138 lines
4.1 KiB
Python
138 lines
4.1 KiB
Python
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import cv2
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import os
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import sys
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import numpy as np
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# 添加正确的项目路径
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current_dir = os.path.dirname(os.path.abspath(__file__))
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project_root = os.path.abspath(os.path.join(current_dir))
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if os.path.exists(os.path.join(project_root, "task")):
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sys.path.append(project_root)
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else:
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# 如果已经在task目录中
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parent_dir = os.path.dirname(project_root)
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sys.path.append(parent_dir)
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# 创建简化的日志函数以避免依赖
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def info(msg, tag="INFO"):
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print(f"[{tag}] {msg}")
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def debug(msg, tag="DEBUG"):
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print(f"[{tag}] {msg}")
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def warning(msg, tag="WARNING"):
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print(f"[{tag}] {msg}")
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def error(msg, tag="ERROR"):
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print(f"[{tag}] {msg}")
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def success(msg, tag="SUCCESS"):
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print(f"[{tag}] {msg}")
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def timing(msg, tag="TIMING"):
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print(f"[{tag}] {msg}")
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def section(msg):
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print(f"\n{'='*10} {msg} {'='*10}\n")
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# 修补utils.log_helper模块
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sys.modules['utils.log_helper'] = type('MockLogHelper', (), {
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'LogHelper': type('MockLogHelperClass', (), {}),
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'get_logger': lambda: None,
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'info': info,
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'debug': debug,
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'warning': warning,
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'error': error,
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'success': success,
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'timing': timing,
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'section': section
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})
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# 直接导入检测函数
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try:
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from task.utils.detect_dual_track_lines import detect_dual_track_lines
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except ImportError:
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# 如果task.utils导入失败，尝试直接从utils导入
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sys.path.append(os.path.join(project_root, "task"))
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from utils.detect_dual_track_lines import detect_dual_track_lines
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def test_track_detection(image_path, observe=True, save_log=True):
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"""
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测试轨道线检测函数
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参数:
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image_path: 图像路径
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observe: 是否显示可视化结果
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save_log: 是否保存日志
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"""
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print(f"测试图像: {os.path.basename(image_path)}")
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# 默认模式检测
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print("- 默认模式检测:")
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center_info, left_track, right_track = detect_dual_track_lines(
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image_path,
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observe=observe,
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delay=0 if observe else 1, # 如果观察模式，等待按键，否则1ms
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save_log=save_log,
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stone_path_mode=False
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)
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if center_info:
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print(f" 中心点: {center_info['point']}")
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print(f" 偏差: {center_info['deviation']:.2f}")
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print(f" 轨道宽度: {center_info['track_width']:.2f}")
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else:
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print(" 检测失败")
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# 石板路模式检测
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print("- 石板路模式检测:")
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center_info, left_track, right_track = detect_dual_track_lines(
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image_path,
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observe=observe,
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delay=0 if observe else 1,
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save_log=save_log,
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stone_path_mode=True
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)
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if center_info:
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print(f" 中心点: {center_info['point']}")
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print(f" 偏差: {center_info['deviation']:.2f}")
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print(f" 轨道宽度: {center_info['track_width']:.2f}")
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else:
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print(" 检测失败")
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print("\n" + "-"*50 + "\n")
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if __name__ == "__main__":
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# 设置观察模式和保存日志
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observe = True
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save_log = True
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if len(sys.argv) > 1:
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# 如果提供了图像路径，只测试该图像
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image_path = sys.argv[1]
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test_track_detection(image_path, observe, save_log)
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else:
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# 否则测试logs/image目录下的所有原始图像
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image_dir = "logs/image"
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if not os.path.exists(image_dir):
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image_dir = "task/logs/image"
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orig_images = [f for f in os.listdir(image_dir) if f.startswith("dual_track_orig_")]
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if not orig_images:
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print(f"未找到原始图像文件在 {image_dir} 目录下")
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sys.exit(1)
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for img_file in orig_images:
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img_path = os.path.join(image_dir, img_file)
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test_track_detection(img_path, observe, save_log)
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# 如果是观察模式，每张图片测试后等待按键
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if observe:
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print("按任意键继续下一张图片测试...")
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cv2.waitKey(0)
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# 如果有打开的窗口，关闭它们
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if observe:
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cv2.destroyAllWindows()
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