's RIGHT edge with mosaic's transition strip RIGHT edge
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# Mosaic region: LEFT edge of transition strips
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mosaic_x_start = x_offset
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mosaic_x_end = min(x_offset + horizontal_overlap, mw)
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transition_x_end = min(x_offset + fw, mw)
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transition_x_start = max(x_offset, transition_x_end - horizontal_overlap)
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# Y range: within the transition strip area AND row 1 top
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y_start = max(0, transition_height - fh // 2)
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y_end = min(transition_height + fh // 2, mh)
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# Y range: within the transition strip area
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y_start = 0
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y_end = min(transition_height, fh)
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if mosaic_x_end > mosaic_x_start and y_end > y_start:
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mosaic_edge = self.mosaic[y_start:y_end, mosaic_x_start:mosaic_x_end]
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# Frame's RIGHT edge
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frame_edge = frame[:min(y_end - y_start, fh), fw - (mosaic_x_end - mosaic_x_start):fw]
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if transition_x_end - transition_x_start >= min_overlap:
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mosaic_edge = self.mosaic[y_start:y_end, transition_x_start:transition_x_end]
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frame_edge = frame[:y_end, fw - (transition_x_end - transition_x_start):fw]
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# ========== DEBUG: Draw YELLOW border for X comparison region ==========
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# YELLOW on LEFT side of transition strips
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cv2.rectangle(self.mosaic,
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(mosaic_x_start, y_start),
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(mosaic_x_end, y_end),
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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={mosaic_x_start}:{mosaic_x_end}, Y={y_start}:{y_end}")
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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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min_w = min(mosaic_edge.shape[1], frame_edge.shape[1])
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@ -383,23 +377,22 @@ class StitchingScanner:
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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
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# Frame's LEFT edge will overlap with existing content's RIGHT edge
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mosaic_x_end = min(x_offset + fw, mw)
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mosaic_x_start = max(mosaic_x_end - horizontal_overlap, x_offset)
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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 = max(0, transition_height - fh // 2)
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y_end = min(transition_height + fh // 2, mh)
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y_start = 0
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y_end = min(transition_height, fh)
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if mosaic_x_end > mosaic_x_start and y_end > y_start:
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mosaic_edge = self.mosaic[y_start:y_end, mosaic_x_start:mosaic_x_end]
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frame_edge = frame[:min(y_end - y_start, fh), :mosaic_x_end - mosaic_x_start]
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if transition_x_end - transition_x_start >= min_overlap:
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mosaic_edge = self.mosaic[y_start:y_end, transition_x_start:transition_x_end]
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frame_edge = frame[:y_end, :transition_x_end - transition_x_start]
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cv2.rectangle(self.mosaic,
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(mosaic_x_start, y_start),
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(mosaic_x_end, y_end),
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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
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self.log(f" DEBUG: YELLOW border - mosaic X comparison region X={mosaic_x_start}:{mosaic_x_end}, Y={y_start}:{y_end}")
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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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min_w = min(mosaic_edge.shape[1], frame_edge.shape[1])
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@ -1308,32 +1301,22 @@ class StitchingScanner:
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self.log(f"Row transition complete: {abs(total_y):.1f}px")
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self.log(f"Alignment after row transition: X={self._cumulative_align_x:.1f}, Y={self._cumulative_align_y:.1f}")
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# Calculate the Y position in the mosaic where the new row should be placed
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# After prepending, the layout is:
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# Y=0 to Y=transition_height: transition strips
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# Y=transition_height to Y=mh: old row 1 (shifted down)
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#
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# Row 2 should be placed so its BOTTOM overlaps with row 1's TOP
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# transition_height = mh - fh (height added during transition)
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# overlap_pixels = h * row_overlap
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#
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# Row 2 Y position: transition_height - fh + overlap_pixels
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# This puts row 2's bottom at: (transition_height - fh + overlap) + fh = transition_height + overlap
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# Which overlaps with row 1's top at Y=transition_height
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overlap_pixels = int(h * self.config.row_overlap)
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transition_height = self.state.mosaic_height - h
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self._row_start_y = max(0, transition_height - h + overlap_pixels)
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# Calculate the Y position in the mosaic where the new row starts
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# Since we use append_below=False during DOWN movement, new content
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# is PREPENDED to the TOP of the mosaic. So the new row starts at Y=0
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self._row_start_y = 0 # New row is at the TOP after prepending
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# Calculate the X position where transition strips were placed
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# This is where the camera is now (ready to start row 2)
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x_offset = max(0, self.state.mosaic_width - self.state.mosaic_init_width)
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self.log(f"New row Y position: {self._row_start_y} (transition_height={transition_height}, overlap={overlap_pixels})")
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self.log(f"New row Y position: {self._row_start_y} (mosaic height: {self.state.mosaic_height})")
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self.log(f"New row X position: {x_offset} (transition strip location)")
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with self._state_lock:
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self.state.current_y = 0
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# Set current_x to the x_offset where transition strips are
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# This is where row 2 will START (then scan LEFT from here)
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self.state.current_x = x_offset
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self.motion.send_command('s')
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