Fits small cameras

scan_calibrator.py

@@ -20,6 +20,7 @@ HELPER_CONTAINER_SOURCE = "/tmp/scan-calibrator-measure.cpp"
 HELPER_CONTAINER_BIN = "/tmp/scan-calibrator-measure"
 DEFAULT_TARGET_OVERLAP = 0.04
 MAX_GENERATED_OVERLAP = 0.05
+PHASE_MIN_RESPONSE = 0.20
 
 
 def fail(message: str) -> "NoReturn":
@@ -120,6 +121,40 @@ def measure_delta(axis: str, delta: int, direction: int, wait_seconds: float,
         time.sleep(wait_seconds)
         candidate = snapshot()
         result = measure_images(baseline, candidate)
+        if axis == "pan":
+            actual_motion = abs(
+                ((actual["pan"] - origin["pan"] + 18000) % 36000) - 18000
+            )
+        else:
+            actual_motion = abs(actual["tilt"] - origin["tilt"])
+        result["actual_axis_motion"] = actual_motion
+        result["requested_axis_motion"] = delta
+
+        phase_primary_key = "phase_dx" if axis == "pan" else "phase_dy"
+        phase_cross_key = "phase_dy" if axis == "pan" else "phase_dx"
+        phase_primary = abs(float(result.get(phase_primary_key, 0.0)))
+        phase_cross = abs(float(result.get(phase_cross_key, 0.0)))
+        phase_response = float(result.get("phase_response", 0.0))
+        minimum_plausible_shift = delta / 18000.0
+        if (
+            not result.get("valid")
+            and phase_response >= PHASE_MIN_RESPONSE
+            and minimum_plausible_shift <= phase_primary <= 0.50
+            and phase_cross <= 0.05
+        ):
+            result.update({
+                "valid": True,
+                "reason": "phase_correlation_fallback",
+                "match_method": "phase_correlation",
+                "center_dx": float(result.get("phase_dx", 0.0)),
+                "center_dy": float(result.get("phase_dy", 0.0)),
+            })
+
+        # Absolute PTZ commands can be clamped by a camera's mechanical/firmware
+        # limit. In that case identical images are not a feature-texture failure.
+        if actual_motion < max(2, round(delta * 0.5)):
+            result["valid"] = False
+            result["reason"] = "ptz_motion_shortfall"
         if result.get("valid"):
             primary_key = "center_dx" if axis == "pan" else "center_dy"
             cross_key = "center_dy" if axis == "pan" else "center_dx"
@@ -134,7 +169,6 @@ def measure_delta(axis: str, delta: int, direction: int, wait_seconds: float,
             # wall patterns. Use displacement along the commanded axis instead.
             result["overlap"] = max(0.0, min(1.0, 1.0 - primary_shift))
 
-            minimum_plausible_shift = delta / 18000.0
             result["minimum_plausible_shift"] = minimum_plausible_shift
             if primary_shift < minimum_plausible_shift:
                 result["valid"] = False
@@ -303,23 +337,34 @@ def command_calibrate(args: argparse.Namespace) -> None:
         "good_matches": detail.get("good_matches"), "inliers": detail.get("inliers"),
         "inlier_ratio": detail.get("inlier_ratio"),
     }
+    if args.axis == "pan":
+        state["steps"][args.axis]["visual_direction"] = (
+            "increasing" if args.direction == 1 else "decreasing"
+        )
     save_state(state)
     print(f"推荐 {args.axis}_step={step}（{step/100:.2f}°），实测重叠={overlap*100:.1f}%")
     print("推荐值已写入 calibration.json")
 
 
-def scan_pan_range(top_left: int, bottom_right: int, mount: str) -> tuple[int, int, int, str]:
+def scan_pan_range(
+    top_left: int,
+    bottom_right: int,
+    mount: str,
+    visual_direction: str | None = None,
+) -> tuple[int, int, int, str]:
     """Encode the user-selected visual left-to-right arc for the current scanner.
 
-    With the tested desktop setup, firmware rotates the image by 180 degrees, so
-    visual left-to-right is decreasing PTZ pan. The current scanner only executes
-    increasing pan, therefore reversing both endpoints traverses the exact same
-    selected arc in the opposite order. A normally hanging camera uses the native
-    increasing direction.
+    visual_direction should be measured from signed image displacement on this
+    exact camera model. mount remains only as a backward-compatible fallback for
+    older manual calibration state.
     """
     top_left %= 36000
     bottom_right %= 36000
-    if mount == "desktop":
+    if visual_direction is None:
+        visual_direction = "decreasing" if mount == "desktop" else "increasing"
+    if visual_direction not in {"increasing", "decreasing"}:
+        fail(f"未知pan视觉方向：{visual_direction}")
+    if visual_direction == "decreasing":
         span = (top_left - bottom_right) % 36000
         return bottom_right, top_left, span, "decreasing"
     span = (bottom_right - top_left) % 36000
@@ -370,16 +415,21 @@ def command_generate(args: argparse.Namespace) -> None:
                 f"请使用--target-overlap {DEFAULT_TARGET_OVERLAP:.2f}重新标定"
             )
         inliers = int(info.get("inliers") or 0)
-        if inliers < 50:
+        phase_response = float(info.get("phase_response") or 0.0)
+        if inliers < 50 and phase_response < PHASE_MIN_RESPONSE:
             fail(
-                f"{axis}_step标定只有{inliers}个几何内点，低于可靠阈值50；"
+                f"{axis}_step标定质量不足（几何内点={inliers}，"
+                f"相位响应={phase_response:.2f}）；"
                 f"请在纹理丰富且尽量远离摄像头的位置重新执行calibrate {axis}"
             )
     if abs(int(top_left["zoom"]) - int(bottom_right["zoom"])) > 10:
         fail("左上角和右下角zoom不一致，请固定zoom后重新记录两个角点")
     zoom = round((int(top_left["zoom"]) + int(bottom_right["zoom"])) / 2)
     pan_start, pan_end, pan_span, visual_pan_direction = scan_pan_range(
-        int(top_left["pan"]), int(bottom_right["pan"]), args.mount
+        int(top_left["pan"]),
+        int(bottom_right["pan"]),
+        args.mount,
+        pan_info.get("visual_direction"),
     )
     tilt_start = min(int(top_left["tilt"]), int(bottom_right["tilt"]))
     tilt_end = max(int(top_left["tilt"]), int(bottom_right["tilt"]))