continuous drift detection
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1 changed files with 98 additions and 92 deletions
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@ -191,96 +191,95 @@ class StitchingScanner:
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"""
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offset = AlignmentOffset()
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with self._mosaic_lock:
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if self.mosaic is None:
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if self.mosaic is None:
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return offset
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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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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, 200) # Use up to 200px overlap
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if overlap_width < 30:
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return offset
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mh, mw = self.mosaic.shape[:2]
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fh, fw = frame.shape[:2]
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# Extract regions
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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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# 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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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, 200)
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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, 200) # Use up to 200px overlap
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if overlap_width < 30:
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return offset
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# Extract regions
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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, 200)
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if overlap_width < 30:
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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 < 30:
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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, 200)
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if overlap_height < 30:
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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, 200)
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if overlap_height < 30:
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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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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 < 30 or min_w < 30:
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self.log(f"Strip alignment: overlap too small ({min_w}x{min_h})")
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if overlap_width < 30:
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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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# 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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# 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 = 50 # 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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if actual_overlap < 30:
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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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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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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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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, 200)
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if overlap_height < 30:
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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, 200)
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if overlap_height < 30:
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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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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 < 30 or min_w < 30:
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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 = 50 # 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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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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@ -381,7 +380,8 @@ class StitchingScanner:
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y_offset = y_offset - int(round(alignment_y))
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# Clamp x_offset to valid range
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x_offset = max(0, min(x_offset, w_base - blend_w))
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# x_offset = max(0, min(x_offset, w_base - blend_w))
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x_offset = 0 - min(x_offset, w_base)
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# Handle strip cropping if y_offset is negative (strip protrudes above frame)
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strip_y_start = 0 # How much to crop from top of strip
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@ -837,7 +837,7 @@ class StitchingScanner:
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no_movement_count = 0
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max_no_movement = 50
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stop_reason = 'stopped'
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self.log(f"Scanning 2..")
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while self.running and not self.paused:
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if time.time() - start_time > self.config.max_scan_time:
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self.log("Scan timeout")
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@ -871,6 +871,7 @@ class StitchingScanner:
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curr_frame = self._capture_frame()
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dx, dy = self._detect_displacement_robust(self._prev_frame, curr_frame)
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self.log(f"Scanning dx{dx} dy{dy}..")
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self._displacement_since_append_x += dx
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self._displacement_since_append_y += dy
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total_x += dx
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@ -885,6 +886,8 @@ class StitchingScanner:
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# Edge detection
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movement = abs(dx) if direction in [ScanDirection.RIGHT, ScanDirection.LEFT] else abs(dy)
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self.log(f"Scanning movement{movement}..")
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if movement < 1.0:
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no_movement_count += 1
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if no_movement_count >= max_no_movement:
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@ -896,7 +899,10 @@ class StitchingScanner:
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# Append when threshold reached (with continuous alignment)
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disp = abs(self._displacement_since_append_x) if direction in [ScanDirection.RIGHT, ScanDirection.LEFT] else abs(self._displacement_since_append_y)
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self.log(f"Scanning disp{disp}..")
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if disp >= threshold_pixels:
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self.log(f"Scanning threshold_pixels..")
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self._append_strip(curr_frame, direction)
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self.log(f"Appended {disp:.1f}px, mosaic: {self.state.mosaic_width}x{self.state.mosaic_height}, align: ({self._cumulative_align_x:.1f}, {self._cumulative_align_y:.1f})")
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