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feat: 2.17.18

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linyimin
2026-09-23 11:03:15 +08:00
parent e67c410325
commit 2834f5b9b7
6 changed files with 39 additions and 42 deletions
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shoot_manager.py
+31 -7
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@@ -59,6 +59,7 @@ def analyze_shot(frame, laser_point=None):
"""
logger = logger_manager.logger
from datetime import datetime
yellow_algorithm_ms = 0.0
# ── Step 1: 确定激光点 ────────────────────────────────────────────────────
laser_point_method = None
@@ -74,7 +75,11 @@ def analyze_shot(frame, laser_point=None):
logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
else:
# 动态模式：先做一次无激光点检测以估算距离，再推算激光点
_, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
_t_yellow = time_std.perf_counter()
try:
_, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
finally:
yellow_algorithm_ms += (time_std.perf_counter() - _t_yellow) * 1000.0
distance_m_first = estimate_distance(best_radius1_temp) if best_radius1_temp else None
if distance_m_first and distance_m_first > 0:
laser_point = laser_manager.calculate_laser_point_from_distance(distance_m_first)
@@ -119,6 +124,7 @@ def analyze_shot(frame, laser_point=None):
"laser_point": laser_point, "laser_point_method": laser_point_method,
"offset_method": "yellow_ellipse" if ellipse_params else "yellow_circle",
"distance_method": "yellow_radius",
"yellow_algorithm_ms": float(yellow_algorithm_ms),
}
if yolo_roi_xyxy is not None:
out["yolo_roi_xyxy"] = yolo_roi_xyxy
@@ -126,9 +132,12 @@ def analyze_shot(frame, laser_point=None):
if not use_tri:
# 三角形未配置，直接跑圆形检测
return _build_circle_result(
detect_circle_v3(frame, laser_point, img_cv=img_cv)
)
_t_yellow = time_std.perf_counter()
try:
cdata = detect_circle_v3(frame, laser_point, img_cv=img_cv)
finally:
yellow_algorithm_ms += (time_std.perf_counter() - _t_yellow) * 1000.0
return _build_circle_result(cdata)
# ── Step 4: 先独占跑三角形，超时或失败后再跑圆形（不与圆心并行，避免抢 CPU）──
roi_xyxy = None
@@ -281,6 +290,7 @@ def analyze_shot(frame, laser_point=None):
"laser_point": laser_point, "laser_point_method": laser_point_method,
"offset_method": tri.get("offset_method") or "triangle_homography",
"distance_method": tri.get("distance_method") or "pnp_triangle",
"yellow_algorithm_ms": float(yellow_algorithm_ms),
"tri_markers": tri.get("markers", []),
"tri_markers_completed": tri.get("markers_completed", []),
"tri_homography": tri.get("homography"),
@@ -301,7 +311,11 @@ def analyze_shot(frame, laser_point=None):
# 三角形超时或失败 → 跑圆心；圆心跑完后再检查三角形是否已结束
try:
cdata = detect_circle_v3(frame, laser_point, img_cv=img_cv)
_t_yellow = time_std.perf_counter()
try:
cdata = detect_circle_v3(frame, laser_point, img_cv=img_cv)
finally:
yellow_algorithm_ms += (time_std.perf_counter() - _t_yellow) * 1000.0
except Exception as e:
logger.error(f"[CIRCLE] 圆形检测异常: {e}")
cdata = (frame, None, None, None, None, None)
@@ -337,10 +351,15 @@ def process_shot(adc_val):
# Classify only the current shot frame; never reuse a previous result.
target_class_result = None
yolo_target_ms = 0.0
try:
from target_roi_yolo import try_get_target_class_from_yolo
target_class_result = try_get_target_class_from_yolo(frame, logger=logger)
_t_yolo_target = time_std.perf_counter()
try:
target_class_result = try_get_target_class_from_yolo(frame, logger=logger)
finally:
yolo_target_ms = (time_std.perf_counter() - _t_yolo_target) * 1000.0
if logger:
logger.info(f"[YOLO-TARGET] 当前箭业务结果: {target_class_result}")
except Exception as exc:
@@ -370,6 +389,7 @@ def process_shot(adc_val):
laser_point_method = analysis_result["laser_point_method"]
offset_method = analysis_result.get("offset_method", "yellow_circle")
distance_method = analysis_result.get("distance_method", "yellow_radius")
yellow_algorithm_ms = float(analysis_result.get("yellow_algorithm_ms", 0.0) or 0.0)
tri_markers = analysis_result.get("tri_markers", [])
tri_markers_completed = analysis_result.get("tri_markers_completed", [])
tri_homography = analysis_result.get("tri_homography")
@@ -419,7 +439,9 @@ def process_shot(adc_val):
"r": 20.0, # 保留字段（服务端当前忽略，物理外环半径 cm）
"target_class": target_label,
"target_class_confidence": (
float(target_confidence) if target_confidence is not None else None
round(float(target_confidence), 2)
if target_confidence is not None
else None
),
"d": round((distance_m or 0.0) * 100),
"d_laser": round((laser_distance_m or 0.0) * 100),
@@ -431,6 +453,8 @@ def process_shot(adc_val):
"target_y": float(y),
"offset_method": offset_method,
"distance_method": distance_method,
"yellow_algorithm_ms": round(yellow_algorithm_ms, 2),
"yolo_target_ms": round(float(yolo_target_ms), 2),
}
if ellipse_params: