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Custom homography per laser

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This commit is contained in:
Ruben van de Ven 2025-05-21 18:57:38 +02:00
parent 7ae6768edb
commit 5e14833e6e
2 changed files with 12 additions and 5 deletions
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14
src/bin/render_lines_gui.rs
View file

@ -176,7 +176,10 @@ fn get_dac_configs() -> DacConfigMap{
let mut dac_configs: DacConfigMap = HashMap::new(); let mut dac_configs: DacConfigMap = HashMap::new();
dac_configs.insert( dac_configs.insert(
DacId::Helios { id: 926298163 }, DacId::Helios { id: 926298163 },
DacConfig{homography: python_cv_h_into_mat3(TMP_PYTHON_LASER_H)} DacConfig{
name: "Helios#1".into(),
homography: python_cv_h_into_mat3(TMP_PYTHON_LASER_H)
}
); );
dac_configs dac_configs
} }
@ -243,7 +246,6 @@ fn model(app: &App) -> Model {
if detected.insert(dac.id()) { if detected.insert(dac.id()) {
// DacId::EtherDream { mac_address: () } // DacId::EtherDream { mac_address: () }
dbg!(&detected);
println!("{:#?}", dac); println!("{:#?}", dac);
if dac_tx.send(dac).is_err() { if dac_tx.send(dac).is_err() {
break; break;
@ -301,7 +303,7 @@ fn laser_frame_producer(model: &mut LaserModel, frame: &mut laser::Frame){
let space = &model.current_lines.space; let space = &model.current_lines.space;
let pointno = points.len(); let pointno = points.len();
dbg!(model.config.homography); dbg!(&model.config.name);
let mut new_points = Vec::new(); let mut new_points = Vec::new();
for point in points.into_iter() { for point in points.into_iter() {
@ -362,7 +364,11 @@ fn update(_app: &App, model: &mut Model, update: Update) {
println!("Detected DAC {:?}!", dac.id()); println!("Detected DAC {:?}!", dac.id());
let config = match model.per_laser_config.contains_key(&dac.id()) { let config = match model.per_laser_config.contains_key(&dac.id()) {
true => &model.per_laser_config[&dac.id()], true => &model.per_laser_config[&dac.id()],
false => &DacConfig::default(), false => {
println!("Found unknown DAC, try to register it in get_dac_configs()");
dbg!(&dac.id());
&DacConfig::default()
},
}; };
let stream = model let stream = model
.laser_api .laser_api

3
src/trap/laser.rs
View file

@ -72,6 +72,7 @@ pub struct LaserTimer {
pub struct DacConfig{ pub struct DacConfig{
// #[serde(with = "DacIdSerializable")] // #[serde(with = "DacIdSerializable")]
// id: DacId, // id: DacId,
pub name: String,
pub homography: Mat3 pub homography: Mat3
} }
@ -80,6 +81,6 @@ const LASER_H: Mat3 = python_cv_h_into_mat3(TMP_PYTHON_LASER_H);
impl Default for DacConfig{ impl Default for DacConfig{
fn default() -> DacConfig{ fn default() -> DacConfig{
DacConfig { homography: Mat3::IDENTITY } DacConfig { name: "Unknown".into(), homography: Mat3::IDENTITY }
} }
} }