Update debug messages

parallax/calibration_camera.py

@@ -14,7 +14,7 @@
 
 # Set logger name
 logger = logging.getLogger(__name__)
-logger.setLevel(logging.DEBUG)
+logger.setLevel(logging.WARNING)
 # Set the logging level for PyQt5.uic.uiparser/properties
 logging.getLogger("PyQt5.uic.uiparser").setLevel(logging.DEBUG)
 logging.getLogger("PyQt5.uic.properties").setLevel(logging.DEBUG)

parallax/reticle_detect_manager.py

@@ -177,12 +177,6 @@ def process(self, frame):
 
             if not ret:
                 logger.debug(f"{ self.name} get_coords_interest fails ")
-                frame_ = cv2.cvtColor(frame_, cv2.COLOR_GRAY2BGR)
-                for pixel in inliner_lines_pixels[0]:
-                    cv2.circle(frame_, tuple(pixel), 2, (0, 255, 0), -1)
-                for pixel in inliner_lines_pixels[1]:
-                    cv2.circle(frame_, tuple(pixel), 1, (255, 0, 0), -1)
-                cv2.imwrite("debug/reticle_detect_fail.jpg", frame_)
             else:
                 # TODO
                 # ret, mtx, dist = self.calibrationCamera.get_predefined_intrinsic(x_axis_coords, y_axis_coords)

parallax/reticle_detection.py

@@ -17,7 +17,7 @@
 # Set logger name
 logger = logging.getLogger(__name__)
 # Set the logging level for PyQt5.uic.uiparser/properties to WARNING, to ignore DEBUG messages
-logger.setLevel(logging.DEBUG)
+logger.setLevel(logging.WARNING)
 logging.getLogger("PyQt5.uic.uiparser").setLevel(logging.WARNING)
 logging.getLogger("PyQt5.uic.properties").setLevel(logging.WARNING)
 
@@ -407,7 +407,7 @@ def _add_missing_pixels(self, bg, lines, line_pixels):
             pixels_array = np.array(pixels)
             missing_points = self._estimate_missing_points(pixels_array)
             x_diff, y_diff = self._get_median_distance_x_y(pixels_array)
-            
+
             if missing_points.ndim == 1 and missing_points.size > 0:
                 missing_points = missing_points.reshape(-1, 2)  # Reshape to 2D if it's flat but not empty
             elif missing_points.size == 0:
@@ -558,6 +558,23 @@ def coords_detect_morph(self, img):
 
         return ret, img, inliner_lines, inliner_lines_pixels
 
+    def _draw_debug(self, img, pixels_in_lines, filename):
+        if logger.getEffectiveLevel() == logging.DEBUG:        
+            if img.ndim == 2:
+                img_ = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
+            else:
+                img_ = img.copy()
+
+            if len(pixels_in_lines) == 2:
+                for pt in pixels_in_lines[0]:
+                    cv2.circle(img_, tuple(pt), 2, (0, 255, 0), -1)
+                for pt in pixels_in_lines[1]:
+                    cv2.circle(img_, tuple(pt), 1, (255, 0, 0), -1)
+
+            cv2.imwrite(f"debug/{filename}.jpg", img_)
+        else:
+            return
+
     def get_coords(self, img):
         """Detect coordinates using morphological operations.
 
@@ -572,42 +589,23 @@ def get_coords(self, img):
                 - inliner_lines_pixels (list): List of inlier pixel coordinates for each line.
         """
         bg = self._preprocess_image(img)
-        cv2.imwrite("debug/0_bg.jpg", bg)
+        self._draw_debug(bg, [], "0_bg")
         masked = self._apply_mask(bg)
-        cv2.imwrite("debug/masked.jpg", masked)
+        self._draw_debug(masked, [], "1_bg")
 
         ret, bg, inliner_lines, pixels_in_lines = self.coords_detect_morph(masked)
-        bg_ = cv2.cvtColor(bg, cv2.COLOR_GRAY2BGR)
-        for pixel in pixels_in_lines[0]:
-            pt = tuple(pixel)
-            cv2.circle(bg_, pt, 2, (0, 255, 0), -1)
-        for pixel in pixels_in_lines[1]:
-            pt = tuple(pixel)
-            cv2.circle(bg_, pt, 1, (255, 0, 0), -1)
-        cv2.imwrite("debug/1coords_detect_morph.jpg", bg_)
-
-
+        self._draw_debug(bg, pixels_in_lines, "2_detect_morph")
         logger.debug(f"{self.name} nLines: {len(pixels_in_lines)}")
+
         if ret:
             bg, inliner_lines, pixels_in_lines = self._refine_pixels(bg, inliner_lines, pixels_in_lines)
             logger.debug(f"{self.name} detect: {len(pixels_in_lines[0])}, {len(pixels_in_lines[1])}" )
-            for pixel in pixels_in_lines[0]:
-                pt = tuple(pixel)
-                cv2.circle(bg_, pt, 2, (0, 255, 0), -1)
-            for pixel in pixels_in_lines[1]:
-                pt = tuple(pixel)
-                cv2.circle(bg_, pt, 1, (255, 0, 0), -1)
-                cv2.imwrite("debug/2refine_pixels.jpg", bg_)
+            self._draw_debug(bg, pixels_in_lines, "3_refine_pixels")
 
             bg, pixels_in_lines = self._add_missing_pixels(bg, inliner_lines, pixels_in_lines)
             logger.debug(f"{self.name} interpolate: {len(pixels_in_lines[0])} {len(pixels_in_lines[1])}")
-            for pixel in pixels_in_lines[0]:
-                pt = tuple(pixel)
-                cv2.circle(bg_, pt, 2, (0, 255, 0), -1)
-            for pixel in pixels_in_lines[1]:
-                pt = tuple(pixel)
-                cv2.circle(bg_, pt, 1, (255, 0, 0), -1)
-            cv2.imwrite("debug/3_add_missing_pixels.jpg", bg_)
+            self._draw_debug(bg, pixels_in_lines, "4_add_missing_pixels")
+
         return ret, bg, inliner_lines, pixels_in_lines
 
     """

parallax/reticle_detection_coords_interests.py

@@ -75,7 +75,9 @@ def _get_center_coords_index(self, center, coords):
         x_center, y_center = center
         for i in range(-5, 6):  # Range from -5 to 5
             for j in range(-5, 6):  # Range from -5 to 5
-                test_center = np.array([x_center + i, y_center + j])
+                test_center = np.array(
+                    [x_center + i, y_center + j], dtype=coords.dtype
+                )
                 result = np.where((coords == test_center).all(axis=1))
                 if len(result[0]) > 0:  # Check if the element was found
                     return result[0][0]  # Return the first occurrence index
@@ -93,6 +95,7 @@ def _get_pixels_interest(self, center, coords):
         """
         center_index = self._get_center_coords_index(center, coords)
         if center_index is None:
+            logger.debug("Center coordinates not found.")
             return
 
         coords[center_index] = center  # Replace center to center point we gets
@@ -162,10 +165,16 @@ def get_coords_interest(self, pixels_in_lines):
         for pixels_in_line in pixels_in_lines:
             coords = self._get_pixels_interest(center_point, pixels_in_line)
             if coords is None or len(coords) < self.n_interest_pixels * 2 + 1:
+                logger.debug(f"_get_pixels_interest fails.")
+                if coords is None:
+                    logger.debug(f"coords: None")
+                if coords is not None:
+                    logger.debug(f"length of coords: {len(coords)}")
                 return False, None, None
             coords_interest.append(coords)
 
         ret, x_axis, y_axis = self._get_orientation(coords_interest)
         if ret is False:
+            logger.debug(f"getting orientation of x and y axis fails")
             return False, None, None
         return True, x_axis, y_axis