所有
This commit is contained in:
yrx
404
laser_manager.py
404
laser_manager.py
@@ -6,6 +6,7 @@
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"""
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import _thread
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import json
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import math
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import os
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import binascii
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from maix import time
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@@ -34,9 +35,13 @@ class LaserManager:
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self._calibration_active = False
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self._calibration_result = None
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self._calibration_lock = threading.Lock()
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self._remote_detect_active = False
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self._remote_detect_lock = threading.Lock()
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self._remote_detect_result = None
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self._laser_point = None
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self._laser_turned_on = False
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self._last_frame_with_ellipse = None # 保存绘制了椭圆的图像（用于调试/显示）
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self._remote_detect_last_pos = None
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self._initialized = True
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# ==================== 状态访问（只读属性）====================
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@@ -113,7 +118,7 @@ class LaserManager:
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# 正常模式：从配置文件加载
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try:
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if "laser_config.json" in os.listdir("/root"):
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if os.path.exists(config.CONFIG_FILE):
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with open(config.CONFIG_FILE, "r") as f:
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data = json.load(f)
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if isinstance(data, list) and len(data) == 2:
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@@ -124,11 +129,240 @@ class LaserManager:
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raise ValueError
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else:
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self._laser_point = config.DEFAULT_LASER_POINT
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except:
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except Exception as e:
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if self.logger:
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self.logger.warning(f"[LASER] 加载激光点失败，使用默认值: {e}")
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self._laser_point = config.DEFAULT_LASER_POINT
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return self._laser_point
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@property
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def remote_detect_active(self):
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with self._remote_detect_lock:
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return self._remote_detect_active
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def get_remote_detect_result(self):
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"""获取并清除远程激光识别结果 (x, y) 或 None。"""
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with self._remote_detect_lock:
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result = self._remote_detect_result
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self._remote_detect_result = None
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return result
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def remote_detect_tick(self, frame):
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"""
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主循环显示路径调用的轻量 tick。
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兼容旧调用点：当前远程识别由后台线程处理，这里不做重计算，
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仅保留接口避免 AttributeError。
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"""
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return None
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def overlay_remote_detect_preview(self, frame):
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"""
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在预览画面叠加远程识别点与坐标文本。
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"""
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try:
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import cv2
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from maix import image
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with self._remote_detect_lock:
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pos = self._remote_detect_last_pos
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if not pos:
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return frame
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img_cv = image.image2cv(frame, False, False)
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if img_cv is None or img_cv.size == 0:
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return frame
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x, y = int(pos[0]), int(pos[1])
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h, w = img_cv.shape[:2]
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if x < 0 or y < 0 or x >= w or y >= h:
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return frame
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color = (255, 0, 0) # RGB
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cv2.circle(img_cv, (x, y), 8, color, 2)
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cv2.line(img_cv, (x - 12, y), (x + 12, y), color, 1)
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cv2.line(img_cv, (x, y - 12), (x, y + 12), color, 1)
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cv2.putText(img_cv, f"laser=({x},{y})", (max(5, x + 10), max(20, y - 10)),
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cv2.FONT_HERSHEY_SIMPLEX, 0.55, color, 1, cv2.LINE_AA)
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return image.cv2image(img_cv, False, False)
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except Exception as e:
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if self.logger:
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self.logger.debug(f"[LASER-REMOTE] overlay 绘制失败: {e}")
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return frame
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def _set_remote_detect_result(self, result):
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with self._remote_detect_lock:
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self._remote_detect_result = result
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def set_hardcoded_laser_point(self, x, y):
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"""更新 config.HARDCODE_LASER_POINT_VALUE（TCP cmd=201）。"""
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try:
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ix = int(round(float(x)))
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iy = int(round(float(y)))
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except (TypeError, ValueError) as e:
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raise ValueError(f"invalid laser point ({x!r}, {y!r})") from e
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config.HARDCODE_LASER_POINT = True
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config.HARDCODE_LASER_POINT_VALUE = (ix, iy)
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self._laser_point = (ix, iy)
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try:
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with open(config.CONFIG_FILE, "w") as f:
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json.dump([ix, iy], f)
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except Exception as e:
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if self.logger:
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self.logger.warning(f"[LASER] 保存硬编码激光点到本地失败: {e}")
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raise
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if self.logger:
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self.logger.info(
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f"[LASER] 已设置硬编码激光点 HARDCODE_LASER_POINT_VALUE=({ix}, {iy}) 并已保存到 {config.CONFIG_FILE}"
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)
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return ix, iy
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def start_remote_laser_detect(self):
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"""
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启动远程激光识别会话（TCP cmd=200）：开激光后持续检测。
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每次稳定 3s 上报一次坐标，外循环直到 cmd=201 调用 stop_remote_laser_detect()。
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Returns:
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True 已启动；False 会话已在运行
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"""
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with self._remote_detect_lock:
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if self._remote_detect_active:
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return False
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self._remote_detect_active = True
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self._remote_detect_result = None
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self._remote_detect_last_pos = None
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_thread.start_new_thread(self._remote_laser_detect_worker, ())
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if self.logger:
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self.logger.info("[LASER] 远程激光识别已启动 (cmd=200)")
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return True
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def stop_remote_laser_detect(self):
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with self._remote_detect_lock:
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self._remote_detect_active = False
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def _remote_laser_detect_worker(self):
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from camera_manager import camera_manager
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stable_sec = float(getattr(config, "LASER_REMOTE_DETECT_STABLE_SEC", 3.0))
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max_move = float(getattr(config, "LASER_REMOTE_DETECT_MAX_MOVE_PX", 12.0))
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sample_ms = int(getattr(config, "LASER_REMOTE_DETECT_SAMPLE_MS", 80))
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min_samples = int(getattr(config, "LASER_REMOTE_DETECT_MIN_SAMPLES", 8))
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warmup_ms = int(getattr(config, "LASER_REMOTE_DETECT_WARMUP_MS", 500))
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stable_ms = int(max(500, stable_sec * 1000))
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samples = []
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miss_count = 0
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stable_hit_count = 0
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reported = False
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try:
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if not self._laser_turned_on:
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try:
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self.turn_on_laser()
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except Exception as e:
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if self.logger:
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self.logger.warning(f"[LASER] cmd200 worker 开激光失败: {e}")
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if warmup_ms > 0:
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if self.logger:
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self.logger.info(f"[LASER] cmd200 激光预热 {warmup_ms}ms …")
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time.sleep_ms(warmup_ms)
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if self.logger:
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self.logger.info("[LASER] 远程识别外循环已启动，直至 cmd=201 停止")
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while True:
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with self._remote_detect_lock:
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if not self._remote_detect_active:
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if self.logger:
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self.logger.info("[LASER] 远程识别会话结束 (cmd=201 或取消)")
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return
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try:
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frame = camera_manager.read_frame()
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pos = self.find_red_laser_remote(frame)
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except Exception as e:
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if self.logger:
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self.logger.warning(f"[LASER] 远程识别帧异常: {e}")
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pos = None
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time.sleep_ms(sample_ms)
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continue
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now_ms = time.ticks_ms()
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if pos is None:
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miss_count += 1
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samples.clear()
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stable_hit_count = 0
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if miss_count == 1 or miss_count % 40 == 0:
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if self.logger:
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self.logger.info(
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f"[LASER-REMOTE] 本帧未检出激光点（累计 {miss_count} 帧），"
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f"全图多策略搜索中…"
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)
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time.sleep_ms(sample_ms)
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continue
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miss_count = 0
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x, y = float(pos[0]), float(pos[1])
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samples.append((now_ms, x, y))
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cutoff = now_ms - stable_ms
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samples = [(t, px, py) for t, px, py in samples if t >= cutoff]
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if len(samples) < 2:
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time.sleep_ms(sample_ms)
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continue
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xs = [s[1] for s in samples]
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ys = [s[2] for s in samples]
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span = max(
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max(xs) - min(xs),
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max(ys) - min(ys),
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)
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for i in range(len(samples)):
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for j in range(i + 1, len(samples)):
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d = math.hypot(
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samples[i][1] - samples[j][1],
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samples[i][2] - samples[j][2],
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)
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span = max(span, d)
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if span > max_move:
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if self.logger:
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self.logger.debug(
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f"[LASER] 检测到大幅位移 span={span:.1f}px>{max_move}，重新计时"
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)
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samples.clear()
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stable_hit_count = 0
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time.sleep_ms(sample_ms)
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continue
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window_ms = samples[-1][0] - samples[0][0]
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if window_ms >= stable_ms and len(samples) >= min_samples:
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fx = int(round(sum(xs) / len(xs)))
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fy = int(round(sum(ys) / len(ys)))
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stable_hit_count += 1
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if self.logger:
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self.logger.info(
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f"[LASER] 远程识别稳定命中 {stable_hit_count}/3 span={span:.1f}px → ({fx}, {fy})"
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)
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samples.clear()
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if stable_hit_count >= 3 and not reported:
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reported = True
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self._set_remote_detect_result(
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{"result":"laser_detect_ok", "x": fx, "y": fy}
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)
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if self.logger:
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self.logger.info(
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f"[LASER] 已连续3次坐标稳定，完成上报，继续等待 cmd=201 关闭会话"
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)
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time.sleep_ms(sample_ms)
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continue
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time.sleep_ms(sample_ms)
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finally:
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if self.logger:
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self.logger.info("[LASER] 远程识别线程退出，等待下一次 cmd=200")
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with self._remote_detect_lock:
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self._remote_detect_active = False
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def save_laser_point(self, point):
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"""保存激光中心点到配置文件
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如果启用硬编码模式，则不保存（直接返回 True）
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@@ -831,6 +1065,172 @@ class LaserManager:
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# 使用原来的最亮点方法
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return self._find_red_laser_brightest(frame, threshold, search_radius, ellipse_params)
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def find_red_laser_remote(self, frame):
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"""
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cmd=200 远程识别专用：全图搜索、多策略、放宽阈值，不限距画面中心距离。
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常规 find_red_laser 仅搜中心 ±LASER_SEARCH_RADIUS 且距中心 >50px 会丢弃。
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"""
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import cv2
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import numpy as np
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from maix import image
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img_cv = image.image2cv(frame, False, False)
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if img_cv is None or img_cv.size == 0:
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return None
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h, w = img_cv.shape[:2]
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r = img_cv[:, :, 0].astype(np.int32)
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g = img_cv[:, :, 1].astype(np.int32)
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b = img_cv[:, :, 2].astype(np.int32)
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brightness = r + g + b
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red_ratio = float(getattr(config, "LASER_RED_RATIO", 1.5))
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ratio_lo = max(1.15, red_ratio - 0.35)
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strategies = []
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base_th = int(getattr(config, "LASER_DETECTION_THRESHOLD", 140))
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for th in (base_th, 120, 100, 80, 60):
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mask = (
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(r > th)
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& (r > g * ratio_lo)
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& (r > b * ratio_lo)
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)
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strategies.append(("rgb", th, mask))
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oe_th = int(getattr(config, "LASER_OVEREXPOSED_THRESHOLD", 200))
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oe_diff = int(getattr(config, "LASER_OVEREXPOSED_DIFF", 10))
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mask_oe = (
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(r > oe_th - 30)
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& (g > oe_th - 40)
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& (b > oe_th - 40)
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& (r >= g)
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& (r >= b)
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& ((r - g) > max(5, oe_diff - 5))
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& ((r - b) > max(5, oe_diff - 5))
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)
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strategies.append(("overexposed", oe_th, mask_oe))
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mask_bright = (brightness > 380) & (r >= g) & (r >= b) & ((r - g) > 3)
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strategies.append(("bright", 0, mask_bright))
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hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
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hc, sc, vc = cv2.split(hsv)
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mask_hsv = ((hc <= 18) | (hc >= 162)) & (sc >= 60) & (vc >= 60)
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strategies.append(("hsv", 0, mask_hsv))
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best_pos = None
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best_score = -1.0
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best_tag = None
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max_area = float(getattr(config, "LASER_REMOTE_MAX_AREA", 300.0))
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min_circularity = float(getattr(config, "LASER_REMOTE_MIN_CIRCULARITY", 0.25))
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for name, th, mask in strategies:
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m = (mask.astype(np.uint8)) * 255
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if cv2.countNonZero(m) == 0:
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continue
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contours, _ = cv2.findContours(m, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
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if not contours:
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continue
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for cnt in contours:
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area = cv2.contourArea(cnt)
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if area < 1.5 or area > max_area:
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continue
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peri = cv2.arcLength(cnt, True)
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if peri <= 0:
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continue
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circularity = float(4.0 * math.pi * area / (peri * peri))
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if circularity < min_circularity:
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continue
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M = cv2.moments(cnt)
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if M["m00"] <= 0:
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continue
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cx = float(M["m10"] / M["m00"])
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cy = float(M["m01"] / M["m00"])
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ix, iy = int(round(cx)), int(round(cy))
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if ix < 0 or iy < 0 or ix >= w or iy >= h:
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continue
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local_r = float(r[iy, ix])
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score = area * local_r * (1.0 + local_r / 255.0) * (0.5 + circularity)
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if score > best_score:
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best_score = score
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best_pos = (ix, iy)
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best_tag = (name, th, area)
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if best_pos is not None:
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with self._remote_detect_lock:
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self._remote_detect_last_pos = best_pos
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self._save_remote_detect_debug_image(frame, best_pos, best_tag)
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if self.logger:
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self.logger.info(
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f"[LASER-REMOTE] 检测到激光点 {best_pos} "
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f"strategy={best_tag[0]} th={best_tag[1]} area={best_tag[2]:.1f}"
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)
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elif self.logger:
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self.logger.debug("[LASER-REMOTE] 未通过面积/圆度过滤")
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return best_pos
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def _save_remote_detect_debug_image(self, frame, pos, tag=None):
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"""保存远程识别调试图：叠加激光坐标并落盘。"""
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try:
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if not bool(getattr(config, "SAVE_IMAGE_ENABLED", True)):
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return
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import cv2
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from maix import image
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img_cv = image.image2cv(frame, False, False)
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if img_cv is None or img_cv.size == 0:
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return
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x, y = int(pos[0]), int(pos[1])
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h, w = img_cv.shape[:2]
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if x < 0 or y < 0 or x >= w or y >= h:
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return
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cv2.circle(img_cv, (x, y), 8, (255, 0, 0), 2)
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cv2.line(img_cv, (x - 12, y), (x + 12, y), (255, 0, 0), 1)
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cv2.line(img_cv, (x, y - 12), (x, y + 12), (255, 0, 0), 1)
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desc = ""
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if tag:
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desc = f" {tag[0]} th={tag[1]} area={tag[2]:.1f}"
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cv2.putText(
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img_cv,
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f"laser=({x},{y}){desc}",
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(10, 24),
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cv2.FONT_HERSHEY_SIMPLEX,
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0.55,
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(255, 0, 0),
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1,
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cv2.LINE_AA,
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)
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base_dir = getattr(config, "PHOTO_DIR", "/root/phot")
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debug_dir = f"{base_dir}/laser_remote"
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try:
|
||||
if debug_dir not in os.listdir("/root") and "/" not in debug_dir.replace("/root/", ""):
|
||||
os.mkdir(debug_dir)
|
||||
else:
|
||||
try:
|
||||
os.makedirs(debug_dir, exist_ok=True)
|
||||
except Exception:
|
||||
pass
|
||||
except Exception:
|
||||
try:
|
||||
os.makedirs(debug_dir, exist_ok=True)
|
||||
except Exception:
|
||||
return
|
||||
|
||||
ts = int(time.ticks_ms())
|
||||
filename = f"{debug_dir}/remote_{x}_{y}_{ts}.jpg"
|
||||
out = image.cv2image(img_cv, False, False)
|
||||
out.save(filename)
|
||||
|
||||
if self.logger:
|
||||
self.logger.info(f"[LASER-REMOTE] 调试图已保存: {filename}")
|
||||
except Exception as e:
|
||||
if self.logger:
|
||||
self.logger.warning(f"[LASER-REMOTE] 保存调试图失败: {e}")
|
||||
|
||||
def calibrate_laser_position(self, timeout_ms=8000, check_sharpness=True):
|
||||
"""
|
||||
执行激光校准：循环拍照 → 检测靶心 → 检查激光点清晰度 → 找红点 → 保存坐标
|
||||
|
||||
Reference in New Issue
Block a user