import os import json import time import argparse from datetime import datetime import cv2 import numpy as np from core.oak_fcc3_client import OakFcc3Client as MultiSpectralClient # ============================================================ # Helpers gerais # ============================================================ def now_str() -> str: return datetime.now().strftime("%Y-%m-%d %H:%M:%S") def ensure_dir(path: str): if path: os.makedirs(path, exist_ok=True) def clamp(v, lo, hi): return max(lo, min(hi, v)) def overlay_hud( img_bgr, lines, x=12, y=24, font_scale=0.58, line_step=22, color=(255, 255, 255), shadow=(0, 0, 0), ): yy = int(y) for s in lines: cv2.putText(img_bgr, str(s), (int(x), yy), cv2.FONT_HERSHEY_SIMPLEX, font_scale, shadow, 3, cv2.LINE_AA) cv2.putText(img_bgr, str(s), (int(x), yy), cv2.FONT_HERSHEY_SIMPLEX, font_scale, color, 1, cv2.LINE_AA) yy += int(line_step) def to_bgr_u8_from_rgb01(rgb01: np.ndarray) -> np.ndarray: rgb_u8 = np.clip(rgb01 * 255.0, 0, 255).astype(np.uint8) return cv2.cvtColor(rgb_u8, cv2.COLOR_RGB2BGR) def gray_to_bgr_u8(gray01: np.ndarray) -> np.ndarray: g = np.clip(gray01 * 255.0, 0, 255).astype(np.uint8) return cv2.cvtColor(g, cv2.COLOR_GRAY2BGR) def resize_if_needed(img: np.ndarray, target_hw: tuple[int, int]) -> np.ndarray: if img is None: return None th, tw = target_hw if img.shape[:2] == (th, tw): return img return cv2.resize(img, (tw, th), interpolation=cv2.INTER_LINEAR) def compute_stats(img01: np.ndarray, roi_px=None) -> dict: if img01 is None: return { "valid": False, "pixels": 0, "mean": 0.0, "std": 0.0, "p05": 0.0, "p50": 0.0, "p95": 0.0, "sat_pct": 0.0, "dark_pct": 0.0, } if img01.ndim == 3: arr = ( 0.299 * img01[:, :, 0] + 0.587 * img01[:, :, 1] + 0.114 * img01[:, :, 2] ).astype(np.float32) else: arr = img01.astype(np.float32) if roi_px is not None: x0, y0, x1, y1 = roi_px x0, x1 = sorted((int(x0), int(x1))) y0, y1 = sorted((int(y0), int(y1))) x0 = clamp(x0, 0, arr.shape[1] - 1) x1 = clamp(x1, x0 + 1, arr.shape[1]) y0 = clamp(y0, 0, arr.shape[0] - 1) y1 = clamp(y1, y0 + 1, arr.shape[0]) arr = arr[y0:y1, x0:x1] flat = arr.reshape(-1).astype(np.float32) if flat.size == 0: return { "valid": False, "pixels": 0, "mean": 0.0, "std": 0.0, "p05": 0.0, "p50": 0.0, "p95": 0.0, "sat_pct": 0.0, "dark_pct": 0.0, } return { "valid": True, "pixels": int(flat.size), "mean": float(flat.mean()), "std": float(flat.std()), "p05": float(np.percentile(flat, 5)), "p50": float(np.percentile(flat, 50)), "p95": float(np.percentile(flat, 95)), "sat_pct": float((flat >= 0.98).mean() * 100.0), "dark_pct": float((flat <= 0.02).mean() * 100.0), } def pct_to_px(roi_pct: dict, w: int, h: int): x0 = int(float(roi_pct.get("x0", 0.0)) * w) y0 = int(float(roi_pct.get("y0", 0.0)) * h) x1 = int(float(roi_pct.get("x1", 1.0)) * w) y1 = int(float(roi_pct.get("y1", 1.0)) * h) x0 = clamp(x0, 0, w - 1) x1 = clamp(x1, x0 + 1, w) y0 = clamp(y0, 0, h - 1) y1 = clamp(y1, y0 + 1, h) return x0, y0, x1, y1 def px_to_pct(rect, w: int, h: int): x0, y0, x1, y1 = rect x0, x1 = sorted((int(x0), int(x1))) y0, y1 = sorted((int(y0), int(y1))) x0 = clamp(x0, 0, w - 1) x1 = clamp(x1, x0 + 1, w) y0 = clamp(y0, 0, h - 1) y1 = clamp(y1, y0 + 1, h) return { "x0": round(x0 / float(w), 6), "y0": round(y0 / float(h), 6), "x1": round(x1 / float(w), 6), "y1": round(y1 / float(h), 6), } def get_decoded_by_role(decoded: dict, role: str): role = str(role).lower() for cam_id, item in (decoded or {}).items(): if str(item.get("role", "")).lower() == role: return cam_id, item return None, None def get_image_by_role(decoded: dict, role: str): cam_id, item = get_decoded_by_role(decoded, role) if item is None: return cam_id, None return cam_id, item.get("image") def validate_module_ready(status: dict, raw_policy: str): if not status.get("ok", True): raise RuntimeError(f"Status inválido retornado pelo módulo: {status}") active_roles = status.get("active_roles", {}) or {} active_count = int(status.get("camera_count_active", 0)) if raw_policy == "require_triple": missing = [role for role in ("rgb", "nir", "re") if role not in active_roles] if missing: raise RuntimeError( f"RAW_BRUTO com require_triple exige rgb/nir/re ativas. " f"Faltando: {missing}. Ativas: {active_roles}" ) elif active_count < 1: raise RuntimeError("RAW_BRUTO requer ao menos uma câmera ativa.") # ============================================================ # Config radiométrico # ============================================================ def default_profile_global(): return { "radiometric_config": { "enabled": True, "interval_s": 0.5, "verbose": True, "metering_mode": "global", "spectral_control_mode": "shared", "global_roi_pct": { "x0": 0.08, "y0": 0.08, "x1": 0.92, "y1": 0.92, }, "control_metric": "p50", "target_value": 0.40, "deadband": 0.04, "p95_limit": 0.94, "saturation_limit_pct": 1.0, "dark_limit_pct": 35.0, "alpha": 0.18, "exp_step_gain": 0.55, "prefer_exposure": True, "exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 4.0, "role_limits": { "rgb": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 4.0}, "re": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 3.0}, "nir": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 3.0}, }, "exp_apply_threshold_us": 80, "gain_apply_threshold": 0.05, "apply_same_spectral_to_both": True, "spectral_roles": ["re", "nir"], } } def default_profile_patches(): return { "radiometric_config": { "enabled": True, "interval_s": 0.5, "verbose": True, "metering_mode": "reference_patches", "spectral_control_mode": "shared", "control_metric": "p50", "target_value": 0.40, "deadband": 0.035, "p95_limit": 0.94, "saturation_limit_pct": 1.0, "dark_limit_pct": 35.0, "alpha": 0.18, "exp_step_gain": 0.55, "prefer_exposure": True, "exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 4.0, "role_limits": { "rgb": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 4.0}, "re": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 3.0}, "nir": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 3.0}, }, "reference_patches": [ { "name": "black_reference", "type": "black", "roles": ["rgb", "re", "nir"], "roi_pct": {"x0": 0.05, "y0": 0.92, "x1": 0.18, "y1": 0.99}, "target_value": 0.08, "weight": 0.7, }, { "name": "gray_reference", "type": "gray", "roles": ["rgb", "re", "nir"], "roi_pct": {"x0": 0.35, "y0": 0.92, "x1": 0.55, "y1": 0.99}, "target_value": 0.40, "weight": 1.0, }, { "name": "white_reference", "type": "white", "roles": ["rgb", "re", "nir"], "roi_pct": {"x0": 0.75, "y0": 0.92, "x1": 0.95, "y1": 0.99}, "target_value": 0.82, "weight": 0.8, }, ], "exp_apply_threshold_us": 80, "gain_apply_threshold": 0.05, "apply_same_spectral_to_both": True, "spectral_roles": ["re", "nir"], } } def load_or_default_config(path: str): if path and os.path.isfile(path): with open(path, "r", encoding="utf-8") as f: data = json.load(f) else: data = {} data.setdefault("schema", "multispec_radiometric_config_profiles_v1") data.setdefault("saved_at", now_str()) data.setdefault("global_scene_mode", default_profile_global()) data.setdefault("three_reference_patches_mode", default_profile_patches()) return data def save_config(path: str, data: dict): ensure_dir(os.path.dirname(path) or ".") data = dict(data) data["schema"] = "multispec_radiometric_config_profiles_v1" data["saved_at"] = now_str() with open(path, "w", encoding="utf-8") as f: json.dump(data, f, ensure_ascii=False, indent=2) def get_global_roi(data: dict): return ( data.get("global_scene_mode", {}) .get("radiometric_config", {}) .get("global_roi_pct", {"x0": 0.08, "y0": 0.08, "x1": 0.92, "y1": 0.92}) ) def set_global_roi(data: dict, roi_pct: dict): data.setdefault("global_scene_mode", default_profile_global()) data["global_scene_mode"].setdefault("radiometric_config", default_profile_global()["radiometric_config"]) data["global_scene_mode"]["radiometric_config"]["global_roi_pct"] = roi_pct def get_patches(data: dict): return ( data.get("three_reference_patches_mode", {}) .get("radiometric_config", {}) .get("reference_patches", []) ) def set_patch_roi(data: dict, patch_type: str, roi_pct: dict): data.setdefault("three_reference_patches_mode", default_profile_patches()) cfg = data["three_reference_patches_mode"].setdefault( "radiometric_config", default_profile_patches()["radiometric_config"], ) patches = cfg.setdefault("reference_patches", default_profile_patches()["radiometric_config"]["reference_patches"]) patch_type = str(patch_type).lower() for p in patches: if str(p.get("type", "")).lower() == patch_type: p["roi_pct"] = roi_pct return # Fallback se não existir. target = {"black": 0.08, "gray": 0.40, "white": 0.82}.get(patch_type, 0.40) weight = {"black": 0.7, "gray": 1.0, "white": 0.8}.get(patch_type, 1.0) patches.append({ "name": f"{patch_type}_reference", "type": patch_type, "roles": ["rgb", "re", "nir"], "roi_pct": roi_pct, "target_value": target, "weight": weight, }) def set_shared_mode(data: dict, shared: bool): for profile in ("global_scene_mode", "three_reference_patches_mode"): data.setdefault(profile, default_profile_global() if profile == "global_scene_mode" else default_profile_patches()) cfg = data[profile].setdefault("radiometric_config", {}) cfg["spectral_control_mode"] = "shared" if shared else "independent" cfg["apply_same_spectral_to_both"] = bool(shared) # ============================================================ # UI # ============================================================ PATCH_COLORS = { "global": (0, 255, 255), "black": (80, 80, 80), "gray": (180, 180, 180), "white": (255, 255, 255), } PATCH_ORDER = ["black", "gray", "white"] def draw_roi_on_panel(panel, roi_pct, label, color, thickness=2): if roi_pct is None: return h, w = panel.shape[:2] x0, y0, x1, y1 = pct_to_px(roi_pct, w, h) cv2.rectangle(panel, (x0, y0), (x1, y1), color, thickness) cv2.putText(panel, label, (x0 + 5, max(20, y0 - 6)), cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 0, 0), 3, cv2.LINE_AA) cv2.putText(panel, label, (x0 + 5, max(20, y0 - 6)), cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 1, cv2.LINE_AA) def draw_all_rois(panel, data, selected_target, mode): if mode == "global": roi = get_global_roi(data) draw_roi_on_panel(panel, roi, "GLOBAL", PATCH_COLORS["global"], 2) else: for p in get_patches(data): typ = str(p.get("type", "")).lower() color = PATCH_COLORS.get(typ, (0, 255, 255)) label = typ.upper() thickness = 3 if typ == selected_target else 2 draw_roi_on_panel(panel, p.get("roi_pct"), label, color, thickness) def build_board(decoded, data, mode, selected_target, drag_rect_local, panel_rects, preview_scale=1.0): rgb_id, rgb01 = get_image_by_role(decoded, "rgb") re_id, re01 = get_image_by_role(decoded, "re") nir_id, nir01 = get_image_by_role(decoded, "nir") if rgb01 is not None: rgb_panel = to_bgr_u8_from_rgb01(rgb01) base_h, base_w = rgb01.shape[:2] else: base_h, base_w = 800, 1280 rgb_panel = np.zeros((base_h, base_w, 3), dtype=np.uint8) overlay_hud(rgb_panel, ["RGB", "sem frame"]) re01 = resize_if_needed(re01, (base_h, base_w)) if re01 is not None else None nir01 = resize_if_needed(nir01, (base_h, base_w)) if nir01 is not None else None re_panel = gray_to_bgr_u8(re01) if re01 is not None else np.zeros_like(rgb_panel) nir_panel = gray_to_bgr_u8(nir01) if nir01 is not None else np.zeros_like(rgb_panel) for p in (rgb_panel, re_panel, nir_panel): draw_all_rois(p, data, selected_target, mode) if drag_rect_local is not None: x0, y0, x1, y1 = drag_rect_local color = PATCH_COLORS["global"] if mode == "global" else PATCH_COLORS.get(selected_target, (0, 255, 255)) for p in (rgb_panel, re_panel, nir_panel): cv2.rectangle(p, (x0, y0), (x1, y1), color, 1) overlay_hud(rgb_panel, [f"RGB ({rgb_id})"], y=24) overlay_hud(re_panel, [f"RE ({re_id})"], y=24) overlay_hud(nir_panel, [f"NIR ({nir_id})"], y=24) ph = max(rgb_panel.shape[0], re_panel.shape[0], nir_panel.shape[0]) pw = max(rgb_panel.shape[1], re_panel.shape[1], nir_panel.shape[1]) def fit_panel(img): if img.shape[:2] != (ph, pw): return cv2.resize(img, (pw, ph), interpolation=cv2.INTER_NEAREST) return img rgb_panel = fit_panel(rgb_panel) re_panel = fit_panel(re_panel) nir_panel = fit_panel(nir_panel) data_panel = np.zeros((ph, pw, 3), dtype=np.uint8) panel_rects["rgb"] = (0, 0, pw, ph) panel_rects["re"] = (pw, 0, pw * 2, ph) panel_rects["nir"] = (0, ph, pw, ph * 2) panel_rects["data"] = (pw, ph, pw * 2, ph * 2) top = np.hstack([rgb_panel, re_panel]) bottom = np.hstack([nir_panel, data_panel]) board = np.vstack([top, bottom]) x0, y0, x1, y1 = panel_rects["data"] lines = build_data_lines(decoded, data, mode, selected_target, base_w, base_h) overlay_hud(board, lines, x=x0 + 16, y=y0 + 28, font_scale=0.53, line_step=21) if preview_scale != 1.0: board = cv2.resize( board, (int(board.shape[1] * preview_scale), int(board.shape[0] * preview_scale)), interpolation=cv2.INTER_NEAREST, ) return board def build_data_lines(decoded, data, mode, selected_target, base_w, base_h): shared = ( data.get("global_scene_mode", {}) .get("radiometric_config", {}) .get("spectral_control_mode", "shared") ) lines = [ "RADIOMETRIC CONFIG TOOL", f"modo_edição={mode.upper()} | spectral={shared}", "", "Arraste com o mouse no painel RGB para definir ROI.", "A ROI é salva em percentuais e aplicada aos 3 sensores.", "", ] if mode == "global": roi_pct = get_global_roi(data) lines.append(f"GLOBAL ROI: {roi_pct}") lines.extend(stats_lines_for_roi(decoded, roi_pct, base_w, base_h)) else: lines.append(f"PATCH selecionado: {selected_target.upper()}") for p in get_patches(data): typ = str(p.get("type", "")).lower() roi_pct = p.get("roi_pct", {}) lines.append( f"{typ}: target={float(p.get('target_value', 0.0)):.2f} " f"weight={float(p.get('weight', 1.0)):.2f}" ) lines.append(f" roi={roi_pct}") sel_patch = None for p in get_patches(data): if str(p.get("type", "")).lower() == selected_target: sel_patch = p break if sel_patch: lines.append("") lines.append(f"Stats do patch {selected_target.upper()}:") lines.extend(stats_lines_for_roi(decoded, sel_patch.get("roi_pct", {}), base_w, base_h)) lines.extend([ "", "M = alterna GLOBAL / 3 PATCHES", "1/2/3 = BLACK / GRAY / WHITE", "S = alterna spectral shared/independent", "P ou SPACE = salva JSON", "R = restaura defaults | Q/Esc = sai", ]) return lines def stats_lines_for_roi(decoded, roi_pct, base_w, base_h): if not roi_pct: return ["sem ROI"] lines = [] for role in ("rgb", "re", "nir"): _, img = get_image_by_role(decoded, role) if img is None: lines.append(f"{role.upper()}: sem frame") continue h, w = img.shape[:2] roi = pct_to_px(roi_pct, w, h) st = compute_stats(img, roi) lines.append( f"{role.upper()}: p50={st['p50']:.3f} p95={st['p95']:.3f} " f"sat={st['sat_pct']:.2f}% dark={st['dark_pct']:.1f}%" ) return lines def rect_inside(rect, x, y): if rect is None: return False x0, y0, x1, y1 = rect return x0 <= x < x1 and y0 <= y < y1 def local_from_rect(rect, x, y): x0, y0, _, _ = rect return int(x - x0), int(y - y0) # ============================================================ # Main # ============================================================ def main(): parser = argparse.ArgumentParser( description="Ferramenta visual para parametrizar o radiometric_config global ou por 3 patches.", formatter_class=argparse.ArgumentDefaultsHelpFormatter, ) parser.add_argument("--fps", type=int, default=20) parser.add_argument("--width", type=int, default=1280) parser.add_argument("--height", type=int, default=800) parser.add_argument("--bayer", default="RGGB", choices=["GBRG", "GRBG", "RGGB", "BGGR"]) parser.add_argument("--capture_mode", default="AUTO", choices=["AUTO", "SINGLE", "DOUBLE", "TRIPLE"]) parser.add_argument("--raw_policy", default="allow_single", choices=["allow_single", "require_triple"]) parser.add_argument("--module_calibration_json", default="calibration/module_params.json") parser.add_argument("--out_json", default="calibration/radiometric_config.json") parser.add_argument("--load_json", default="") parser.add_argument("--preview_scale", type=float, default=0.75) args = parser.parse_args() config_path = args.load_json or args.out_json data = load_or_default_config(config_path) mode = "global" selected_target = "gray" panel_rects = {"rgb": None, "re": None, "nir": None, "data": None} dragging = False drag_start = None drag_rect_local = None last_msg = "" last_msg_t = 0.0 last_frame_id = -1 decoded_last = {} window_name = "Radiometric Config Tool" def on_mouse(event, x, y, flags, param): nonlocal dragging, drag_start, drag_rect_local, last_msg, last_msg_t, data # Coordenadas vêm depois do preview_scale. Reescala para board real. if args.preview_scale != 1.0: x = int(x / args.preview_scale) y = int(y / args.preview_scale) rgb_rect = panel_rects.get("rgb") if not rect_inside(rgb_rect, x, y): return lx, ly = local_from_rect(rgb_rect, x, y) if event == cv2.EVENT_LBUTTONDOWN: dragging = True drag_start = (lx, ly) drag_rect_local = (lx, ly, lx + 1, ly + 1) elif event == cv2.EVENT_MOUSEMOVE and dragging: sx, sy = drag_start drag_rect_local = (sx, sy, lx, ly) elif event == cv2.EVENT_LBUTTONUP and dragging: dragging = False sx, sy = drag_start rect = (sx, sy, lx, ly) drag_rect_local = None # Descobre tamanho local do painel RGB. if rgb_rect is None: return _, _, x1, y1 = rgb_rect x0r, y0r, _, _ = rgb_rect w = x1 - x0r h = y1 - y0r roi_pct = px_to_pct(rect, w, h) if mode == "global": set_global_roi(data, roi_pct) last_msg = f"GLOBAL ROI atualizada: {roi_pct}" else: set_patch_roi(data, selected_target, roi_pct) last_msg = f"{selected_target.upper()} ROI atualizada: {roi_pct}" last_msg_t = time.time() cv2.namedWindow(window_name, cv2.WINDOW_NORMAL) cv2.setMouseCallback(window_name, on_mouse) try: with MultiSpectralClient( width=args.width, height=args.height, bayer=args.bayer, fps=args.fps, frame_type="RAW_BRUTO", output_dtype="uint8", capture_mode=args.capture_mode, raw_policy=args.raw_policy, module_calibration_json=args.module_calibration_json ) as cam: validate_module_ready(cam.get_status(), args.raw_policy) while True: raw_frame, raw_meta, decoded = cam.get_next_decoded(timeout=2.0, update_radiometry=False) if raw_meta is not None and raw_meta.get("frame_id") != last_frame_id: last_frame_id = raw_meta.get("frame_id") decoded_last = decoded if decoded_last: board = build_board( decoded=decoded_last, data=data, mode=mode, selected_target=selected_target, drag_rect_local=drag_rect_local, panel_rects=panel_rects, preview_scale=args.preview_scale, ) if last_msg and (time.time() - last_msg_t) < 2.5: cv2.putText(board, last_msg, (18, board.shape[0] - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 255, 0), 2, cv2.LINE_AA) cv2.imshow(window_name, board) else: blank = np.zeros((720, 1280, 3), dtype=np.uint8) overlay_hud(blank, ["Aguardando frames..."], x=40, y=80, font_scale=1.0) cv2.imshow(window_name, blank) k = cv2.waitKey(1) & 0xFF if k in (ord("q"), ord("Q"), 27): break elif k in (ord("m"), ord("M")): mode = "patches" if mode == "global" else "global" last_msg = f"Modo -> {mode}" last_msg_t = time.time() elif k == ord("1"): mode = "patches" selected_target = "black" last_msg = "Selecionado: BLACK" last_msg_t = time.time() elif k == ord("2"): mode = "patches" selected_target = "gray" last_msg = "Selecionado: GRAY" last_msg_t = time.time() elif k == ord("3"): mode = "patches" selected_target = "white" last_msg = "Selecionado: WHITE" last_msg_t = time.time() elif k in (ord("s"), ord("S")): cfg = data.get("global_scene_mode", {}).get("radiometric_config", {}) curr = str(cfg.get("spectral_control_mode", "shared")).lower() set_shared_mode(data, shared=(curr != "shared")) new_mode = ( data.get("global_scene_mode", {}) .get("radiometric_config", {}) .get("spectral_control_mode", "shared") ) last_msg = f"spectral_control_mode -> {new_mode}" last_msg_t = time.time() elif k in (ord("r"), ord("R")): data = { "schema": "multispec_radiometric_config_profiles_v1", "saved_at": now_str(), "global_scene_mode": default_profile_global(), "three_reference_patches_mode": default_profile_patches(), } last_msg = "Defaults restaurados" last_msg_t = time.time() elif k in (ord("p"), ord("P"), 32): save_config(args.out_json, data) last_msg = f"Salvo em: {args.out_json}" last_msg_t = time.time() print(f"[OK] radiometric config salvo em: {args.out_json}") finally: cv2.destroyAllWindows() print("Fim da parametrização radiométrica.") if __name__ == "__main__": main()