fix: save and load

src/main.rs

@@ -87,46 +87,36 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
     )?;
 
     while running.load(Ordering::SeqCst) {
-        //let _t = _framerate_handler.handle_time()?;
+        let key = highgui::wait_key(20)?;
-        /////////////////
+        let v = qualibration.draw_sequence();
-        let key = highgui::wait_key(1)?;
+
+        if key != -1 {
+            println!("key: {key}");
+            // 81 <-  -> 83 
+        }
         qualibration.param.key = key;
         if key == 27 {
-            break;
-        }
-
-        let v = qualibration.draw_sequence();
-        if v.is_some() {
             if qualibration.param.capture_mode {
-                let pl: Vec<(f32, f32, u32)> = v
+                qualibration.param.save_image()?;
-                    .unwrap()
-                    .iter()
-                    .map(|pt| (pt.x, pt.y, u32::from(pt.color)))
-                    .collect();
-
-                let _ = con.set(
-                    format!("/pl/{}/{}", config.client_id, config.laser_id),
-                    format!("{:?}", pl),
-                )?;
             }
-
+            break;
-            qualibration.run_step()?;
+        } else if v.is_none() {
+            continue;
         }
-        //qualibration.id = next_id;
 
-        //let q_id = qualibration.id.clone();
+        if qualibration.param.capture_mode {
-        //let mut n = 65534;
+            let pl: Vec<(f32, f32, u32)> = v
-        //if let Sequence::TakeMultiple(m) = q_id.clone().unwrap_or(Sequence::Finish) {
+                .unwrap()
-        //    n = m;
+                .iter()
-        //};
+                .map(|pt| (pt.x, pt.y, u32::from(pt.color)))
-        //if qualibration.capture_mode
+                .collect();
-        //    && (q_id != Some(Sequence::WaitSpace)
+            con.set(
-        //        || q_id != Some(Sequence::PlayLineDotted)
+                format!("/pl/{}/{}", config.client_id, config.laser_id),
-        //        || n != 65534)
+                format!("{:?}", pl),
-        //{
+            )?;
-        //    let millis = std::time::Duration::from_millis(400); // TODO: find solution to know when change has been done
+        }
-        //    std::thread::sleep(millis);
+
-        //}
+        qualibration.run_step()?;
     }
 
     let _ = con.set(
@@ -135,3 +125,21 @@ fn run_all() -> Result<(), Box<dyn std::error::Error>> {
     )?;
     Ok(())
 }
+
+//let _t = _framerate_handler.handle_time()?;
+/////////////////
+//qualibration.id = next_id;
+
+//let q_id = qualibration.id.clone();
+//let mut n = 65534;
+//if let Sequence::TakeMultiple(m) = q_id.clone().unwrap_or(Sequence::Finish) {
+//    n = m;
+//};
+//if qualibration.capture_mode
+//    && (q_id != Some(Sequence::WaitSpace)
+//        || q_id != Some(Sequence::PlayLineDotted)
+//        || n != 65534)
+//{
+//    let millis = std::time::Duration::from_millis(400); // TODO: find solution to know when change has been done
+//    std::thread::sleep(millis);
+//}

src/qualibration.rs

@@ -37,7 +37,7 @@ pub struct Qualibration {
 }
 
 impl Qualibration {
-    pub fn new() -> Result<Self> {
+    pub fn new() -> Result<Self, Box<dyn std::error::Error>> {
         //let v: Vec<Box<dyn Sequence>> = vec![];
 
         let mut dir_name = "".to_string(); //"building.jpg".to_string(); // by default
@@ -54,23 +54,25 @@ impl Qualibration {
         let mut frame = Mat::default();
         cam.read(&mut frame)?;
 
-        // 38400 -> r:150, v:0, b:0
+        // 9830400 -> r:150, v:0, b:0
-        let beg = Point::from((0., 0., 38400));
+        let beg = Point::from((0., 0., 9830400));
-        let beg2 = Point::from((4095., 0., 38400));
+        let beg2 = Point::from((0., 4095., 9830400));
-        let end = Point::from((4095., 4095., 38400));
+        let end = Point::from((4095., 4095., 9830400));
         let seq: Vec<Box<dyn Sequence>> = vec![
-            Box::new(LoadImage::new()),
+            Box::new(WaitSpace::new(beg, end, 400)),
-            Box::new(WaitSpace::new(beg, end)),
+            Box::new(InitBorder::new(beg, end, 400)),
-            Box::new(InitBorder::new(beg, end)),
+            Box::new(LineDotted::new(beg, end, 2, true, false, 400)),
-            Box::new(LineDotted::new(beg, end, true, false)),
+            Box::new(InitIdcode::new(beg2, end, 400)),
-            Box::new(InitIdcode::new(beg2, end)),
-            Box::new(SaveImage::new()),
         ];
-        //let now = std::time::Instant::now();
+        let seq_names = get_sequence_name(&seq);
+        let mut param = Param::new(dir_name.to_owned(), seq_names)?;
+        if !param.capture_mode {
+            param.load_image()?;
+        }
         Ok(Qualibration {
             seq,
             cam,
-            param: Param::new(dir_name.to_owned())?,
+            param,
         })
     }
 
@@ -92,7 +94,18 @@ impl Qualibration {
     }
 
     pub fn run_step(self: &mut Self) -> Result<(), Box<dyn std::error::Error>> {
+        let seq_id = self.param.seq_id;
+        let seq_name = self.seq[seq_id].sequence_name();
+        println!("seq[{seq_id}]: {seq_name}");
+
+        if self.param.capture_mode {
+            let millis_nb = self.seq[self.param.seq_id].wait_milis();
+            let millis = std::time::Duration::from_millis(millis_nb); // TODO: find solution to know when change has been done
+            std::thread::sleep(millis);
+        }
+ 
         let mut frame = Mat::default();
+        //println!("sequence: {}:{:?}", self.param.seq_id, &self.seq[self.param.seq_id]);
         if self.param.capture_mode {
             self.cam.read(&mut frame)?;
             highgui::imshow("camera", &frame)?;
@@ -108,4 +121,16 @@ impl Qualibration {
 
         Ok(())
     }
+
 }
+
+pub fn get_sequence_name(seq: &Vec<Box<dyn Sequence>>) -> Vec<String> {
+    let mut v = vec![];
+
+    for i in 0..seq.len() {
+        v.push(seq[i].sequence_name());
+    }
+
+    v
+}
+

src/qualibration/annalyse.rs

@@ -819,6 +819,7 @@ pub fn trackbar_init_param(mem: &mut Param, winname: &str) -> Result<()> {
 
     create_trackbar("nb_all", winname, Some(&mut mem.nb_all), 400, None)?;
     create_trackbar("nb_visible", winname, Some(&mut mem.nb_visible), 400, None)?;
+    create_trackbar("nb_wait", winname, Some(&mut mem.nb_wait), 40, None)?;
     create_trackbar("r", winname, Some(&mut mem.r), MAX_TRACKBAR, None)?;
     create_trackbar("g", winname, Some(&mut mem.g), MAX_TRACKBAR, None)?;
     create_trackbar("b", winname, Some(&mut mem.b), MAX_TRACKBAR, None)?;
@@ -914,7 +915,7 @@ pub fn line_pos(mem: &mut Param, winname: &str) -> Result<()> {
 pub fn adding_trackbar(mem: &mut Param, _winname: &str) -> Result<()> {
     //println!("winname: {winname}");
     //line_pos(&mut mem, "Play Line")?;
-    //trackbar_init_param(mem, "init_param")?;
+    trackbar_init_param(mem, "init_param")?;
 
     named_window("histo bgr", WINDOW_AUTOSIZE)?;
     associate_trackbar("histo bgr", &mut mem.tresh)?;

src/qualibration/param.rs

@@ -10,6 +10,7 @@ use std::time::Instant;
 #[derive(Clone, Debug)]
 pub struct Param {
     pub seq_id: usize,
+    pub seq_names: Vec<String>,
     pub imgs: Vec<Vec<Mat>>,
     pub dst_size: i32,
     pub r: i32,
@@ -35,7 +36,7 @@ pub struct Param {
 }
 
 impl Param {
-    pub fn new(dir_name: String) -> Result<Self> {
+    pub fn new(dir_name: String, seq_names: Vec<String>) -> Result<Self> {
         Ok(Self {
             begin: std::time::Instant::now(),
             capture_mode: dir_name.len() == 0,
@@ -43,6 +44,7 @@ impl Param {
             key: -1,
             imgs: vec![vec![]],
             seq_id: 0,
+            seq_names,
             dst_size: 900,
             r: 150,
             g: 0,
@@ -50,7 +52,7 @@ impl Param {
             nb_all: 120,
             nb_visible: 40,
             nb_liss: 10,
-            nb_wait: 30,
+            nb_wait: 3,
             tresh: Treshold::new("histogram", 160, 255)?,
             canny_v1: 170,
             canny_v2: 255,
@@ -80,11 +82,11 @@ impl Param {
         );
         create_dir(&new_dir).unwrap_or(());
         for (i, img_seq) in self.imgs.iter().enumerate() {
-            let seq_dir_name = format!("{new_dir}/{i}");
+            let seq_dir_name = format!("{new_dir}/seq_{i}_{}", self.seq_names[i]);
             create_dir(&seq_dir_name).unwrap_or(());
-            for img in img_seq {
+            for (id, img) in img_seq.iter().enumerate() {
                 let mut name_img = format!("{seq_dir_name}/");
-                name_img.push_str(&format!("img_{i}.png"));
+                name_img.push_str(&format!("img_{id}.png"));
                 imwrite(&name_img, img, &Vector::from_slice(&[6, 6, 6, 0]))?;
             }
         }
@@ -100,11 +102,16 @@ impl Param {
             let dir = entry?;
             let path = dir.path(); // sequence directory
             let names: Vec<&str> = path.to_str().unwrap().split("/").collect();
-            let seq_id: usize = names[names.len() - 1].parse()?;
+            let parts: Vec<&str> = names[names.len() - 1].split("_").collect();
+            let nbr = parts[1];
+            //println!("\t\t=> '{}'",  names[names.len() - 1]);
+            let seq_id: usize = parts[1].parse()?;
             for entry in read_dir(&path)? {
                 let sub_path = entry?.path();
-                let names: Vec<&str> = path.to_str().unwrap().split("/").collect();
+                let names: Vec<&str> = sub_path.to_str().unwrap().split("/").collect();
                 let img_name = names[names.len() - 1];
+                //println!("all_names: {:?}", &names);
+                //println!("img_name: {}", img_name);
                 let img_id: usize = img_name[4..img_name.len() - 4].parse()?;
                 let img: Mat = imread(
                     &find_file(&sub_path.to_str().unwrap(), false, false)?,

src/qualibration/sequence.rs

@@ -18,6 +18,8 @@ pub trait Sequence {
     fn draw(&self, mem: &Param) -> Option<Vec<Point>>;
     fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>>;
     fn is_capture(&self) -> bool;
+    fn sequence_name(&self) -> String;
+    fn wait_milis(&self) -> u64;
 }
 
 impl std::fmt::Debug for dyn Sequence {

src/qualibration/sequence/init_border.rs

@@ -7,14 +7,15 @@ use crate::qualibration::{
 
 use crate::qualibration::annalyse::image_diff;
 use crate::qualibration::borders::{
-    bord_mult, get_extermities, get_intersection, probabilistic_hough,
+    bord_mult, get_extermities, get_intersection, probabilistic_hough, mix_borders,
 };
 
 use opencv::{
     calib3d,
-    core::{Mat, Point as OcvPoint, Size, VecN, Vector},
+    core::{Mat, Point as OcvPoint, Size, VecN, Vector, Scalar, BORDER_CONSTANT},
-    imgproc::{canny, cvt_color, COLOR_BGR2GRAY},
+    imgproc::{self, canny, cvt_color, COLOR_BGR2GRAY, line},
     Result,
+    highgui,
 };
 
 opencv::opencv_branch_4! {
@@ -30,10 +31,11 @@ pub struct InitBorder {
     finished: bool,
     cnt: usize,
     borders: [Point; 4],
+    nb_millis: u64,
 }
 
 impl InitBorder {
-    pub fn new(beg: Point, end: Point) -> Self {
+    pub fn new(beg: Point, end: Point, nb_millis: u64) -> Self {
         InitBorder {
             borders: [
                 Point {
@@ -57,6 +59,7 @@ impl InitBorder {
                     color: end.color,
                 },
             ],
+            nb_millis,
             cnt: 0,
             finished: false,
         }
@@ -67,7 +70,7 @@ impl Sequence for InitBorder {
     //type Obj = Self;
 
     fn draw(&self, mem: &Param) -> Option<Vec<Point>> {
-        if self.cnt > self.borders.len() {
+        if self.cnt > self.borders.len() || self.finished {
             return None;
         }
         if self.cnt == self.borders.len() {
@@ -126,19 +129,19 @@ impl Sequence for InitBorder {
         let border_pt = get_intersection(&bords_pts);
         mem.border_pt = bord_mult(border_pt, 1.1);
 
-        //// on dessine le cadre
+        // on dessine le cadre
-        //let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.);
+        let color: VecN<f64, 4> = VecN::new(255., 128., 0., 255.);
-        //let mut mixed = mix_borders(&background, borders)?;
+        let mut mixed = mix_borders(&background, borders)?;
-        //let b = &mem.border_pt;
+        let b = &mem.border_pt;
-        //for i in 0..b.len() {
+        for i in 0..b.len() {
-        //    let j = (i + 1) % mem.border_pt.len();
+            let j = (i + 1) % mem.border_pt.len();
-        //    let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]);
+            let pa = VecN::from_array([b[i].0 as i32, b[i].1 as i32]);
-        //    let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]);
+            let pb = VecN::from_array([b[j].0 as i32, b[j].1 as i32]);
-        //    let a = OcvPoint::from_vec2(pa);
+            let a = OcvPoint::from_vec2(pa);
-        //    let b = OcvPoint::from_vec2(pb);
+            let b = OcvPoint::from_vec2(pb);
-        //    line(&mut mixed, a, b, color, 1, LINE_AA, 0)?;
+            line(&mut mixed, a, b, color, 1, LINE_AA, 0)?;
-        //}
+        }
-        //highgui::imshow("mixed bored", &mixed)?;
+        highgui::imshow("mixed bored", &mixed)?;
 
         // on calcule l'homography
         let size = mem.dst_size;
@@ -150,7 +153,7 @@ impl Sequence for InitBorder {
             .map(|(x, y)| OcvPoint::new(*x as i32, *y as i32))
             .collect();
         //let dst = [(0, 0), (0, size), (size, size), (size, 0)]; // in: laser repere
-        let dst = [(0, size), (0, 0), (size, 0), (size, size)];
+        let dst = [(size, size), (size, 0), (0, 0), (0, size)];
         let dst_corners: Vec<OcvPoint> = dst.iter().map(|(x, y)| OcvPoint::new(*x, *y)).collect();
         let roi_corners_mat = Mat::from_slice(&roi_corners[..])?;
         let dst_corners_mat = Mat::from_slice(&dst_corners)?;
@@ -163,17 +166,17 @@ impl Sequence for InitBorder {
         )?; //get homography
         mem.homography = h.clone();
         mem.h_size = warped_image_size.clone();
-        //let mut warped_image = Mat::default();
+        let mut warped_image = Mat::default();
-        //imgproc::warp_perspective(
+        imgproc::warp_perspective(
-        //    &mixed,
+            &mixed,
-        //    &mut warped_image,
+            &mut warped_image,
-        //    &h,
+            &h,
-        //    warped_image_size,
+            warped_image_size,
-        //    imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
+            imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
-        //    core::BORDER_CONSTANT,
+            BORDER_CONSTANT,
-        //    Scalar::default(),
+            Scalar::default(),
-        //)?; // do perspective transformation
+        )?; // do perspective transformation
-        //highgui::imshow("Warped Image", &warped_image)?;
+        highgui::imshow("Warped Image", &warped_image)?;
         self.finished = true;
         Ok(())
     }
@@ -181,6 +184,14 @@ impl Sequence for InitBorder {
     fn is_capture(&self) -> bool {
         true
     }
+
+    fn sequence_name(&self) -> String {
+        "Init_Border".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }
 
 pub fn get_lines(

src/qualibration/sequence/init_idcode.rs

@@ -2,7 +2,7 @@ use crate::{
     draw::draw_line_dotted,
     point::Point,
     qualibration::{
-        annalyse::{get_horizontal_segment, image_diff},
+        annalyse::{get_horizontal_segment, get_vertical_segment, image_diff},
         compute_image::{image_treshold, image_warp},
         param::Param,
         Sequence,
@@ -29,15 +29,17 @@ pub struct InitIdcode {
     cnt: usize,
     beg: Point,
     end: Point,
+    nb_millis: u64,
 }
 
 impl InitIdcode {
-    pub fn new(beg: Point, end: Point) -> InitIdcode {
+    pub fn new(beg: Point, end: Point, nb_millis: u64) -> InitIdcode {
         InitIdcode {
             finished: false,
             cnt: 0,
             beg,
             end,
+            nb_millis,
         }
     }
 }
@@ -99,7 +101,16 @@ impl Sequence for InitIdcode {
         self.finished = true;
         Ok(())
     }
+
     fn is_capture(&self) -> bool {
         true
     }
+
+    fn sequence_name(&self) -> String {
+        "init_Id-Code".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }

src/qualibration/sequence/line_dotted.rs

@@ -1,11 +1,14 @@
-use crate::point::{Color, Point};
+use crate::{
-use crate::qualibration::{
+    point::{Color, Point},
-    annalyse::{
+    qualibration::{
-        draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
+        annalyse::{
-        image_diff,
+            draw_histograme_bgr_tresh, get_horizontal_segment, get_vertical_segment, histogram_3d,
+            image_diff,
+        },
+        compute_image::{image_treshold, image_warp},
+        param::Param,
+        Sequence,
     },
-    param::Param,
-    Sequence,
 };
 
 use opencv::{
@@ -20,6 +23,7 @@ opencv::opencv_branch_4! {
 }
 opencv::not_opencv_branch_4! {
     use opencv::core::LINE_AA;
+    use opencv::imgproc::LINE_8;
 }
 
 #[derive(Debug, Clone)]
@@ -30,10 +34,12 @@ pub struct LineDotted {
     end: Point,
     continuous_y: bool,
     continuous_x: bool,
+    nb_millis: u64,
+    factor: usize,
 }
 
 impl LineDotted {
-    pub fn new(beg: Point, end: Point, continuous_y: bool, continuous_x: bool) -> Self {
+    pub fn new(beg: Point, end: Point, factor: usize, continuous_y: bool, continuous_x: bool, nb_millis: u64) -> Self {
         Self {
             finished: false,
             cnt: 0,
@@ -41,6 +47,8 @@ impl LineDotted {
             end,
             continuous_x,
             continuous_y,
+            factor,
+            nb_millis,
         }
     }
 }
@@ -55,36 +63,47 @@ impl Sequence for LineDotted {
         }
         let nb_all = mem.nb_all;
         let nb_wait = mem.nb_wait as usize;
-        let nb_visible = mem.nb_visible as usize;
+        //let nb_visible = mem.nb_visible as usize;
+        let len = (self.factor * mem.line_pos.len() + nb_wait) as f32;
         let mut pl = vec![];
+        let black = Color { r: 0, g: 0, b: 0 };
         let color = Color {
             r: mem.r as u8,
             g: mem.g as u8,
             b: mem.b as u8,
         };
-        let black = Color { r: 0, g: 0, b: 0 };
+
+        // go to firsst point
         for _ in 0..nb_all {
             pl.push(Point {
                 color: black,
                 ..self.beg
             });
         }
-        let len = (2 * mem.line_pos.len() + nb_wait) as f32;
+
+        // go on the continus_axes in black to gain speed
         for i in 0..nb_wait {
-            let val_x = i as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
+            let val_x = self.end.x;//i as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
-            let val_y = i as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
+            let val_y = self.end.y;//i as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
             pl.push(Point {
                 x: if self.continuous_x { val_x } else { self.beg.x },
                 y: if self.continuous_y { val_y } else { self.beg.y },
                 color: black,
             });
         }
-        for i in 0..(mem.line_pos.len() * 2) {
+
+        // donne each pose lavue acording to the slide bar value and the continus axes
+        for i in 0..(mem.line_pos.len() * self.factor) {
             let val_cont_x = (i + nb_wait) as f32 / len * (self.end.x - self.beg.x) + self.beg.x;
             let val_cont_y = (i + nb_wait) as f32 / len * (self.end.y - self.beg.y) + self.beg.y;
-            let val_x = mem.line_pos[i / 2] as f32 + self.beg.x;
+            let val_x = mem.line_pos[i / self.factor] as f32 + self.beg.x;
-            let val_y = mem.line_pos[i / 2] as f32 + self.beg.y;
+            let val_y = mem.line_pos[i / self.factor] as f32 + self.beg.y;
-            let is_visible = (i + nb_wait) % 2 == 0 && i < nb_visible;
+            //let is_visible = (i + nb_wait) % 2 == 0;// && i < nb_visible;
+            let is_visible = match (self.cnt, i) {
+                (1, _) => true,
+                (2, i) => i & 1 == 0,
+                (cnt, i) => i & (1 << (cnt - 3)) != 0,
+            };
             let c = if is_visible { color } else { black };
             pl.push(Point {
                 x: if self.continuous_x { val_cont_x } else { val_x },
@@ -97,52 +116,37 @@ impl Sequence for LineDotted {
     }
 
     fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
-        if self.cnt < 1 {
+        if self.cnt <= ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 2 {
             self.cnt += 1;
+            return Ok(())
         }
-        let ids = mem.seq_id;
+            //let len = ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 1;
-        let background = mem.imgs[ids][0].to_owned();
-        let line_dot = mem.imgs[ids][1].to_owned();
-        let diff = image_diff(&background, &line_dot)?;
 
-        let mut warped_image = Mat::default();
+        //if self.cnt > ((self.factor * mem.line_pos.len()) as f64).log2() as usize + 1 {
-        imgproc::warp_perspective(
+        //    if mem.capture_mode {
-            &diff,
+        //        self.finished = true;
-            &mut warped_image,
+        //    } else {
-            &mem.homography,
+        //        self.cnt = 0;
-            mem.h_size,
+        //    }
-            imgproc::INTER_CUBIC, // I dont see difference with INTER_CUBIC
+        //    return Ok(())
-            BORDER_CONSTANT,
+        //}
-            Scalar::default(),
+        //println!("Groboulli: {}", line!());
-        )?;
+        let ids = mem.seq_id;
-        //highgui::imshow("Warped Image", &warped_image)?;
+        let img_len = mem.imgs[ids].len();
+        let img_id = 2;//(img_len-1).min(self.cnt);
+
+        let background = mem.imgs[ids][0].to_owned();
+        let line_dot = mem.imgs[ids][img_id].to_owned();
+        let diff = image_diff(&line_dot, &background)?;
+        //highgui::imshow("lone dotted", &diff)?;
+
+        let warped_image = image_warp(&diff, &mem.homography, mem.h_size)?;
+        let mut bord_treshed = image_treshold(&warped_image, &mem.tresh)?;
+        highgui::imshow("Warped and treshed Image", &bord_treshed)?;
 
         let histo = histogram_3d(&warped_image, mem.nb_liss)?;
         draw_histograme_bgr_tresh("histo bgr", &histo, &mem.tresh)?;
 
-        let (t1, s1, l1) = (
-            mem.tresh.min_0 as f64,
-            mem.tresh.min_1 as f64,
-            mem.tresh.min_2 as f64,
-        );
-        let (t2, s2, l2) = (
-            mem.tresh.max_0 as f64,
-            mem.tresh.max_1 as f64,
-            mem.tresh.max_2 as f64,
-        );
-        let min = Mat::from_slice(&[t1, s1, l1])?;
-        let max = Mat::from_slice(&[t2, s2, l2])?;
-        let mut color_selected = Mat::default();
-        let _ = in_range(&warped_image, &min, &max, &mut color_selected);
-        let mut bord_treshed = Mat::default();
-        bitwise_and(
-            &warped_image,
-            &warped_image,
-            &mut bord_treshed,
-            &color_selected,
-        )?;
-        //highgui::imshow(format!("warped_image & mask").as_str(), &bord_treshed)?;
-
         let segments = if self.continuous_y {
             get_vertical_segment(&bord_treshed)?
         } else {
@@ -158,10 +162,18 @@ impl Sequence for LineDotted {
             line(&mut bord_treshed, a, b, color, 1, LINE_8, 0)?;
         }
         highgui::imshow("segemnt detector", &bord_treshed)?;
+        self.cnt += 1;
         self.finished = true;
         Ok(())
     }
     fn is_capture(&self) -> bool {
         true
     }
+    fn sequence_name(&self) -> String {
+        "line_Dotted".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }

src/qualibration/sequence/load_image.rs

@@ -5,11 +5,12 @@ use opencv::Result;
 #[derive(Debug, Clone, Copy)]
 pub struct LoadImage {
     finished: bool,
+    nb_millis: u64,
 }
 
 impl LoadImage {
     pub fn new() -> LoadImage {
-        LoadImage { finished: false }
+        LoadImage { finished: false, nb_millis: 0 }
     }
 }
 
@@ -20,6 +21,7 @@ impl Sequence for LoadImage {
         }
         Some(vec![])
     }
+
     fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
         if !mem.capture_mode {
             mem.load_image()?;
@@ -27,7 +29,16 @@ impl Sequence for LoadImage {
         self.finished = true;
         Ok(())
     }
+
     fn is_capture(&self) -> bool {
         false
     }
+
+    fn sequence_name(&self) -> String {
+        "Load_Image".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }

src/qualibration/sequence/save_image.rs

@@ -5,11 +5,12 @@ use opencv::Result;
 #[derive(Debug, Clone, Copy)]
 pub struct SaveImage {
     finished: bool,
+    nb_millis: u64,
 }
 
 impl SaveImage {
     pub fn new() -> SaveImage {
-        SaveImage { finished: false }
+        SaveImage { finished: false, nb_millis: 0}
     }
 }
 
@@ -20,12 +21,22 @@ impl Sequence for SaveImage {
         }
         Some(vec![])
     }
+
     fn compute_sequence(&mut self, mem: &mut Param) -> Result<(), Box<dyn std::error::Error>> {
         mem.save_image()?;
         self.finished = true;
         Ok(())
     }
+
     fn is_capture(&self) -> bool {
         false
     }
+
+    fn sequence_name(&self) -> String {
+        "Save_Image".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }

src/qualibration/sequence/wait_space.rs

@@ -9,16 +9,13 @@ use opencv::Result;
 #[derive(Debug, Clone, Copy)]
 pub struct WaitSpace {
     borders: [Point; 4],
-    red: [Point; 2],
+    mid: [Point; 2],
-    green: [Point; 2],
+    nb_millis: u64,
-    blue: [Point; 2],
 }
 
 impl WaitSpace {
-    pub fn new(beg: Point, end: Point) -> Self {
+    pub fn new(beg: Point, end: Point, nb_millis: u64) -> Self {
-        let red_y = (end.y - beg.y) * 1./5. + beg.y;
+        let mid = (end.y - beg.y) * 0.5 + beg.y;
-        let green_y = (end.y - beg.y) * 2./5. + beg.y;
-        let blue_y = (end.y - beg.y) * 3./5. + beg.y;
         Self {
             borders: [
                 Point {
@@ -42,42 +39,19 @@ impl WaitSpace {
                     color: end.color,
                 },
             ],
-            red: [
+            mid: [
                 Point {
                     x: beg.x,
-                    y: red_y,
+                    y: mid,
                     color: end.color,
                 },
                 Point {
                     x: end.x,
-                    y: red_y,
+                    y: mid,
-                    color: end.color,
-                },
-            ],
-            blue: [
-                Point {
-                    x: beg.x,
-                    y: blue_y,
-                    color: end.color,
-                },
-                Point {
-                    x: end.x,
-                    y: blue_y,
-                    color: end.color,
-                },
-            ],
-            green: [
-                Point {
-                    x: beg.x,
-                    y: green_y,
-                    color: end.color,
-                },
-                Point {
-                    x: end.x,
-                    y: green_y,
                     color: end.color,
                 },
             ],
+            nb_millis,
         }
     }
 }
@@ -94,21 +68,6 @@ impl Sequence for WaitSpace {
             g: mem.g as u8,
             b: mem.b as u8,
         };
-        let red = Color {
-            r: mem.r as u8,
-            g: 0,
-            b: 0,
-        };
-        let green = Color {
-            r: 0,
-            g: mem.g as u8,
-            b: 0,
-        };
-        let blue = Color {
-            r: 0,
-            g: 0,
-            b: mem.b as u8,
-        };
         for i in 0..self.borders.len() {
             let id1 = (i + 1) % self.borders.len();
             let p0 = Point {
@@ -126,44 +85,18 @@ impl Sequence for WaitSpace {
                 mem.nb_visible as usize,
             ));
             pl.extend(draw_line_dotted(
-                &Point{
+                &Point {
-                    color: blue,
+                    color,
-                    ..self.blue[0]
+                    ..self.mid[0]
                 },
-                &Point{
+                &Point {
-                    color: blue,
+                    color,
-                    ..self.blue[1]
+                    ..self.mid[1]
                 },
                 mem.nb_all as usize,
                 mem.nb_visible as usize,
                 true,
-                    ));
+            ));
-            pl.extend(draw_line_dotted(
-                &Point{
-                    color: green,
-                    ..self.green[0]
-                },
-                &Point{
-                    color: green,
-                    ..self.green[1]
-                },
-                mem.nb_all as usize,
-                mem.nb_visible as usize,
-                true,
-                    ));
-            pl.extend(draw_line_dotted(
-                &Point{
-                    color: red,
-                    ..self.red[0]
-                },
-                &Point{
-                    color: red,
-                    ..self.red[1]
-                },
-                mem.nb_all as usize,
-                mem.nb_visible as usize,
-                true,
-                    ));
         }
         Some(pl)
     }
@@ -173,4 +106,12 @@ impl Sequence for WaitSpace {
     fn is_capture(&self) -> bool {
         false
     }
+
+    fn sequence_name(&self) -> String {
+        "Wait_Space".to_owned()
+    }
+
+    fn wait_milis(&self) -> u64 {
+        self.nb_millis
+    }
 }