désactivation autocalibration, et correction de distortion dans l'écran de calibration

lib/services/opencv_target_service.dart

@@ -55,9 +55,22 @@ class OpenCVTargetService {
         maxRadius: img.cols ~/ 2, // maxRadius
       );
 
-      // HoughCircles returns a Mat in opencv_dart? Or a specific object?
-      // Checking common bindings: usually returns a Mat (1, N, 3) of floats.
-      // If circles is empty or null, return failure.
+      // HoughCircles returns a Mat of shape (1, N, 3) where N is number of circles.
+      // In opencv_dart, we cannot iterate easily.
+      // However, we can access data via pointer if needed, or check if Vec3f is supported.
+      // Given the user report, `at<Vec3f>` likely failed compilation or runtime.
+      // Let's use a safer approach: assume standard memory layout (x, y, r, x, y, r...).
+      // Or use `at<double>` carefully.
+
+      // Better yet: try to use `circles.data` if available, but it returns a Pointer.
+      // Let's stick to `at` but use `double` and manual offset if Vec3f fails.
+      // actually, let's try to trust `at<double>` for flattened access OR `at<Vec3f>`.
+      // NOTE: `at<Vec3f>` was reported as "method at not defined for VecPoint2f" earlier, NOT for Mat.
+      // The user error was for `VecPoint2f`. `Mat` definitely has `at`.
+      // BUT `VecPoint2f` is a List-like structure in Dart wrapper.
+      // usage of `at` on `VecPoint2f` was the error.
+      // Here `circles` IS A MAT. So `at` IS defined.
+      // However, to be safe and robust, and to implement clustering...
 
       if (circles.isEmpty) {
         // Try with different parameters if first attempt fails (more lenient)
@@ -75,81 +88,148 @@ class OpenCVTargetService {
         if (looseCircles.isEmpty) {
           return TargetDetectionResult.failure();
         }
-        return _findBestCircle(looseCircles, img.cols, img.rows);
+        return _findBestConcentricCircles(looseCircles, img.cols, img.rows);
       }
 
-      return _findBestCircle(circles, img.cols, img.rows);
+      return _findBestConcentricCircles(circles, img.cols, img.rows);
     } catch (e) {
       // print('Error detecting target with OpenCV: $e');
       return TargetDetectionResult.failure();
     }
   }
 
-  TargetDetectionResult _findBestCircle(cv.Mat circles, int width, int height) {
-    // circles is a Mat of shape (1, N, 3) where N is number of circles
-    // Each circle is (x, y, radius)
-
-    // We want the circle that is closest to the center of the image and reasonably large
-    double bestScore = -1.0;
-    double bestX = 0.5;
-    double bestY = 0.5;
-    double bestRadius = 0.4;
-
-    // The shape is typically (1, N, 3) for HoughCircles
-    // We need to access the data.
-    // Assuming we can iterate.
-    // In opencv_dart 1.0+, Mat might not be directly iterable like a list.
-    // We can use circles.at<Vec3f>(0, i) if available or similar.
-    // Or we might need to interpret the memory.
-
-    // For now, let's assume a simplified access pattern or that we can get a list.
-    // If this fails to compile, we will fix it based on the error.
-
-    // Attempting to access knowing standard layout:
-    // circles.rows is 1, circles.cols is N.
+  TargetDetectionResult _findBestConcentricCircles(
+    cv.Mat circles,
+    int width,
+    int height,
+  ) {
+    if (circles.rows == 0 || circles.cols == 0) {
+      return TargetDetectionResult.failure();
+    }
 
     final int numCircles = circles.cols;
+    final List<({double x, double y, double r})> detected = [];
+
+    // Extract circles safely
+    // We'll use `at<double>` assuming the Mat is (1, N, 3) float32 (CV_32FC3 usually)
+    // Actually HoughCircles usually returns CV_32FC3.
+    // So we can access `at<cv.Vec3f>(0, i)`.
+    // If that fails, we can fall back. But since `Mat` has `at`, it should work unless generic is bad.
+    // Let's assume it works for Mat but checking boundaries.
+
+    // NOTE: If this throws "at not defined" (unlikely for Mat), we'd need another way.
+    // But since the previous error was on `VecPoint2f` (which is NOT a Mat), this should be fine.
 
     for (int i = 0; i < numCircles; i++) {
-      // Use the generic 'at' or specific getter if known.
-      // Assuming Vec3f is returned as a specific type or List<double>
-      // Note: in many dart bindings, we might get a list of points directly.
-      // But HoughCircles typically returns Mat.
-
-      // Let's try to use `at<cv.Vec3f>(0, i)` which is common in C++ and some bindings.
-      // If not, we might need `ptr` access.
-
+      // Access using Vec3f if possible, or try to interpret memory
+      // Using `at<cv.Vec3f>` is the standard way.
       final vec = circles.at<cv.Vec3f>(0, i);
-      final double x = vec.val1;
-      final double y = vec.val2;
-      final double r = vec.val3;
+      detected.add((x: vec.val1, y: vec.val2, r: vec.val3));
+    }
 
-      final relX = x / width;
-      final relY = y / height;
-      final relR = r / math.min(width, height);
+    if (detected.isEmpty) return TargetDetectionResult.failure();
 
-      // Score based on centrality and size
-      final distFromCenter = math.sqrt(
-        math.pow(relX - 0.5, 2) + math.pow(relY - 0.5, 2),
-      );
-      final sizeScore =
-          relR; // Larger is usually better for the main target outer ring
+    // Cluster circles by center position
+    // We consider circles "concentric" if their centers are within 5% of image min dimension
+    final double tolerance = math.min(width, height) * 0.05;
+    final List<List<({double x, double y, double r})>> clusters = [];
 
-      // We penalize distance from center
-      final score = sizeScore - (distFromCenter * 0.5);
+    for (final circle in detected) {
+      bool added = false;
+      for (final cluster in clusters) {
+        // Check distance to cluster center (average of existing)
+        double clusterX = 0;
+        double clusterY = 0;
+        for (final c in cluster) {
+          clusterX += c.x;
+          clusterY += c.y;
+        }
+        clusterX /= cluster.length;
+        clusterY /= cluster.length;
 
-      if (score > bestScore) {
-        bestScore = score;
-        bestX = relX;
-        bestY = relY;
-        bestRadius = relR;
+        final dist = math.sqrt(
+          math.pow(circle.x - clusterX, 2) + math.pow(circle.y - clusterY, 2),
+        );
+
+        if (dist < tolerance) {
+          cluster.add(circle);
+          added = true;
+          break;
+        }
+      }
+      if (!added) {
+        clusters.add([circle]);
       }
     }
 
+    // Find the best cluster
+    // 1. Prefer clusters with more circles (concentric rings)
+    // 2. Tie-break: closest to image center
+
+    List<({double x, double y, double r})> bestCluster = clusters.first;
+    double bestScore = -1.0;
+
+    for (final cluster in clusters) {
+      // Score calculation
+      // Base score = number of circles * 10
+      double score = cluster.length * 10.0;
+
+      // Penalize distance from center
+      double cx = 0, cy = 0;
+      for (final c in cluster) {
+        cx += c.x;
+        cy += c.y;
+      }
+      cx /= cluster.length;
+      cy /= cluster.length;
+
+      final distFromCenter = math.sqrt(
+        math.pow(cx - width / 2, 2) + math.pow(cy - height / 2, 2),
+      );
+      final relDist = distFromCenter / math.min(width, height);
+
+      score -= relDist * 5.0; // Moderate penalty for off-center
+
+      // Penalize very small clusters if they are just noise
+      // (Optional: check if radii are somewhat distributed?)
+
+      if (score > bestScore) {
+        bestScore = score;
+        bestCluster = cluster;
+      }
+    }
+
+    // Compute final result from best cluster
+    // Center: Use the smallest circle (bullseye) for best precision
+    // Radius: Use the largest circle (outer edge) for full coverage
+
+    double centerX = 0;
+    double centerY = 0;
+    double maxR = 0;
+    double minR = double.infinity;
+
+    for (final c in bestCluster) {
+      if (c.r > maxR) {
+        maxR = c.r;
+      }
+      if (c.r < minR) {
+        minR = c.r;
+        centerX = c.x;
+        centerY = c.y;
+      }
+    }
+
+    // Fallback if something went wrong (shouldn't happen with non-empty cluster)
+    if (minR == double.infinity) {
+      centerX = bestCluster.first.x;
+      centerY = bestCluster.first.y;
+    }
+
     return TargetDetectionResult(
-      centerX: bestX,
-      centerY: bestY,
-      radius: bestRadius,
+      centerX: centerX / width,
+      centerY: centerY / height,
+      radius: maxR / math.min(width, height),
+      success: true,
     );
   }
 }