1149 lines
38 KiB
Python
1149 lines
38 KiB
Python
import os
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import json
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import time
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import argparse
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from datetime import datetime
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import cv2
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import numpy as np
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from core.oak_fcc3_client import OakFcc3Client as MultiSpectralClient
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# ============================================================
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# Helpers gerais
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# ============================================================
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def now_str() -> str:
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return datetime.now().strftime("%Y-%m-%d %H:%M:%S")
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def ensure_dir(path: str):
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if path:
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os.makedirs(path, exist_ok=True)
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def clamp(v, lo, hi):
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return max(lo, min(hi, v))
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def overlay_hud(
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img_bgr,
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lines,
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x=12,
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y=24,
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font_scale=0.58,
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line_step=22,
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color=(255, 255, 255),
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shadow=(0, 0, 0),
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):
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yy = int(y)
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for s in lines:
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cv2.putText(img_bgr, str(s), (int(x), yy), cv2.FONT_HERSHEY_SIMPLEX,
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font_scale, shadow, 3, cv2.LINE_AA)
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cv2.putText(img_bgr, str(s), (int(x), yy), cv2.FONT_HERSHEY_SIMPLEX,
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font_scale, color, 1, cv2.LINE_AA)
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yy += int(line_step)
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def to_bgr_u8_from_rgb01(rgb01: np.ndarray) -> np.ndarray:
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rgb_u8 = np.clip(rgb01 * 255.0, 0, 255).astype(np.uint8)
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return cv2.cvtColor(rgb_u8, cv2.COLOR_RGB2BGR)
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def gray_to_bgr_u8(gray01: np.ndarray) -> np.ndarray:
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g = np.clip(gray01 * 255.0, 0, 255).astype(np.uint8)
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return cv2.cvtColor(g, cv2.COLOR_GRAY2BGR)
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def resize_if_needed(img: np.ndarray, target_hw: tuple[int, int]) -> np.ndarray:
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if img is None:
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return None
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th, tw = target_hw
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if img.shape[:2] == (th, tw):
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return img
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return cv2.resize(img, (tw, th), interpolation=cv2.INTER_LINEAR)
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def compute_stats(img01: np.ndarray, roi_px=None) -> dict:
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if img01 is None:
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return {
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"valid": False,
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"pixels": 0,
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"mean": 0.0,
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"std": 0.0,
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"p05": 0.0,
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"p50": 0.0,
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"p95": 0.0,
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"sat_pct": 0.0,
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"dark_pct": 0.0,
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}
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if img01.ndim == 3:
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arr = (
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0.299 * img01[:, :, 0] +
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0.587 * img01[:, :, 1] +
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0.114 * img01[:, :, 2]
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).astype(np.float32)
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else:
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arr = img01.astype(np.float32)
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if roi_px is not None:
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x0, y0, x1, y1 = roi_px
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x0, x1 = sorted((int(x0), int(x1)))
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y0, y1 = sorted((int(y0), int(y1)))
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x0 = clamp(x0, 0, arr.shape[1] - 1)
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x1 = clamp(x1, x0 + 1, arr.shape[1])
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y0 = clamp(y0, 0, arr.shape[0] - 1)
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y1 = clamp(y1, y0 + 1, arr.shape[0])
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arr = arr[y0:y1, x0:x1]
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flat = arr.reshape(-1).astype(np.float32)
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if flat.size == 0:
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return {
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"valid": False,
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"pixels": 0,
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"mean": 0.0,
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"std": 0.0,
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"p05": 0.0,
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"p50": 0.0,
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"p95": 0.0,
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"sat_pct": 0.0,
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"dark_pct": 0.0,
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}
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return {
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"valid": True,
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"pixels": int(flat.size),
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"mean": float(flat.mean()),
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"std": float(flat.std()),
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"p05": float(np.percentile(flat, 5)),
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"p50": float(np.percentile(flat, 50)),
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"p95": float(np.percentile(flat, 95)),
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"sat_pct": float((flat >= 0.98).mean() * 100.0),
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"dark_pct": float((flat <= 0.02).mean() * 100.0),
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}
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def pct_to_px(roi_pct: dict, w: int, h: int):
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x0 = int(float(roi_pct.get("x0", 0.0)) * w)
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y0 = int(float(roi_pct.get("y0", 0.0)) * h)
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x1 = int(float(roi_pct.get("x1", 1.0)) * w)
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y1 = int(float(roi_pct.get("y1", 1.0)) * h)
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x0 = clamp(x0, 0, w - 1)
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x1 = clamp(x1, x0 + 1, w)
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y0 = clamp(y0, 0, h - 1)
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y1 = clamp(y1, y0 + 1, h)
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return x0, y0, x1, y1
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def px_to_pct(rect, w: int, h: int):
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x0, y0, x1, y1 = rect
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x0, x1 = sorted((int(x0), int(x1)))
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y0, y1 = sorted((int(y0), int(y1)))
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x0 = clamp(x0, 0, w - 1)
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x1 = clamp(x1, x0 + 1, w)
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y0 = clamp(y0, 0, h - 1)
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y1 = clamp(y1, y0 + 1, h)
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return {
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"x0": round(x0 / float(w), 6),
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"y0": round(y0 / float(h), 6),
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"x1": round(x1 / float(w), 6),
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"y1": round(y1 / float(h), 6),
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}
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def get_decoded_by_role(decoded: dict, role: str):
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role = str(role).lower()
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for cam_id, item in (decoded or {}).items():
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if str(item.get("role", "")).lower() == role:
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return cam_id, item
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return None, None
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def get_image_by_role(decoded: dict, role: str):
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cam_id, item = get_decoded_by_role(decoded, role)
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if item is None:
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return cam_id, None
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return cam_id, item.get("image")
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def get_visual_preview_by_role(visual_previews: dict, meta: dict, role: str):
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"""
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Busca uma imagem visual BGR dentro do retorno de cam.build_visual_preview_from_raw(),
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usando camera_info para descobrir o role rgb/re/nir.
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Retorna: cam_id, img_bgr
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"""
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if not visual_previews:
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return None, None
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camera_info = (meta or {}).get("camera_info", {}) or {}
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role = str(role).lower()
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for cam_id, img in visual_previews.items():
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cam_role = str(camera_info.get(cam_id, {}).get("role", "")).lower()
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if cam_role == role:
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return cam_id, img
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return None, None
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def validate_module_ready(status: dict, raw_policy: str):
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if not status.get("ok", True):
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raise RuntimeError(f"Status inválido retornado pelo modulo: {status}")
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active_roles = status.get("active_roles", {}) or {}
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active_count = int(status.get("camera_count_active", 0))
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if raw_policy == "require_triple":
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missing = [role for role in ("rgb", "nir", "re") if role not in active_roles]
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if missing:
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raise RuntimeError(
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f"RAW_BRUTO com require_triple exige rgb/nir/re ativas. "
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f"Faltando: {missing}. Ativas: {active_roles}"
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)
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elif active_count < 1:
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raise RuntimeError("RAW_BRUTO requer ao menos uma câmera ativa.")
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# ============================================================
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# Config radiométrico
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# ============================================================
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def base_ae_contract():
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return {
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"enabled": True,
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"interval_s": 0.20,
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"verbose": True,
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"control_metric": "p50",
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"target_value": 0.40,
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"deadband": 0.04,
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"p95_limit": 0.90,
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"saturation_limit_pct": 0.50,
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"dark_limit_pct": 35.0,
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# Novo controle proporcional por razão
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"control_strategy": "ratio",
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"ratio_alpha": 0.55,
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"ratio_min": 0.55,
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"ratio_max": 1.85,
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# Redução rápida quando satura
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"reduce_fast_factor": 0.75,
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# Mantém compatibilidade com o modo antigo
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"alpha": 0.18,
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"exp_step_gain": 0.55,
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"factor_min": 0.72,
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"factor_max": 1.28,
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"prefer_exposure": True,
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"exp_min_us": 100,
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"exp_max_us": 80000,
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"gain_min": 1.0,
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"gain_max": 4.0,
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"gain_return_enabled": True,
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"gain_reduce_on_saturation": True,
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"gain_increase_required_cycles": 5,
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"gain_decrease_required_cycles": 2,
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"gain_step_up": 0.20,
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"gain_step_down": 0.50,
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"gain_hard_reset_on_saturation": False,
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"exp_high_ratio_for_gain": 0.95,
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"exp_low_ratio_for_gain_return": 0.75,
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"role_limits": {
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"rgb": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 2.0},
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"re": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 2.0},
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"nir": {"exp_min_us": 100, "exp_max_us": 80000, "gain_min": 1.0, "gain_max": 2.0},
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},
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"exp_apply_threshold_us": 40,
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"gain_apply_threshold": 0.03,
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"ready_required_cycles": 3,
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"apply_same_spectral_to_both": True,
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"spectral_roles": ["re", "nir"],
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}
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def default_profile_global():
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cfg = base_ae_contract()
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base = {
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"x0": 0.08,
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"y0": 0.08,
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"x1": 0.92,
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"y1": 0.92,
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}
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cfg.update({
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"metering_mode": "global",
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"spectral_control_mode": "shared",
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"global_roi_pct": base,
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"global_roi_pct_by_role": {
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"rgb": dict(base),
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"re": dict(base),
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"nir": dict(base),
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},
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})
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return {
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"radiometric_config": cfg
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}
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def default_profile_patches():
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cfg = base_ae_contract()
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cfg.update({
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"metering_mode": "reference_patches",
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"spectral_control_mode": "shared",
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"deadband": 0.035,
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"metering_mode": "reference_patches",
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"patch_control_mode": "gray_primary",
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"patch_require_order": True,
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"patch_min_separation": 0.08,
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"patch_white_sat_limit_pct": 0.50,
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"patch_white_p95_limit": 0.90,
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"patch_black_dark_limit_pct": 80.0,
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"patch_black_max_p50": 0.20,
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"patch_gray_min_p50": 0.08,
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"patch_gray_max_p50": 0.85,
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"reference_patches": [
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{
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"name": "black_reference",
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"type": "black",
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"roles": ["rgb", "re", "nir"],
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"target_value": 0.06,
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"weight": 0.25,
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"roi_pct": {},
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"roi_pct_by_role": {"rgb": {}, "re": {}, "nir": {}}
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},
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{
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"name": "gray_reference",
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"type": "gray",
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"roles": ["rgb", "re", "nir"],
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"target_value": 0.40,
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"weight": 1.0,
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"roi_pct": {},
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"roi_pct_by_role": {"rgb": {}, "re": {}, "nir": {}}
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},
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{
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"name": "white_reference",
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"type": "white",
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"roles": ["rgb", "re", "nir"],
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"target_value": 0.78,
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"weight": 0.7,
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"roi_pct": {},
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"roi_pct_by_role": {"rgb": {}, "re": {}, "nir": {}}
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}
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],
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})
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return {
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"radiometric_config": cfg
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}
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def get_active_profile_name(data: dict) -> str:
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name = str(data.get("active_profile", "global_scene_mode"))
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if name not in ("global_scene_mode", "three_reference_patches_mode"):
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return "global_scene_mode"
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return name
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def set_active_profile_name(data: dict, profile_name: str):
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if profile_name not in ("global_scene_mode", "three_reference_patches_mode"):
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profile_name = "global_scene_mode"
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data["active_profile"] = profile_name
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def get_active_radiometric_config(data: dict) -> dict:
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profile_name = get_active_profile_name(data)
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profile = data.get(profile_name, {}) or {}
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cfg = profile.get("radiometric_config", {}) or {}
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return json.loads(json.dumps(cfg))
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def update_root_radiometric_config(data: dict):
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data["radiometric_config"] = get_active_radiometric_config(data)
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def load_or_default_config(path: str):
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if path and os.path.isfile(path):
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with open(path, "r", encoding="utf-8") as f:
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data = json.load(f)
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else:
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data = {}
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data.setdefault("schema", "multispec_radiometric_config_profiles_v3")
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data.setdefault("saved_at", now_str())
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data.setdefault("active_profile", "global_scene_mode")
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data.setdefault("global_scene_mode", default_profile_global())
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data.setdefault("three_reference_patches_mode", default_profile_patches())
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data.setdefault("patch_normalization", {
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"enabled": True,
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"apply_when_metering_mode": "reference_patches",
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"apply_stage": "after_fusion",
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"method": "gray_scale_with_white_guard",
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"space": "multispec_tensor",
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"targets": {
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"black": 0.06,
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"gray": 0.40,
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"white": 0.78
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},
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"white_guard_max": 0.92,
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"scale_min": 0.35,
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"scale_max": 2.50,
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"clip_output": True,
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"require_valid_gray": True,
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"use_black_for_offset": False,
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"save_patch_stats": True
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})
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# Migração: se vier arquivo antigo sem contrato novo, injeta defaults novos
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for profile_name, default_fn in (
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("global_scene_mode", default_profile_global),
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("three_reference_patches_mode", default_profile_patches),
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):
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default_profile = default_fn()
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data.setdefault(profile_name, default_profile)
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data[profile_name].setdefault("radiometric_config", {})
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default_cfg = default_profile["radiometric_config"]
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cfg = data[profile_name]["radiometric_config"]
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for k, v in default_cfg.items():
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cfg.setdefault(k, v)
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update_root_radiometric_config(data)
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return data
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def save_config(path: str, data: dict):
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ensure_dir(os.path.dirname(path) or ".")
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data = dict(data)
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data["schema"] = "multispec_radiometric_config_profiles_v3"
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data["saved_at"] = now_str()
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update_root_radiometric_config(data)
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with open(path, "w", encoding="utf-8") as f:
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json.dump(data, f, ensure_ascii=False, indent=2)
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ROLES = ["rgb", "re", "nir"]
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def normalize_role(role: str) -> str:
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role = str(role or "rgb").lower()
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return role if role in ROLES else "rgb"
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def default_roi():
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return {"x0": 0.08, "y0": 0.08, "x1": 0.92, "y1": 0.92}
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def clone_roi(roi: dict) -> dict:
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roi = roi or {}
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return {
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"x0": float(roi.get("x0", 0.08)),
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"y0": float(roi.get("y0", 0.08)),
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"x1": float(roi.get("x1", 0.92)),
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"y1": float(roi.get("y1", 0.92)),
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}
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def make_roi_by_role(base_roi=None):
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base = clone_roi(base_roi or default_roi())
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return {role: dict(base) for role in ROLES}
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def ensure_global_roi_by_role(data: dict):
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data.setdefault("global_scene_mode", default_profile_global())
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cfg = data["global_scene_mode"].setdefault(
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"radiometric_config",
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default_profile_global()["radiometric_config"],
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)
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legacy = cfg.get("global_roi_pct", default_roi())
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by_role = cfg.setdefault("global_roi_pct_by_role", make_roi_by_role(legacy))
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for role in ROLES:
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if role not in by_role or not by_role[role]:
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by_role[role] = clone_roi(legacy)
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return by_role
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def get_global_roi_for_role(data: dict, role: str):
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role = normalize_role(role)
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by_role = ensure_global_roi_by_role(data)
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return by_role.get(role, clone_roi(default_roi()))
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|
|
def set_global_roi_for_role(data: dict, role: str, roi_pct: dict):
|
|
role = normalize_role(role)
|
|
by_role = ensure_global_roi_by_role(data)
|
|
by_role[role] = roi_pct
|
|
|
|
# Compatibilidade: mantém uma ROI antiga preenchida.
|
|
# Uso: média/legado/visual antigo. O controller novo deverá usar by_role.
|
|
data["global_scene_mode"]["radiometric_config"]["global_roi_pct"] = by_role.get("rgb", roi_pct)
|
|
|
|
|
|
def get_patches(data: dict):
|
|
return (
|
|
data.get("three_reference_patches_mode", {})
|
|
.get("radiometric_config", {})
|
|
.get("reference_patches", [])
|
|
)
|
|
|
|
|
|
def ensure_patch_roi_by_role(patch: dict):
|
|
legacy = patch.get("roi_pct", {})
|
|
by_role = patch.setdefault("roi_pct_by_role", {})
|
|
|
|
for role in ROLES:
|
|
if role not in by_role or not by_role[role]:
|
|
by_role[role] = clone_roi(legacy) if legacy else {}
|
|
|
|
return by_role
|
|
|
|
|
|
def get_patch_by_type(data: dict, patch_type: str):
|
|
patch_type = str(patch_type).lower()
|
|
for p in get_patches(data):
|
|
if str(p.get("type", "")).lower() == patch_type:
|
|
return p
|
|
return None
|
|
|
|
|
|
def get_patch_roi_for_role(data: dict, patch_type: str, role: str):
|
|
role = normalize_role(role)
|
|
patch = get_patch_by_type(data, patch_type)
|
|
if not patch:
|
|
return {}
|
|
|
|
by_role = ensure_patch_roi_by_role(patch)
|
|
return by_role.get(role, {}) or patch.get("roi_pct", {}) or {}
|
|
|
|
|
|
def set_patch_roi_for_role(data: dict, patch_type: str, role: 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()
|
|
role = normalize_role(role)
|
|
|
|
target = {"black": 0.06, "gray": 0.40, "white": 0.78}.get(patch_type, 0.40)
|
|
weight = {"black": 0.25, "gray": 1.0, "white": 0.7}.get(patch_type, 1.0)
|
|
|
|
patch = None
|
|
for p in patches:
|
|
if str(p.get("type", "")).lower() == patch_type:
|
|
patch = p
|
|
break
|
|
|
|
if patch is None:
|
|
patch = {
|
|
"name": f"{patch_type}_reference",
|
|
"type": patch_type,
|
|
"roles": ROLES[:],
|
|
"target_value": target,
|
|
"weight": weight,
|
|
"roi_pct": {},
|
|
"roi_pct_by_role": {},
|
|
}
|
|
patches.append(patch)
|
|
|
|
by_role = ensure_patch_roi_by_role(patch)
|
|
by_role[role] = roi_pct
|
|
|
|
# Compatibilidade com formato antigo.
|
|
# Mantém roi_pct como RGB, para scripts antigos não quebrarem.
|
|
patch["roi_pct"] = by_role.get("rgb", roi_pct)
|
|
|
|
|
|
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)
|
|
|
|
update_root_radiometric_config(data)
|
|
|
|
|
|
# ============================================================
|
|
# 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, panel_role, edit_role):
|
|
panel_role = normalize_role(panel_role)
|
|
edit_role = normalize_role(edit_role)
|
|
|
|
is_edit_panel = panel_role == edit_role
|
|
|
|
if mode == "global":
|
|
roi = get_global_roi_for_role(data, panel_role)
|
|
label = f"GLOBAL/{panel_role.upper()}"
|
|
thickness = 3 if is_edit_panel else 2
|
|
draw_roi_on_panel(panel, roi, label, PATCH_COLORS["global"], thickness)
|
|
|
|
else:
|
|
for p in get_patches(data):
|
|
typ = str(p.get("type", "")).lower()
|
|
color = PATCH_COLORS.get(typ, (0, 255, 255))
|
|
roi = get_patch_roi_for_role(data, typ, panel_role)
|
|
|
|
label = f"{typ.upper()}/{panel_role.upper()}"
|
|
selected = typ == selected_target and is_edit_panel
|
|
thickness = 3 if selected else 2
|
|
|
|
draw_roi_on_panel(panel, roi, label, color, thickness)
|
|
|
|
|
|
def build_board(
|
|
decoded,
|
|
data,
|
|
mode,
|
|
selected_target,
|
|
edit_role,
|
|
drag_rect_local,
|
|
drag_role,
|
|
panel_rects,
|
|
preview_scale=1.0,
|
|
visual_previews=None,
|
|
meta=None,
|
|
beauty_preview=True,
|
|
):
|
|
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")
|
|
|
|
# ------------------------------------------------------------
|
|
# Tamanho base SEMPRE vem do decoded, porque ROI/stats usam dado real.
|
|
# O preview visual é só para desenhar bonito.
|
|
# ------------------------------------------------------------
|
|
if rgb01 is not None:
|
|
base_h, base_w = rgb01.shape[:2]
|
|
elif re01 is not None:
|
|
base_h, base_w = re01.shape[:2]
|
|
elif nir01 is not None:
|
|
base_h, base_w = nir01.shape[:2]
|
|
else:
|
|
base_h, base_w = 800, 1280
|
|
|
|
# ------------------------------------------------------------
|
|
# Preview bonito, igual ao capture.
|
|
# ------------------------------------------------------------
|
|
rgb_vis_id, rgb_vis = get_visual_preview_by_role(visual_previews, meta, "rgb")
|
|
re_vis_id, re_vis = get_visual_preview_by_role(visual_previews, meta, "re")
|
|
nir_vis_id, nir_vis = get_visual_preview_by_role(visual_previews, meta, "nir")
|
|
|
|
if beauty_preview and rgb_vis is not None:
|
|
rgb_panel = rgb_vis.copy()
|
|
if rgb_panel.shape[:2] != (base_h, base_w):
|
|
rgb_panel = cv2.resize(rgb_panel, (base_w, base_h), interpolation=cv2.INTER_LINEAR)
|
|
rgb_id = rgb_vis_id
|
|
else:
|
|
if rgb01 is not None:
|
|
rgb_panel = to_bgr_u8_from_rgb01(rgb01)
|
|
else:
|
|
rgb_panel = np.zeros((base_h, base_w, 3), dtype=np.uint8)
|
|
overlay_hud(rgb_panel, ["RGB", "sem frame"])
|
|
|
|
if beauty_preview and re_vis is not None:
|
|
re_panel = re_vis.copy()
|
|
if re_panel.shape[:2] != (base_h, base_w):
|
|
re_panel = cv2.resize(re_panel, (base_w, base_h), interpolation=cv2.INTER_LINEAR)
|
|
re_id = re_vis_id
|
|
else:
|
|
re01_show = resize_if_needed(re01, (base_h, base_w)) if re01 is not None else None
|
|
re_panel = gray_to_bgr_u8(re01_show) if re01_show is not None else np.zeros_like(rgb_panel)
|
|
|
|
if beauty_preview and nir_vis is not None:
|
|
nir_panel = nir_vis.copy()
|
|
if nir_panel.shape[:2] != (base_h, base_w):
|
|
nir_panel = cv2.resize(nir_panel, (base_w, base_h), interpolation=cv2.INTER_LINEAR)
|
|
nir_id = nir_vis_id
|
|
else:
|
|
nir01_show = resize_if_needed(nir01, (base_h, base_w)) if nir01 is not None else None
|
|
nir_panel = gray_to_bgr_u8(nir01_show) if nir01_show is not None else np.zeros_like(rgb_panel)
|
|
|
|
draw_all_rois(rgb_panel, data, selected_target, mode, "rgb", edit_role)
|
|
draw_all_rois(re_panel, data, selected_target, mode, "re", edit_role)
|
|
draw_all_rois(nir_panel, data, selected_target, mode, "nir", edit_role)
|
|
|
|
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))
|
|
|
|
if drag_role == "rgb":
|
|
cv2.rectangle(rgb_panel, (x0, y0), (x1, y1), color, 1)
|
|
elif drag_role == "re":
|
|
cv2.rectangle(re_panel, (x0, y0), (x1, y1), color, 1)
|
|
elif drag_role == "nir":
|
|
cv2.rectangle(nir_panel, (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, edit_role, 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, edit_role, base_w, base_h):
|
|
edit_role = normalize_role(edit_role)
|
|
active_profile = get_active_profile_name(data)
|
|
active_cfg = get_active_radiometric_config(data)
|
|
|
|
lines = [
|
|
"RADIOMETRIC CONFIG TOOL",
|
|
f"modo_edicao={mode.upper()} | camera_editada={edit_role.upper()} | active={active_profile}",
|
|
f"spectral={active_cfg.get('spectral_control_mode')} | strategy={active_cfg.get('control_strategy')}",
|
|
f"interval={active_cfg.get('interval_s')}s | ratio_alpha={active_cfg.get('ratio_alpha')} | ready={active_cfg.get('ready_required_cycles')}",
|
|
"",
|
|
"Arraste no painel da camera editada para definir a ROI.",
|
|
"Cada camera salva sua propria ROI: RGB / RE / NIR.",
|
|
"",
|
|
]
|
|
|
|
if mode == "global":
|
|
lines.append("GLOBAL ROI por camera:")
|
|
for role in ROLES:
|
|
roi_pct = get_global_roi_for_role(data, role)
|
|
marker = "*" if role == edit_role else " "
|
|
lines.append(f"{marker} {role.upper()}: roi={roi_pct}")
|
|
|
|
lines.append("")
|
|
lines.append("Stats GLOBAL:")
|
|
lines.extend(stats_lines_for_mode(data, decoded, mode="global", patch_type=None))
|
|
|
|
else:
|
|
lines.append(f"PATCH selecionado: {selected_target.upper()}")
|
|
lines.append("ROIs do patch selecionado:")
|
|
for role in ROLES:
|
|
roi_pct = get_patch_roi_for_role(data, selected_target, role)
|
|
marker = "*" if role == edit_role else " "
|
|
lines.append(f"{marker} {role.upper()}: roi={roi_pct}")
|
|
|
|
sel_patch = get_patch_by_type(data, selected_target)
|
|
if sel_patch:
|
|
lines.append("")
|
|
lines.append(
|
|
f"target={float(sel_patch.get('target_value', 0.0)):.2f} "
|
|
f"weight={float(sel_patch.get('weight', 1.0)):.2f}"
|
|
)
|
|
|
|
lines.append("")
|
|
lines.append(f"Stats do patch {selected_target.upper()}:")
|
|
lines.extend(stats_lines_for_mode(data, decoded, mode="patches", patch_type=selected_target))
|
|
|
|
lines.extend([
|
|
"",
|
|
"M = alterna GLOBAL / 3 PATCHES",
|
|
"C = alterna camera RGB / RE / NIR",
|
|
"V = alterna preview bonito / bruto",
|
|
"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_mode(data, decoded, mode: str, patch_type: str | None = None):
|
|
lines = []
|
|
|
|
for role in ROLES:
|
|
_, img = get_image_by_role(decoded, role)
|
|
if img is None:
|
|
lines.append(f"{role.upper()}: sem frame")
|
|
continue
|
|
|
|
if mode == "global":
|
|
roi_pct = get_global_roi_for_role(data, role)
|
|
else:
|
|
roi_pct = get_patch_roi_for_role(data, patch_type, role)
|
|
|
|
if not roi_pct:
|
|
lines.append(f"{role.upper()}: sem ROI")
|
|
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"
|
|
edit_role = "rgb"
|
|
drag_role = None
|
|
beauty_preview = True
|
|
visual_previews_last = {}
|
|
raw_meta_last = {}
|
|
|
|
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, drag_role
|
|
|
|
# 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)
|
|
|
|
edit_rect = panel_rects.get(edit_role)
|
|
if not rect_inside(edit_rect, x, y):
|
|
return
|
|
|
|
lx, ly = local_from_rect(edit_rect, x, y)
|
|
|
|
if event == cv2.EVENT_LBUTTONDOWN:
|
|
dragging = True
|
|
drag_role = edit_role
|
|
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 da camera editada.
|
|
edit_rect = panel_rects.get(drag_role or edit_role)
|
|
if edit_rect is None:
|
|
return
|
|
|
|
_, _, x1, y1 = edit_rect
|
|
x0r, y0r, _, _ = edit_rect
|
|
w = x1 - x0r
|
|
h = y1 - y0r
|
|
|
|
roi_pct = px_to_pct(rect, w, h)
|
|
|
|
role_to_save = normalize_role(drag_role or edit_role)
|
|
|
|
if mode == "global":
|
|
set_global_roi_for_role(data, role_to_save, roi_pct)
|
|
last_msg = f"GLOBAL ROI {role_to_save.upper()} atualizada: {roi_pct}"
|
|
else:
|
|
set_patch_roi_for_role(data, selected_target, role_to_save, roi_pct)
|
|
last_msg = f"{selected_target.upper()} ROI {role_to_save.upper()} atualizada: {roi_pct}"
|
|
|
|
drag_role = None
|
|
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)
|
|
visual_previews = {}
|
|
|
|
try:
|
|
if isinstance(raw_frame, dict):
|
|
visual_previews = cam.build_visual_preview_from_raw(raw_frame, raw_meta)
|
|
except Exception as e:
|
|
visual_previews = {}
|
|
print(f"[WARN] Falha ao gerar beauty preview: {e}")
|
|
|
|
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
|
|
visual_previews_last = visual_previews
|
|
raw_meta_last = raw_meta
|
|
|
|
if decoded_last:
|
|
board = build_board(
|
|
decoded=decoded_last,
|
|
data=data,
|
|
mode=mode,
|
|
selected_target=selected_target,
|
|
edit_role=edit_role,
|
|
drag_rect_local=drag_rect_local,
|
|
drag_role=drag_role,
|
|
panel_rects=panel_rects,
|
|
preview_scale=args.preview_scale,
|
|
visual_previews=visual_previews_last,
|
|
meta=raw_meta_last,
|
|
beauty_preview=beauty_preview,
|
|
)
|
|
|
|
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"
|
|
|
|
if mode == "global":
|
|
set_active_profile_name(data, "global_scene_mode")
|
|
else:
|
|
set_active_profile_name(data, "three_reference_patches_mode")
|
|
|
|
update_root_radiometric_config(data)
|
|
|
|
last_msg = f"Modo -> {mode} | active_profile={data['active_profile']}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k == ord("1"):
|
|
mode = "patches"
|
|
selected_target = "black"
|
|
set_active_profile_name(data, "three_reference_patches_mode")
|
|
update_root_radiometric_config(data)
|
|
last_msg = "Selecionado: BLACK"
|
|
last_msg_t = time.time()
|
|
|
|
elif k == ord("2"):
|
|
mode = "patches"
|
|
selected_target = "gray"
|
|
set_active_profile_name(data, "three_reference_patches_mode")
|
|
update_root_radiometric_config(data)
|
|
last_msg = "Selecionado: GRAY"
|
|
last_msg_t = time.time()
|
|
|
|
elif k == ord("3"):
|
|
mode = "patches"
|
|
selected_target = "white"
|
|
set_active_profile_name(data, "three_reference_patches_mode")
|
|
update_root_radiometric_config(data)
|
|
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_v3",
|
|
"saved_at": now_str(),
|
|
"active_profile": "global_scene_mode",
|
|
"global_scene_mode": default_profile_global(),
|
|
"three_reference_patches_mode": default_profile_patches(),
|
|
"patch_normalization": {
|
|
"enabled": True,
|
|
"apply_when_metering_mode": "reference_patches",
|
|
"apply_stage": "after_fusion",
|
|
"method": "gray_scale_with_white_guard",
|
|
"space": "multispec_tensor",
|
|
"targets": {
|
|
"black": 0.06,
|
|
"gray": 0.40,
|
|
"white": 0.78
|
|
},
|
|
"white_guard_max": 0.92,
|
|
"scale_min": 0.35,
|
|
"scale_max": 2.50,
|
|
"clip_output": True,
|
|
"require_valid_gray": True,
|
|
"use_black_for_offset": False,
|
|
"save_patch_stats": True
|
|
}
|
|
}
|
|
update_root_radiometric_config(data)
|
|
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}")
|
|
|
|
elif k in (ord("c"), ord("C")):
|
|
idx = ROLES.index(edit_role) if edit_role in ROLES else 0
|
|
edit_role = ROLES[(idx + 1) % len(ROLES)]
|
|
last_msg = f"Camera editada -> {edit_role.upper()}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("v"), ord("V")):
|
|
beauty_preview = not beauty_preview
|
|
last_msg = f"Beauty Preview -> {beauty_preview}"
|
|
last_msg_t = time.time()
|
|
|
|
finally:
|
|
cv2.destroyAllWindows()
|
|
print("Fim da parametrizacao radiometrica.")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|