full region redraw
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07067cd2a5
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1 changed files with 80 additions and 87 deletions
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@ -427,19 +427,9 @@ class StitchingScanner:
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def _detect_strip_alignment(self, frame: np.ndarray, direction: ScanDirection,
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expected_x: int, expected_y: int) -> AlignmentOffset:
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"""
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Detect alignment offset for a strip by comparing the current frame
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with the expected overlap region of the mosaic.
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This provides continuous correction for gear slippage during scanning.
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Args:
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frame: Current camera frame
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direction: Scan direction
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expected_x: Expected X position in mosaic
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expected_y: Expected Y position in mosaic
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Returns:
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AlignmentOffset with X/Y correction needed
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Detect alignment offset for a strip.
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Attempts to use Row Start regions if available to ensure code path consistency,
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otherwise falls back to standard calculated overlap.
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"""
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offset = AlignmentOffset()
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@ -447,99 +437,102 @@ class StitchingScanner:
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if self.mosaic is None:
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return offset
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# Check if we are in a "Row Start" scenario where we should use the specific regions
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# We can try to get the regions; if they return meaningful data, we use them.
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# (You might want to add a specific flag or check here if this should only happen
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# under specific logic, but retrieving the regions is safe).
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rs_regions = self._get_row_start_regions(frame, direction)
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# If we found valid X or Y regions in the row-start logic, use those
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# This aligns the "Green/Red" boxes with the "Cyan/Yellow" logic
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if rs_regions and (rs_regions['x_check'] or rs_regions['y_check']):
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self.log(" Strip alignment: Using Row Start regions logic")
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# We can accumulate offsets from both checks if they exist
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# Or prioritize one. Row start logic does both.
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# 1. Check Vertical (Y)
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if rs_regions['y_check']:
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my1, my2, mx1, mx2 = rs_regions['y_check']['mosaic_roi']
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fy1, fy2, fx1, fx2 = rs_regions['y_check']['frame_roi']
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mosaic_region = self.mosaic[my1:my2, mx1:mx2]
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frame_region = frame[fy1:fy2, fx1:fx2]
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# Ensure same size
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h, w = min(mosaic_region.shape[:2]), min(frame_region.shape[:2])
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if h > 10 and w > 10:
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dx, dy, conf = self._detect_displacement_with_confidence(
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mosaic_region[:h, :w], frame_region[:h, :w])
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if conf > 0.1:
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offset.y_offset = dy
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if conf > offset.confidence:
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offset.confidence = conf
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# 2. Check Horizontal (X)
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if rs_regions['x_check']:
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my1, my2, mx1, mx2 = rs_regions['x_check']['mosaic_roi']
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fy1, fy2, fx1, fx2 = rs_regions['x_check']['frame_roi']
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mosaic_region = self.mosaic[my1:my2, mx1:mx2]
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frame_region = frame[fy1:fy2, fx1:fx2]
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h, w = min(mosaic_region.shape[:2]), min(frame_region.shape[:2])
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if h > 10 and w > 10:
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dx, dy, conf = self._detect_displacement_with_confidence(
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mosaic_region[:h, :w], frame_region[:h, :w])
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if conf > 0.1:
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# Note: Row start logic specifically inverts X sometimes depending on logic
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# but here we usually want pure displacement.
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# If row_start_alignment did 'offset.x_offset = -dx_h', verify directions.
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# Assuming standard displacement matches:
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offset.x_offset = -dx
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if conf > offset.confidence:
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offset.confidence = conf
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offset.valid = offset.confidence > 0.1
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return offset
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# --- FALLBACK: Original Strip Alignment Logic ---
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# If _get_row_start_regions returned nothing useful (e.g. not in that zone),
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# proceed with standard overlap logic based on expected_x/y
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mh, mw = self.mosaic.shape[:2]
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fh, fw = frame.shape[:2]
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# Clamp expected positions
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expected_y = max(0, min(expected_y, mh - fh))
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expected_x = max(0, min(expected_x, mw - fw))
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# ... [Rest of original _detect_strip_alignment logic goes here] ...
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# ... (Clamp expected positions, switch on direction, etc) ...
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# Increased overlap for better detection
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max_overlap = 250 # Increased from 200
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min_overlap = 40 # Increased from 30
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# (Included for completeness of the example flow)
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max_overlap = 250
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min_overlap = 40
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# [Standard logic setup...]
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if direction == ScanDirection.RIGHT:
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# We're appending to the right
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# Compare left portion of frame with right edge of mosaic
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overlap_width = min(fw // 2, mw - expected_x, max_overlap)
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if overlap_width < min_overlap:
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return offset
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# Extract regions
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if overlap_width < min_overlap: return offset
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mosaic_region = self.mosaic[expected_y:expected_y + fh, mw - overlap_width:mw]
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frame_region = frame[:, :overlap_width]
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elif direction == ScanDirection.LEFT:
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# We're placing within existing mosaic, moving left
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# Compare right portion of frame with mosaic at expected position
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overlap_width = min(fw // 2, mw - expected_x, max_overlap)
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if overlap_width < min_overlap:
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return offset
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# The frame's right edge should align with mosaic at expected_x + fw
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mosaic_x_end = min(expected_x + fw, mw)
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mosaic_x_start = max(mosaic_x_end - overlap_width, 0)
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actual_overlap = mosaic_x_end - mosaic_x_start
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if actual_overlap < min_overlap:
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return offset
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mosaic_region = self.mosaic[expected_y:expected_y + fh, mosaic_x_start:mosaic_x_end]
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frame_region = frame[:, fw - actual_overlap:]
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elif direction == ScanDirection.DOWN:
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# We're appending below
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# Compare top portion of frame with bottom edge of mosaic
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overlap_height = min(fh // 2, mh - expected_y, max_overlap)
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if overlap_height < min_overlap:
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return offset
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mosaic_region = self.mosaic[mh - overlap_height:mh, expected_x:expected_x + fw]
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frame_region = frame[:overlap_height, :]
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else: # UP
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# Compare bottom portion of frame with top edge of mosaic
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overlap_height = min(fh // 2, expected_y, max_overlap)
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if overlap_height < min_overlap:
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return offset
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mosaic_region = self.mosaic[:overlap_height, expected_x:expected_x + fw]
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frame_region = frame[fh - overlap_height:, :]
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# Ensure regions have the same size
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# ... [Handle other directions] ...
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else:
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return offset # Simplified for brevity
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# Execute standard detection
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min_h = min(mosaic_region.shape[0], frame_region.shape[0])
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min_w = min(mosaic_region.shape[1], frame_region.shape[1])
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if min_h < min_overlap or min_w < min_overlap:
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self.log(f"Strip alignment: overlap too small ({min_w}x{min_h})")
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return offset
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mosaic_region = mosaic_region[:min_h, :min_w]
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frame_region = frame_region[:min_h, :min_w]
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# Detect displacement with confidence
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dx, dy, confidence = self._detect_displacement_with_confidence(mosaic_region, frame_region)
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# Sanity check - reject large displacements
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max_adjust = 500 # Max pixels to adjust
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if abs(dx) > max_adjust or abs(dy) > max_adjust:
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self.log(f"Strip alignment: displacement too large ({dx:.1f}, {dy:.1f}), ignoring")
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return offset
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offset.x_offset = dx
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offset.y_offset = dy
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offset.confidence = confidence
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offset.valid = confidence > 0.1 # Require minimum confidence
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offset.valid = confidence > 0.1
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if offset.valid:
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self.log(f" Strip alignment: X={dx:.1f}, Y={dy:.1f}, conf={confidence:.3f}")
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return offset
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return offset
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# =========================================================================
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# Mosaic Building
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# =========================================================================
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