find_distance.CalibWindow Class Reference

Live calibration window with OpenCV trackbars for tuning CALIB_PARAMS. More...

Public Member Functions
	__init__ (self)
	toggle (self, str cam_name)
	tick (self)
	close (self)

Public Attributes
bool	open = False
str	active_cam = 'Right'
bool	suppress_auto = False

Static Public Attributes
str	WIN = 'Calibration'

Protected Member Functions
	_cam_idx (self)
	_build (self)
dict	_read (self)
	_on_change (self)

Protected Attributes
dict	_last_vals = {}
bool	_pending_update = False

Detailed Description

Live calibration window with OpenCV trackbars for tuning CALIB_PARAMS.

Opened and closed by pressing C in the display window. Each trackbar maps to one field in CALIB_PARAMS for the currently active camera. Float parameters (fisheye_distortion, perspective_strength) are stored as integers scaled by 100 to work around OpenCV's integer-only trackbar API.

On every slider change, tick() reads all trackbar values, updates CALIB_PARAMS, calls detect_spot_boundaries() on the latest camera snapshot, and then calls generate_rois() to immediately rebuild and display the new ROIs — giving real-time visual feedback while tuning.

suppress_auto is set to True while the window is open to prevent the background auto-calibration thread from overwriting the manual adjustments.

Separate OpenCV window with trackbars for live CALIB_PARAMS tuning.
Opens when C is pressed, closes when C is pressed again.
Automatically regenerates ROIs on any slider change.

Definition at line 1449 of file find_distance.py.

Constructor & Destructor Documentation

__init__()

find_distance.CalibWindow.__init__

(

self

)

Definition at line 1457 of file find_distance.py.

    def __init__(self):
        self.open = False
        self.active_cam = 'Right'  # tracks which cam's params are shown
        self._last_vals = {}
        self._pending_update = False
        self.suppress_auto = False
 

Member Function Documentation

_build()

find_distance.CalibWindow._build ( self )

protected

Definition at line 1474 of file find_distance.py.

    def _build(self):
        p = CALIB_PARAMS[self.active_cam]
        cv2.namedWindow(self.WIN, cv2.WINDOW_NORMAL)
        cv2.resizeWindow(self.WIN, 500, 280)
 
        # Each trackbar: (name, min, max, initial)
        # Multiply floats by 100 to use int trackbars
        cv2.createTrackbar('VP X', self.WIN, p['vanishing_point'][0], DISP_W, lambda v: self._on_change())
        cv2.createTrackbar('VP Y', self.WIN, p['vanishing_point'][1], DISP_H, lambda v: self._on_change())
        cv2.createTrackbar('Near Y', self.WIN, p['near_y'], DISP_H, lambda v: self._on_change())
        cv2.createTrackbar('Far Y', self.WIN, p['far_y'], DISP_H, lambda v: self._on_change())
        cv2.createTrackbar('Left X', self.WIN, p['left_x'], DISP_W, lambda v: self._on_change())
        cv2.createTrackbar('Right X', self.WIN, p['right_x'], DISP_W, lambda v: self._on_change())
        cv2.createTrackbar('Spots', self.WIN, p['n_spots'], 20, lambda v: self._on_change())
        cv2.createTrackbar('Rows', self.WIN, p['n_rows'], 6, lambda v: self._on_change())
        # fisheye_distortion: range -0.30 to +0.30, stored as int -30..30 (divide by 100)
        fisheye_int = int(p['fisheye_distortion'] * 100) + 30  # shift so 0 maps to 30
        cv2.createTrackbar('Fisheye x100', self.WIN, fisheye_int, 60, lambda v: self._on_change())
        strength_int = int(p.get('perspective_strength', 1.0) * 100)
        cv2.createTrackbar('Persp x100', self.WIN, strength_int, 100, lambda v: self._on_change())
        cv2.createTrackbar('Min Height', self.WIN, p.get('min_roi_height', 60), DISP_H, lambda v: self._on_change())
        self.suppress_auto = True
        self.open = True
        print(f"[Calib] Window open for {self.active_cam}. Drag sliders to tune, C to close.")
 

_cam_idx()

find_distance.CalibWindow._cam_idx ( self )

protected

Definition at line 1464 of file find_distance.py.

    def _cam_idx(self):
        return CAM_ORDER.index(self.active_cam)
 

_on_change()

find_distance.CalibWindow._on_change ( self )

protected

Definition at line 1517 of file find_distance.py.

    def _on_change(self):
        if self.open:
            self._pending_update = True
 

_read()

dict find_distance.CalibWindow._read ( self )

protected

Definition at line 1499 of file find_distance.py.

    def _read(self) -> dict:
        fisheye_int = cv2.getTrackbarPos('Fisheye x100', self.WIN)
        return {
            'vanishing_point': (
                cv2.getTrackbarPos('VP X', self.WIN),
                cv2.getTrackbarPos('VP Y', self.WIN),
            ),
            'near_y': cv2.getTrackbarPos('Near Y', self.WIN),
            'far_y': cv2.getTrackbarPos('Far Y', self.WIN),
            'left_x': cv2.getTrackbarPos('Left X', self.WIN),
            'right_x': cv2.getTrackbarPos('Right X', self.WIN),
            'n_spots': max(1, cv2.getTrackbarPos('Spots', self.WIN)),
            'n_rows': max(1, cv2.getTrackbarPos('Rows', self.WIN)),
            'fisheye_distortion': (fisheye_int - 30) / 100.0,
            'perspective_strength': cv2.getTrackbarPos('Persp x100', self.WIN) / 100.0,
            'min_roi_height': max(20, cv2.getTrackbarPos('Min Height', self.WIN)),
        }
 

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close()

find_distance.CalibWindow.close

(

self

)

Definition at line 1567 of file find_distance.py.

    def close(self):
        if self.open:
            try:
                cv2.destroyWindow(self.WIN)
            except Exception:
                pass
            self.open = False
            self.suppress_auto = False
            print(f"[Calib] Window closed. Final params for {self.active_cam}:")
            print(f"  CALIB_PARAMS['{self.active_cam}'] = {CALIB_PARAMS[self.active_cam]}")
 
 

tick()

find_distance.CalibWindow.tick

(

self

)

Call once per display loop iteration to keep the window alive.

Definition at line 1521 of file find_distance.py.

    def tick(self):
        """Call once per display loop iteration to keep the window alive."""
        if not self.open:
            return
 
        if not self._pending_update:
            return
        self._pending_update = False
 
        try:
            params = self._read()
            near_y = params['near_y']
            far_y = params['far_y']
            vpy = params['vanishing_point'][1]
 
            if near_y == far_y or vpy >= near_y:
                return
 
            CALIB_PARAMS[self.active_cam] = params
 
            cam_idx = CAM_ORDER.index(self.active_cam)
            with RAW_LOCKS[cam_idx]:
                snap = RAW_BUFS[cam_idx].copy()
            snap_disp = cv2.resize(snap, (DISP_W, DISP_H), interpolation=cv2.INTER_NEAREST)
            with store_lock:
                boxes = _last_boxes.get(self.active_cam, [])
            boundaries, detected_n = detect_spot_boundaries(
                snap_disp, near_y, far_y,
                params['left_x'], params['right_x'], params['n_spots'],
                detections=boxes, cam_name=self.active_cam
            )
            roi_params = {k: v for k, v in params.items() if k not in ('min_roi_height',)}
            new_rois = generate_rois(
                cam_id=self.active_cam,
                n_spots=detected_n,
                spot_boundaries=boundaries,
                **{k: v for k, v in roi_params.items() if k != 'n_spots'},
            )
            if new_rois:
                rebuild_spot_masks(self.active_cam, new_rois)
                n = params['n_spots']
                manual = [params['left_x'] + (params['right_x'] - params['left_x']) * i / n for i in range(n + 1)]
                _manual_bounds[self.active_cam] = manual
        except Exception as e:
            print(f"[Calib] tick error: {e}")
 

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toggle()

find_distance.CalibWindow.toggle	(		self,
		str	cam_name )

Definition at line 1467 of file find_distance.py.

    def toggle(self, cam_name: str):
        self.active_cam = cam_name
        if self.open:
            self.close()
        else:
            self._build()
 

Member Data Documentation

_last_vals

dict find_distance.CalibWindow._last_vals = {}

protected

Definition at line 1460 of file find_distance.py.

_pending_update

bool find_distance.CalibWindow._pending_update = False

protected

Definition at line 1461 of file find_distance.py.

active_cam

find_distance.CalibWindow.active_cam = 'Right'

Definition at line 1459 of file find_distance.py.

open

bool find_distance.CalibWindow.open = False

Definition at line 1458 of file find_distance.py.

suppress_auto

bool find_distance.CalibWindow.suppress_auto = False

Definition at line 1462 of file find_distance.py.

WIN

find_distance.CalibWindow.WIN = 'Calibration'

static

Definition at line 1455 of file find_distance.py.

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The documentation for this class was generated from the following file:

• src/Dashboard/src/backend/find_distance.py