ICRA/app/qt/image_processor.py

378 lines
13 KiB
Python

"""Minimal image processing pipeline adapted for the Qt frontend."""
from __future__ import annotations
import colorsys
from dataclasses import dataclass
from pathlib import Path
from typing import Dict, Iterable, Tuple
import numpy as np
from PIL import Image, ImageDraw
from PySide6 import QtGui
from app.logic import PREVIEW_MAX_SIZE
@dataclass
class Stats:
matches_all: int = 0
total_all: int = 0
matches_keep: int = 0
total_keep: int = 0
matches_excl: int = 0
total_excl: int = 0
def summary(self, translate) -> str:
if self.total_all == 0:
return translate("stats.placeholder")
with_pct = (self.matches_keep / self.total_keep * 100) if self.total_keep else 0.0
without_pct = (self.matches_all / self.total_all * 100) if self.total_all else 0.0
excluded_pct = (self.total_excl / self.total_all * 100) if self.total_all else 0.0
excluded_match_pct = (self.matches_excl / self.total_excl * 100) if self.total_excl else 0.0
return translate(
"stats.summary",
with_pct=with_pct,
without_pct=without_pct,
excluded_pct=excluded_pct,
excluded_match_pct=excluded_match_pct,
)
def _rgb_to_hsv_numpy(arr: np.ndarray) -> np.ndarray:
"""Vectorized RGB→HSV conversion. arr shape: (H, W, 3), dtype float32, range [0,1].
Returns array of same shape with channels [H(0-360), S(0-100), V(0-100)].
"""
r = arr[..., 0]
g = arr[..., 1]
b = arr[..., 2]
cmax = np.maximum(np.maximum(r, g), b)
cmin = np.minimum(np.minimum(r, g), b)
delta = cmax - cmin
# Value
v = cmax
# Saturation
s = np.zeros_like(r)
np.divide(delta, cmax, out=s, where=cmax > 0)
# Hue
h = np.zeros_like(r)
mask_r = (delta > 0) & (cmax == r)
mask_g = (delta > 0) & (cmax == g)
mask_b = (delta > 0) & (cmax == b)
h[mask_r] = (60.0 * ((g[mask_r] - b[mask_r]) / delta[mask_r])) % 360.0
h[mask_g] = (60.0 * ((b[mask_g] - r[mask_g]) / delta[mask_g]) + 120.0) % 360.0
h[mask_b] = (60.0 * ((r[mask_b] - g[mask_b]) / delta[mask_b]) + 240.0) % 360.0
return np.stack([h, s * 100.0, v * 100.0], axis=-1)
class QtImageProcessor:
"""Process images and build overlays for the Qt UI."""
def __init__(self) -> None:
self.orig_img: Image.Image | None = None
self.preview_img: Image.Image | None = None
self.overlay_img: Image.Image | None = None
self.preview_paths: list[Path] = []
self.current_index: int = -1
self.stats = Stats()
# Overlay tint color
self.overlay_r = 255
self.overlay_g = 0
self.overlay_b = 0
self.defaults: Dict[str, int] = {
"hue_min": 0,
"hue_max": 360,
"sat_min": 25,
"val_min": 15,
"val_max": 100,
"alpha": 120,
}
self.hue_min = self.defaults["hue_min"]
self.hue_max = self.defaults["hue_max"]
self.sat_min = self.defaults["sat_min"]
self.val_min = self.defaults["val_min"]
self.val_max = self.defaults["val_max"]
self.alpha = self.defaults["alpha"]
self.exclude_shapes: list[dict[str, object]] = []
self.reset_exclusions_on_switch: bool = False
def set_defaults(self, defaults: dict) -> None:
for key in self.defaults:
if key in defaults:
self.defaults[key] = int(defaults[key])
for key, value in self.defaults.items():
setattr(self, key, value)
self._rebuild_overlay()
# thresholds -------------------------------------------------------------
def set_threshold(self, key: str, value: int) -> None:
setattr(self, key, value)
if self.preview_img is not None:
self._rebuild_overlay()
# image handling --------------------------------------------------------
def load_single_image(self, path: Path, *, reset_collection: bool = True) -> Path:
image = Image.open(path).convert("RGBA")
self.orig_img = image
if reset_collection:
self.preview_paths = [path]
self.current_index = 0
self._build_preview()
self._rebuild_overlay()
return path
def load_folder(self, paths: Iterable[Path], start_index: int = 0) -> Path:
self.preview_paths = list(paths)
if not self.preview_paths:
raise ValueError("No images in folder.")
self.current_index = max(0, min(start_index, len(self.preview_paths) - 1))
return self._load_image_at_current()
def next_image(self) -> Path | None:
if not self.preview_paths:
return None
self.current_index = (self.current_index + 1) % len(self.preview_paths)
return self._load_image_at_current()
def previous_image(self) -> Path | None:
if not self.preview_paths:
return None
self.current_index = (self.current_index - 1) % len(self.preview_paths)
return self._load_image_at_current()
def _load_image_at_current(self) -> Path:
path = self.preview_paths[self.current_index]
return self.load_single_image(path, reset_collection=False)
# preview/overlay -------------------------------------------------------
def _build_preview(self) -> None:
if self.orig_img is None:
self.preview_img = None
return
width, height = self.orig_img.size
max_w, max_h = PREVIEW_MAX_SIZE
scale = min(max_w / width, max_h / height)
if scale <= 0:
scale = 1.0
size = (max(1, int(width * scale)), max(1, int(height * scale)))
self.preview_img = self.orig_img.resize(size, Image.LANCZOS)
def _rebuild_overlay(self) -> None:
"""Build color-match overlay using vectorized NumPy operations."""
if self.preview_img is None:
self.overlay_img = None
self.stats = Stats()
return
base = self.preview_img.convert("RGBA")
arr = np.asarray(base, dtype=np.float32) # (H, W, 4)
rgb = arr[..., :3] / 255.0
alpha_ch = arr[..., 3] # alpha channel of the image
hsv = _rgb_to_hsv_numpy(rgb) # (H, W, 3): H°, S%, V%
hue = hsv[..., 0]
sat = hsv[..., 1]
val = hsv[..., 2]
hue_min = float(self.hue_min)
hue_max = float(self.hue_max)
if hue_min <= hue_max:
hue_ok = (hue >= hue_min) & (hue <= hue_max)
else:
hue_ok = (hue >= hue_min) | (hue <= hue_max)
match_mask = (
hue_ok
& (sat >= float(self.sat_min))
& (val >= float(self.val_min))
& (val <= float(self.val_max))
& (alpha_ch > 0)
)
# Exclusion mask (same pixel space as preview)
excl_mask = self._build_exclusion_mask_numpy(base.size) # bool (H,W)
keep_match = match_mask & ~excl_mask
excl_match = match_mask & excl_mask
visible = alpha_ch > 0
matches_all = int(match_mask[visible].sum())
total_all = int(visible.sum())
matches_keep = int(keep_match[visible].sum())
total_keep = int((visible & ~excl_mask).sum())
matches_excl = int(excl_match[visible].sum())
total_excl = int((visible & excl_mask).sum())
# Build overlay image
overlay_arr = np.zeros((base.height, base.width, 4), dtype=np.uint8)
overlay_arr[keep_match, 0] = self.overlay_r
overlay_arr[keep_match, 1] = self.overlay_g
overlay_arr[keep_match, 2] = self.overlay_b
overlay_arr[keep_match, 3] = int(self.alpha)
self.overlay_img = Image.fromarray(overlay_arr, "RGBA")
self.stats = Stats(
matches_all=matches_all,
total_all=total_all,
matches_keep=matches_keep,
total_keep=total_keep,
matches_excl=matches_excl,
total_excl=total_excl,
)
def get_stats_headless(self, image: Image.Image) -> Stats:
"""Calculate color-match statistics natively without building UI elements or scaling."""
base = image.convert("RGBA")
arr = np.asarray(base, dtype=np.float32)
rgb = arr[..., :3] / 255.0
alpha_ch = arr[..., 3]
hsv = _rgb_to_hsv_numpy(rgb)
hue = hsv[..., 0]
sat = hsv[..., 1]
val = hsv[..., 2]
hue_min = float(self.hue_min)
hue_max = float(self.hue_max)
if hue_min <= hue_max:
hue_ok = (hue >= hue_min) & (hue <= hue_max)
else:
hue_ok = (hue >= hue_min) | (hue <= hue_max)
match_mask = (
hue_ok
& (sat >= float(self.sat_min))
& (val >= float(self.val_min))
& (val <= float(self.val_max))
& (alpha_ch > 0)
)
excl_mask = self._build_exclusion_mask_numpy(base.size)
keep_match = match_mask & ~excl_mask
excl_match = match_mask & excl_mask
visible = alpha_ch > 0
return Stats(
matches_all=int(match_mask[visible].sum()),
total_all=int(visible.sum()),
matches_keep=int(keep_match[visible].sum()),
total_keep=int((visible & ~excl_mask).sum()),
matches_excl=int(excl_match[visible].sum()),
total_excl=int((visible & excl_mask).sum()),
)
# helpers ----------------------------------------------------------------
def _matches(self, r: int, g: int, b: int) -> bool:
"""Single-pixel match — kept for compatibility / eyedropper use."""
h, s, v = colorsys.rgb_to_hsv(r / 255.0, g / 255.0, b / 255.0)
hue = (h * 360.0) % 360.0
if self.hue_min <= self.hue_max:
hue_ok = self.hue_min <= hue <= self.hue_max
else:
hue_ok = hue >= self.hue_min or hue <= self.hue_max
sat_ok = s * 100.0 >= self.sat_min
val_ok = self.val_min <= v * 100.0 <= self.val_max
return hue_ok and sat_ok and val_ok
def pick_color(self, x: int, y: int) -> Tuple[float, float, float] | None:
"""Return (hue°, sat%, val%) of the preview pixel at (x, y), or None."""
if self.preview_img is None:
return None
img = self.preview_img.convert("RGBA")
try:
r, g, b, a = img.getpixel((x, y))
except IndexError:
return None
if a == 0:
return None
h, s, v = colorsys.rgb_to_hsv(r / 255.0, g / 255.0, b / 255.0)
return (h * 360.0) % 360.0, s * 100.0, v * 100.0
# exported data ----------------------------------------------------------
def preview_pixmap(self) -> QtGui.QPixmap:
return self._to_pixmap(self.preview_img)
def overlay_pixmap(self) -> QtGui.QPixmap:
if self.preview_img is None or self.overlay_img is None:
return QtGui.QPixmap()
merged = Image.alpha_composite(self.preview_img.convert("RGBA"), self.overlay_img)
return self._to_pixmap(merged)
@staticmethod
def _to_pixmap(image: Image.Image | None) -> QtGui.QPixmap:
if image is None:
return QtGui.QPixmap()
buffer = image.tobytes("raw", "RGBA")
qt_image = QtGui.QImage(buffer, image.width, image.height, QtGui.QImage.Format_RGBA8888)
return QtGui.QPixmap.fromImage(qt_image)
# exclusions -------------------------------------------------------------
def set_exclusions(self, shapes: list[dict[str, object]]) -> None:
copied: list[dict[str, object]] = []
for shape in shapes:
kind = shape.get("kind")
if kind == "rect":
coords = tuple(shape.get("coords", (0, 0, 0, 0))) # type: ignore[assignment]
copied.append({"kind": "rect", "coords": tuple(int(c) for c in coords)})
elif kind == "polygon":
pts = shape.get("points", [])
copied.append({"kind": "polygon", "points": [(int(x), int(y)) for x, y in pts]})
self.exclude_shapes = copied
self._rebuild_overlay()
def _build_exclusion_mask(self, size: Tuple[int, int]) -> Image.Image | None:
if not self.exclude_shapes:
return None
mask = Image.new("L", size, 0)
draw = ImageDraw.Draw(mask)
for shape in self.exclude_shapes:
kind = shape.get("kind")
if kind == "rect":
x0, y0, x1, y1 = shape["coords"] # type: ignore[index]
draw.rectangle([x0, y0, x1, y1], fill=255)
elif kind == "polygon":
points = shape.get("points", [])
if len(points) >= 3:
draw.polygon(points, fill=255)
return mask
def set_overlay_color(self, hex_code: str) -> None:
"""Set the RGB channels for the match overlay from a hex string."""
if not hex_code.startswith("#") or len(hex_code) not in (7, 9):
return
try:
self.overlay_r = int(hex_code[1:3], 16)
self.overlay_g = int(hex_code[3:5], 16)
self.overlay_b = int(hex_code[5:7], 16)
except ValueError:
pass
def _build_exclusion_mask_numpy(self, size: Tuple[int, int]) -> np.ndarray:
"""Return a boolean (H, W) mask — True where pixels are excluded."""
w, h = size
if not self.exclude_shapes:
return np.zeros((h, w), dtype=bool)
pil_mask = self._build_exclusion_mask(size)
if pil_mask is None:
return np.zeros((h, w), dtype=bool)
return np.asarray(pil_mask, dtype=bool)