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linyimin
2026-06-09 11:53:22 +08:00
parent 373eeb786a
commit 82d0008257
3 changed files with 24 additions and 8 deletions
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3
version.md
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@@ -21,4 +21,5 @@
# 2.15.8 启动不加载预加载yolo # 2.15.8 启动不加载预加载yolo
# 2.15.9 20cm # 2.15.9 20cm
# 2.15.10 不保存图片 # 2.15.10 不保存图片
# 2.15.11 优化内存 # 2.15.11 优化内存
# 2.15.12 优化算法

2
version.py
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@@ -4,6 +4,6 @@
应用版本号 应用版本号
每次 OTA 更新时，只需要更新这个文件中的版本号 每次 OTA 更新时，只需要更新这个文件中的版本号
""" """
VERSION = '2.15.11' VERSION = '2.15.12'

27
vision.py
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@@ -570,11 +570,13 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
# -- 3. 红色掩码：在循环外只算一次 # -- 3. 红色掩码：在循环外只算一次
mask_red = cv2.bitwise_or( mask_red = cv2.bitwise_or(
cv2.inRange(hsv, np.array([0, 50, 40]), np.array([10, 255, 255])), cv2.inRange(hsv, np.array([0, 30, 20]), np.array([12, 255, 255])),
cv2.inRange(hsv, np.array([170, 50, 40]), np.array([180, 255, 255])), cv2.inRange(hsv, np.array([168, 30, 20]), np.array([180, 255, 255])),
) )
kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5)) kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red) mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
# 再加一次膨胀，加厚环状区域避免碎片化
mask_red = cv2.dilate(mask_red, kernel_red, iterations=1)
contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# 预先把红色轮廓筛选成 (center, radius) 列表，后续直接查表 # 预先把红色轮廓筛选成 (center, radius) 列表，后续直接查表
red_candidates = [] red_candidates = []
@@ -583,7 +585,7 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
if ar <= 10: if ar <= 10:
continue continue
pr = cv2.arcLength(cnt_r, True) pr = cv2.arcLength(cnt_r, True)
if pr <= 0 or (4 * np.pi * ar) / (pr * pr) <= 0.3: if pr <= 0 or (4 * np.pi * ar) / (pr * pr) <= 0.2:
continue continue
if len(cnt_r) >= 5: if len(cnt_r) >= 5:
(xr, yr), (wr, hr), _ = cv2.fitEllipse(cnt_r) (xr, yr), (wr, hr), _ = cv2.fitEllipse(cnt_r)
@@ -625,7 +627,11 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
ddx = yellow_center[0] - rc["center"][0] ddx = yellow_center[0] - rc["center"][0]
ddy = yellow_center[1] - rc["center"][1] ddy = yellow_center[1] - rc["center"][1]
dist_centers = math.hypot(ddx, ddy) dist_centers = math.hypot(ddx, ddy)
if dist_centers < yellow_radius * 1.5 and rc["radius"] > yellow_radius * 0.7: max_dist = yellow_radius * 2.0
min_r = min(rc["radius"], yellow_radius)
max_r = max(rc["radius"], yellow_radius)
size_ratio = min_r / max_r if max_r > 0 else 0
if dist_centers < max_dist and size_ratio > 0.5:
if logger: if logger:
logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), " logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), "
f"红心({rc['center']}), 距离:{dist_centers:.1f}, " f"红心({rc['center']}), 距离:{dist_centers:.1f}, "
@@ -638,8 +644,17 @@ def detect_circle_v3(frame, laser_point=None, img_cv=None):
}) })
matched = True matched = True
break break
if not matched and logger: if not matched:
logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别") # 黄圈高置信度兜底：大且圆时跳过红圈验证
if area > 300 and circularity > 0.85:
valid_targets.append({
"center": yellow_center,
"radius": yellow_radius,
"ellipse": yellow_ellipse,
"area": area,
})
elif logger:
logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
logger.debug(f"[detect_circle_v3] step 4 fin {datetime.now()}") logger.debug(f"[detect_circle_v3] step 4 fin {datetime.now()}")