feat: laser autofocus improvement

software/control/_def.py

@@ -599,21 +599,25 @@ class SOFTWARE_POS_LIMIT:
 LASER_AF_CROP_HEIGHT = 256
 LASER_AF_SPOT_DETECTION_MODE = SpotDetectionMode.DUAL_LEFT.value
 LASER_AF_RANGE = 100
-DISPLACEMENT_SUCCESS_WINDOW_UM = 1.0
+DISPLACEMENT_SUCCESS_WINDOW_PIXELS = 300  # Max displacement from reference x to accept detection (pixels)
 SPOT_CROP_SIZE = 100
 CORRELATION_THRESHOLD = 0.7
 PIXEL_TO_UM_CALIBRATION_DISTANCE = 6.0
-LASER_AF_Y_WINDOW = 96
-LASER_AF_X_WINDOW = 20
-LASER_AF_MIN_PEAK_WIDTH = 10
-LASER_AF_MIN_PEAK_DISTANCE = 10
-LASER_AF_MIN_PEAK_PROMINENCE = 0.20
-LASER_AF_SPOT_SPACING = 100
+# Connected component spot detection parameters
+LASER_AF_CC_THRESHOLD = 8  # Intensity threshold for binarization
+LASER_AF_CC_MIN_AREA = 5  # Minimum component area in pixels
+LASER_AF_CC_MAX_AREA = 5000  # Maximum component area in pixels
+LASER_AF_CC_ROW_TOLERANCE = 50  # Allowed deviation from expected row (pixels)
+LASER_AF_CC_MAX_ASPECT_RATIO = 2.5  # Maximum aspect ratio (width/height or height/width)
 SHOW_LEGACY_DISPLACEMENT_MEASUREMENT_WINDOWS = False
-LASER_AF_FILTER_SIGMA = None
+LASER_AF_FILTER_SIGMA = 1  # Sigma for Gaussian filter before spot detection
 LASER_AF_INITIALIZE_CROP_WIDTH = 1200
 LASER_AF_INITIALIZE_CROP_HEIGHT = 800
 
+LASER_AF_SEARCH_DOWN_FIRST = (
+    True  # If True, search downward (smaller z values) first then upward; if False, search upward first
+)
+
 MULTIPOINT_REFLECTION_AUTOFOCUS_ENABLE_BY_DEFAULT = False
 MULTIPOINT_CONTRAST_AUTOFOCUS_ENABLE_BY_DEFAULT = False
 

software/control/core/laser_af_settings_manager.py

@@ -48,7 +48,10 @@ def get_laser_af_settings(self) -> Dict[str, Any]:
         return self.autofocus_configurations
 
     def update_laser_af_settings(
-        self, objective: str, updates: Dict[str, Any], crop_image: Optional[np.ndarray] = None
+        self,
+        objective: str,
+        updates: Dict[str, Any],
+        crop_image: Optional[np.ndarray] = None,
     ) -> None:
         if objective not in self.autofocus_configurations:
             self.autofocus_configurations[objective] = LaserAFConfig(**updates)