355 lines
14 KiB
Python
355 lines
14 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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视觉功能测试脚本
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测试QR码扫描、箭头检测、横线检测等视觉相关功能
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"""
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import time
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import sys
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import os
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import cv2
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import numpy as np
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# 添加父目录到路径，以便能够导入utils
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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from utils.decode_arrow import detect_arrow_direction, visualize_arrow_detection
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from utils.gray_sky_analyzer import analyze_gray_sky_ratio
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from utils.yellow_area_analyzer import analyze_yellow_area_ratio
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from base_move.move_base_hori_line import (
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detect_horizontal_track_edge, detect_horizontal_track_edge_v2, detect_horizontal_track_edge_v3,
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calculate_distance_to_line
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)
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from base_move.go_straight import go_straight_with_qrcode
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# 创建日志记录器
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logger = get_logger("视觉功能测试")
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def test_qr_code_scanning(ctrl, msg, observe=True):
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"""测试QR码扫描功能"""
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section('测试：QR码扫描功能', "视觉测试")
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info('开始测试QR码扫描功能...', "测试")
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try:
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# 启动异步QR码扫描
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ctrl.image_processor.start_async_scan(interval=0.3)
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info("已启动异步QR码扫描", "扫描")
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# 持续扫描10秒
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scan_duration = 10
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start_time = time.time()
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qr_results = []
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info(f"开始扫描，持续{scan_duration}秒...", "扫描")
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while time.time() - start_time < scan_duration:
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# 获取当前扫描结果
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qr_data, scan_time = ctrl.image_processor.get_last_qr_result()
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if qr_data and scan_time > start_time:
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if qr_data not in qr_results:
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qr_results.append(qr_data)
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success(f"扫描到QR码: {qr_data}", "扫描")
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time.sleep(0.5)
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# 停止扫描
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ctrl.image_processor.stop_async_scan()
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# 总结结果
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if qr_results:
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success(f"QR码扫描测试完成，共扫描到{len(qr_results)}个QR码", "成功")
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for i, qr_data in enumerate(qr_results, 1):
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info(f"QR码{i}: {qr_data}", "结果")
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else:
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warning("QR码扫描测试完成，但未扫描到任何QR码", "警告")
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except Exception as e:
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error(f"QR码扫描测试失败: {str(e)}", "失败")
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finally:
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# 确保停止扫描
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try:
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ctrl.image_processor.stop_async_scan()
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except:
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pass
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def test_arrow_detection(ctrl, msg, observe=True):
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"""测试箭头检测功能"""
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section('测试：箭头检测功能', "视觉测试")
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info('开始测试箭头检测功能...', "测试")
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try:
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# 连续检测箭头方向
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detection_count = 20
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left_count = 0
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right_count = 0
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unknown_count = 0
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info(f"开始检测箭头方向，共检测{detection_count}次...", "检测")
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for i in range(detection_count):
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# 获取当前图像
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img = ctrl.image_processor.get_current_image()
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if img is not None:
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# 检测箭头方向
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direction = detect_arrow_direction(img)
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if direction == "left":
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left_count += 1
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elif direction == "right":
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right_count += 1
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else:
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unknown_count += 1
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if observe:
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info(f"检测{i+1}: {direction}", "检测")
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# 保存检测结果的可视化图像（每5次保存一次）
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if i % 5 == 0:
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save_dir = "logs/image"
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os.makedirs(save_dir, exist_ok=True)
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timestamp = time.strftime("%Y%m%d_%H%M%S")
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save_path = f"{save_dir}/arrow_detection_test_{timestamp}_{i}.jpg"
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try:
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visualize_arrow_detection(img, save_path=save_path)
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info(f"箭头检测可视化结果已保存至: {save_path}", "保存")
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except Exception as e:
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warning(f"保存可视化结果失败: {str(e)}", "警告")
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time.sleep(0.2)
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# 总结结果
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info(f"箭头检测统计结果:", "统计")
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info(f" 左箭头: {left_count}次", "统计")
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info(f" 右箭头: {right_count}次", "统计")
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info(f" 未知/无箭头: {unknown_count}次", "统计")
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# 判断主要方向
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if left_count > right_count:
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final_direction = "left"
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elif right_count > left_count:
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final_direction = "right"
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else:
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final_direction = "unknown"
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success(f"箭头检测测试完成，主要方向: {final_direction}", "成功")
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except Exception as e:
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error(f"箭头检测测试失败: {str(e)}", "失败")
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def test_horizontal_line_detection(ctrl, msg, observe=True):
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"""测试横线检测功能"""
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section('测试：横线检测功能', "视觉测试")
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info('开始测试横线检测功能...', "测试")
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try:
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# 相机高度
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camera_height = 0.355 # 单位: 米
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# 测试不同版本的横线检测函数
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detection_functions = [
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("v1", detect_horizontal_track_edge),
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("v2", detect_horizontal_track_edge_v2),
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("v3", detect_horizontal_track_edge_v3),
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]
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for version, detect_func in detection_functions:
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info(f"测试横线检测函数 {version}...", "测试")
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# 连续检测5次
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detection_results = []
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for i in range(5):
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# 获取当前图像
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image = ctrl.image_processor.get_current_image()
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if image is not None:
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# 检测横线
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edge_point, edge_info = detect_func(image, observe=False, save_log=True)
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if edge_point is not None and edge_info is not None:
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# 计算到横线的距离
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distance = calculate_distance_to_line(edge_info, camera_height, observe=False)
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detection_results.append(distance)
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info(f" 检测{i+1}: 横线距离 {distance:.3f}米", "检测")
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else:
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info(f" 检测{i+1}: 未检测到横线", "检测")
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time.sleep(0.5)
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# 统计结果
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if detection_results:
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avg_distance = sum(detection_results) / len(detection_results)
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min_distance = min(detection_results)
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max_distance = max(detection_results)
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info(f" {version} 统计结果: 平均距离 {avg_distance:.3f}米, 最小 {min_distance:.3f}米, 最大 {max_distance:.3f}米", "统计")
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success(f"横线检测函数 {version} 测试成功", "成功")
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else:
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warning(f"横线检测函数 {version} 未检测到任何横线", "警告")
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success("横线检测功能测试完成", "成功")
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except Exception as e:
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error(f"横线检测测试失败: {str(e)}", "失败")
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def test_sky_analysis(ctrl, msg, observe=True):
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"""测试天空分析功能"""
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section('测试：天空分析功能', "视觉测试")
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info('开始测试天空分析功能...', "测试")
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try:
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# 连续分析天空比例
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analysis_count = 10
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sky_ratios = []
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info(f"开始分析天空比例，共分析{analysis_count}次...", "分析")
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for i in range(analysis_count):
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# 获取当前图像
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current_image = ctrl.image_processor.get_current_image()
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if current_image is not None:
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# 保存临时图像
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temp_image_path = f"/tmp/sky_analysis_{i}.jpg"
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cv2.imwrite(temp_image_path, current_image)
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# 分析灰色天空比例
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try:
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sky_ratio = analyze_gray_sky_ratio(temp_image_path)
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sky_ratios.append(sky_ratio)
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info(f"分析{i+1}: 天空比例 {sky_ratio:.2%}", "分析")
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except Exception as e:
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warning(f"分析{i+1}失败: {str(e)}", "警告")
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# 清理临时文件
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try:
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os.remove(temp_image_path)
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except:
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pass
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time.sleep(0.5)
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# 统计结果
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if sky_ratios:
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avg_ratio = sum(sky_ratios) / len(sky_ratios)
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min_ratio = min(sky_ratios)
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max_ratio = max(sky_ratios)
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info(f"天空分析统计结果:", "统计")
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info(f" 平均天空比例: {avg_ratio:.2%}", "统计")
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info(f" 最小天空比例: {min_ratio:.2%}", "统计")
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info(f" 最大天空比例: {max_ratio:.2%}", "统计")
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success("天空分析功能测试完成", "成功")
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else:
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warning("天空分析功能测试完成，但未获得有效分析结果", "警告")
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except Exception as e:
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error(f"天空分析测试失败: {str(e)}", "失败")
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def test_yellow_area_analysis(ctrl, msg, observe=True):
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"""测试黄色区域分析功能"""
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section('测试：黄色区域分析功能', "视觉测试")
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info('开始测试黄色区域分析功能...', "测试")
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try:
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# 连续分析黄色区域比例
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analysis_count = 10
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yellow_ratios = []
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info(f"开始分析黄色区域比例，共分析{analysis_count}次...", "分析")
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for i in range(analysis_count):
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# 获取当前图像
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current_image = ctrl.image_processor.get_current_image()
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if current_image is not None:
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try:
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# 分析黄色区域比例
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yellow_ratio = analyze_yellow_area_ratio(current_image)
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yellow_ratios.append(yellow_ratio)
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info(f"分析{i+1}: 黄色区域比例 {yellow_ratio:.2%}", "分析")
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except Exception as e:
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warning(f"分析{i+1}失败: {str(e)}", "警告")
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time.sleep(0.5)
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# 统计结果
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if yellow_ratios:
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avg_ratio = sum(yellow_ratios) / len(yellow_ratios)
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min_ratio = min(yellow_ratios)
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max_ratio = max(yellow_ratios)
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info(f"黄色区域分析统计结果:", "统计")
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info(f" 平均黄色区域比例: {avg_ratio:.2%}", "统计")
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info(f" 最小黄色区域比例: {min_ratio:.2%}", "统计")
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info(f" 最大黄色区域比例: {max_ratio:.2%}", "统计")
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success("黄色区域分析功能测试完成", "成功")
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else:
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warning("黄色区域分析功能测试完成，但未获得有效分析结果", "警告")
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except Exception as e:
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error(f"黄色区域分析测试失败: {str(e)}", "失败")
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def test_movement_with_qr_scanning(ctrl, msg, observe=True):
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"""测试移动过程中的QR码扫描"""
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section('测试：移动过程中的QR码扫描', "综合测试")
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info('开始测试移动过程中的QR码扫描...', "测试")
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try:
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# 记录初始位置
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initial_pos = ctrl.odo_msg.xyz
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info(f"初始位置: x={initial_pos[0]:.3f}, y={initial_pos[1]:.3f}", "位置")
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# 使用带QR码扫描的直线移动
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qr_result = go_straight_with_qrcode(
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ctrl, msg,
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distance=2.0,
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speed=0.3,
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qr_check_interval=0.3,
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observe=observe
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|||
|
|
)
|
|||
|
|
|
|||
|
|
# 记录最终位置
|
|||
|
|
final_pos = ctrl.odo_msg.xyz
|
|||
|
|
distance_moved = ((final_pos[0] - initial_pos[0])**2 + (final_pos[1] - initial_pos[1])**2)**0.5
|
|||
|
|
info(f"最终位置: x={final_pos[0]:.3f}, y={final_pos[1]:.3f}", "位置")
|
|||
|
|
info(f"移动距离: {distance_moved:.3f}米", "距离")
|
|||
|
|
|
|||
|
|
# 报告QR码扫描结果
|
|||
|
|
if qr_result:
|
|||
|
|
success(f"移动过程中成功扫描到QR码: {qr_result}", "成功")
|
|||
|
|
else:
|
|||
|
|
warning("移动过程中未扫描到QR码", "警告")
|
|||
|
|
|
|||
|
|
success("移动过程中的QR码扫描测试完成", "成功")
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
error(f"移动过程中的QR码扫描测试失败: {str(e)}", "失败")
|
|||
|
|
|
|||
|
|
def run_vision_function_tests(ctrl, msg):
|
|||
|
|
"""运行所有视觉功能测试"""
|
|||
|
|
section('视觉功能测试套件', "开始")
|
|||
|
|
|
|||
|
|
tests = [
|
|||
|
|
("QR码扫描功能", test_qr_code_scanning),
|
|||
|
|
("箭头检测功能", test_arrow_detection),
|
|||
|
|
("横线检测功能", test_horizontal_line_detection),
|
|||
|
|
("天空分析功能", test_sky_analysis),
|
|||
|
|
("黄色区域分析功能", test_yellow_area_analysis),
|
|||
|
|
("移动过程中的QR码扫描", test_movement_with_qr_scanning),
|
|||
|
|
]
|
|||
|
|
|
|||
|
|
for test_name, test_func in tests:
|
|||
|
|
try:
|
|||
|
|
info(f"开始执行测试: {test_name}", "测试")
|
|||
|
|
test_func(ctrl, msg)
|
|||
|
|
success(f"测试 {test_name} 成功完成", "成功")
|
|||
|
|
except Exception as e:
|
|||
|
|
error(f"测试 {test_name} 失败: {str(e)}", "失败")
|
|||
|
|
|
|||
|
|
# 每个测试之间暂停
|
|||
|
|
time.sleep(2)
|
|||
|
|
|
|||
|
|
success("所有视觉功能测试完成", "完成")
|
|||
|
|
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
# 这里可以添加独立运行的代码
|
|||
|
|
print("视觉功能测试脚本")
|
|||
|
|
print("使用方法：")
|
|||
|
|
print("from single_test.test_vision_functions import run_vision_function_tests")
|
|||
|
|
print("run_vision_function_tests(ctrl, msg)")
|