✨ 在多个函数中添加了 save_log 参数以增强日志记录功能，确保在检测横向和双轨道线时保存相关图像和日志信息。更新了 detect_horizontal_track_edge 和 detect_dual_track_lines 函数，提升了调试信息的可追踪性和可读性。同时，删除了旧的日志文件，优化了代码结构。
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@ -35,7 +35,7 @@ def align_to_horizontal_line(ctrl, msg, observe=False, max_attempts=3):
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while attempts < max_attempts and not aligned:
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section(f"尝试校准横线 {attempts+1}/{max_attempts}", "校准")
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# 检测横向线边缘
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edge_point, edge_info = detect_horizontal_track_edge(ctrl.image_processor.get_current_image(), observe=observe, delay=1000 if observe else 0)
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edge_point, edge_info = detect_horizontal_track_edge(ctrl.image_processor.get_current_image(), observe=observe, delay=1000 if observe else 0, save_log=True)
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if edge_point is None or edge_info is None:
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error("未检测到横向线，无法进行校准", "失败")
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@ -254,7 +254,7 @@ def move_to_hori_line(ctrl, msg, target_distance=0.5, observe=False):
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# 检测横向线
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image = ctrl.image_processor.get_current_image()
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edge_point, edge_info = detect_horizontal_track_edge(image, observe=observe)
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edge_point, edge_info = detect_horizontal_track_edge(image, observe=observe, save_log=True)
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if edge_point is None or edge_info is None:
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error("无法检测到横向线，停止移动", "停止")
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@ -411,7 +411,7 @@ def arc_turn_around_hori_line(ctrl, msg, angle_deg=90, left=True, target_distanc
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# 2. 检测横线并计算距离
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image = ctrl.image_processor.get_current_image()
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edge_point, edge_info = detect_horizontal_track_edge(image, observe=observe)
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edge_point, edge_info = detect_horizontal_track_edge(image, observe=observe, save_log=True)
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if edge_point is None or edge_info is None:
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error("无法检测到横向线，停止动作", "停止")
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if scan_qrcode:
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@ -933,7 +933,7 @@ def follow_dual_tracks(ctrl, msg, speed=0.5, max_time=30, target_distance=None,
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# 检测双轨道线
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detection_total_count += 1
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center_info, left_info, right_info = detect_dual_track_lines(image, observe=observe)
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center_info, left_info, right_info = detect_dual_track_lines(image, observe=observe, save_log=True)
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# 使用帧间滤波增强稳定性
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if center_info is not None:
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BIN
logs/image/dual_track_20250518_143242_338786.jpg
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BIN
logs/image/dual_track_20250518_143242_338786.jpg
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BIN
logs/image/horizontal_edge_20250518_143404_161242.jpg
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logs/image/horizontal_edge_20250518_143404_161242.jpg
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@ -1,97 +0,0 @@
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2025-05-17 11:56:11 | INFO | utils.log_helper - ================== 🔑 日志模块测试 🔑 ==================
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2025-05-17 11:56:11 | INFO | utils.log_helper - ================== ℹ️ 基本日志测试 ℹ️ ==================
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2025-05-17 11:56:11 | DEBUG | utils.log_helper - 这是一条调试信息
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2025-05-17 11:56:11 | INFO | utils.log_helper - ℹ️ 这是一条普通信息
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2025-05-17 11:56:11 | WARNING | utils.log_helper - ⚠️ 这是一条警告信息
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2025-05-17 11:56:11 | ERROR | utils.log_helper - 🚫 这是一条错误信息
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2025-05-17 11:56:11 | SUCCESS | utils.log_helper - ✅ 这是一条成功信息
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2025-05-17 11:56:11 | DEBUG | utils.log_helper - 不带emoji的调试信息
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2025-05-17 11:56:11 | INFO | utils.log_helper - 不带emoji的普通信息
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2025-05-17 11:56:11 | INFO | utils.log_helper - ================== ⏱️ 计时日志测试 ⏱️ ==================
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2025-05-17 11:56:11 | INFO | utils.log_helper - ⏱️ 求和计算耗时: 31.7毫秒
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2025-05-17 11:56:11 | INFO | utils.log_helper - ⏱️ 计算正弦耗时: 0.0毫秒
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2025-05-17 11:56:11 | INFO | utils.log_helper - ================== 🔄 旋转操作开始 🔄 ==================
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2025-05-17 11:56:11 | DEBUG | utils.log_helper - 🐞 准备旋转
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2025-05-17 11:56:11 | INFO | utils.log_helper - 🔄 开始执行旋转
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2025-05-17 11:56:11 | INFO | utils.log_helper - 📐 旋转角度: 90度
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2025-05-17 11:56:11 | SUCCESS | utils.log_helper - 🏁 旋转完成
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2025-05-17 11:56:11 | INFO | utils.log_helper - ====================== 👁️ 检测横线 👁️ ======================
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2025-05-17 11:56:11 | INFO | utils.log_helper - 👁️ 开始检测横线
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2025-05-17 11:56:11 | INFO | utils.log_helper - 📏 检测到横线，距离: 0.5米
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2025-05-17 11:56:11 | SUCCESS | utils.log_helper - 🏁 检测完成
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2025-05-17 11:56:11 | INFO | utils.log_helper - ============== 🔑 Rich功能测试 🔑 ==============
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2025-05-17 11:56:11 | INFO | utils.log_helper - ℹ️ 机器人状态参数 - 表格数据，共4行
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2025-05-17 11:57:04 | INFO | utils.log_helper - ================== 🔑 日志模块测试 🔑 ==================
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2025-05-17 11:57:04 | INFO | utils.log_helper - ================== ℹ️ 基本日志测试 ℹ️ ==================
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2025-05-17 11:57:04 | DEBUG | utils.log_helper - 这是一条调试信息
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2025-05-17 11:57:04 | INFO | utils.log_helper - ℹ️ 这是一条普通信息
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2025-05-17 11:57:04 | WARNING | utils.log_helper - ⚠️ 这是一条警告信息
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2025-05-17 11:57:04 | ERROR | utils.log_helper - 🚫 这是一条错误信息
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2025-05-17 11:57:04 | SUCCESS | utils.log_helper - ✅ 这是一条成功信息
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2025-05-17 11:57:04 | DEBUG | utils.log_helper - 不带emoji的调试信息
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2025-05-17 11:57:04 | INFO | utils.log_helper - 不带emoji的普通信息
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2025-05-17 11:57:04 | INFO | utils.log_helper - ================== ⏱️ 计时日志测试 ⏱️ ==================
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2025-05-17 11:57:04 | INFO | utils.log_helper - ⏱️ 求和计算耗时: 33.8毫秒
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2025-05-17 11:57:04 | INFO | utils.log_helper - ⏱️ 计算正弦耗时: 0.0毫秒
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2025-05-17 11:57:04 | INFO | utils.log_helper - ================== 🔄 旋转操作开始 🔄 ==================
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2025-05-17 11:57:04 | DEBUG | utils.log_helper - 🐞 准备旋转
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2025-05-17 11:57:04 | INFO | utils.log_helper - 🔄 开始执行旋转
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2025-05-17 11:57:04 | INFO | utils.log_helper - 📐 旋转角度: 90度
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2025-05-17 11:57:04 | SUCCESS | utils.log_helper - 🏁 旋转完成
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2025-05-17 11:57:04 | INFO | utils.log_helper - ====================== 👁️ 检测横线 👁️ ======================
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2025-05-17 11:57:04 | INFO | utils.log_helper - 👁️ 开始检测横线
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2025-05-17 11:57:04 | INFO | utils.log_helper - 📏 检测到横线，距离: 0.5米
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2025-05-17 11:57:04 | SUCCESS | utils.log_helper - 🏁 检测完成
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2025-05-17 11:57:04 | INFO | utils.log_helper - ============== 🔑 Rich功能测试 🔑 ==============
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2025-05-17 11:57:04 | INFO | utils.log_helper - ℹ️ 机器人状态参数 - 表格数据，共4行
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2025-05-17 11:57:06 | SUCCESS | utils.log_helper - 🏁 所有测试完成！
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2025-05-17 12:32:58 | INFO | utils.log_helper - ================== 基本日志测试 ==================
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2025-05-17 12:32:58 | DEBUG | utils.log_helper - 🐞 这是一条调试信息
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2025-05-17 12:32:58 | INFO | utils.log_helper - ℹ️ 这是一条普通信息
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2025-05-17 12:32:58 | WARNING | utils.log_helper - ⚠️ 这是一条警告信息
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2025-05-17 12:32:58 | ERROR | utils.log_helper - 🚫 这是一条错误信息
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2025-05-17 12:32:58 | SUCCESS | utils.log_helper - ✅ 这是一条成功信息
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2025-05-17 12:32:58 | INFO | utils.log_helper - 这是一条没有emoji的普通信息
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2025-05-17 12:32:58 | WARNING | utils.log_helper - 这是一条没有emoji的警告信息
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2025-05-17 12:32:58 | INFO | utils.log_helper - ⏱️ 耗时操作耗时: 0.500秒
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2025-05-17 12:32:58 | INFO | utils.log_helper - ============== Rich功能测试 ==============
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2025-05-17 12:32:58 | INFO | utils.log_helper - ℹ️ 系统状态 - 表格数据，共4行
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2025-05-17 12:32:59 | INFO | utils.log_helper - ========== 自定义日志记录器测试 ==========
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2025-05-17 12:32:59 | INFO | utils.log_helper - 🚀 机器人初始化完成
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2025-05-17 12:32:59 | WARNING | utils.log_helper - ⚠️ 光照条件不佳
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2025-05-17 12:32:59 | SUCCESS | utils.log_helper - 📍 到达目标位置
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2025-05-17 12:32:59 | ERROR | utils.log_helper - 🚫 处理图像时出错: 传感器数据异常
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2025-05-17 12:32:59 | INFO | utils.log_helper - ====================== 🏁 测试完成 🏁 ======================
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2025-05-17 12:32:59 | SUCCESS | utils.log_helper - 🏁 日志系统功能测试全部完成
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2025-05-17 12:33:06 | INFO | utils.log_helper - ====================== 🚀 系统启动 🚀 ======================
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2025-05-17 12:33:07 | SUCCESS | utils.log_helper - ✅ 视觉系统初始化完成
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2025-05-17 12:33:07 | SUCCESS | utils.log_helper - ✅ 导航模块初始化完成
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2025-05-17 12:33:07 | SUCCESS | utils.log_helper - ✅ 电机控制器初始化完成
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2025-05-17 12:33:07 | WARNING | utils.log_helper - ⚠️ 传感器阵列初始化出现延迟
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2025-05-17 12:33:07 | SUCCESS | utils.log_helper - ✅ 通信模块初始化完成
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2025-05-17 12:33:08 | SUCCESS | utils.log_helper - ✅ 决策系统初始化完成
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2025-05-17 12:33:08 | SUCCESS | utils.log_helper - ✅ 电源管理初始化完成
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2025-05-17 12:33:08 | SUCCESS | utils.log_helper - ✅ 安全模块初始化完成
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2025-05-17 12:33:08 | INFO | utils.log_helper - ⏱️ 系统初始化耗时: 1.559秒
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2025-05-17 12:33:08 | INFO | utils.log_helper - ================== 👁️ 系统状态检查 👁️ ==================
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2025-05-17 12:33:08 | INFO | utils.log_helper - ℹ️ 系统状态 - 表格数据，共4行
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2025-05-17 12:33:08 | INFO | utils.log_helper - ℹ️ 系统温度正常: 25.1°C
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2025-05-17 12:33:08 | INFO | utils.log_helper - ====================== 🚶 开始移动 🚶 ======================
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2025-05-17 12:33:08 | INFO | utils.log_helper - 🧮 开始规划路径
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2025-05-17 12:33:09 | INFO | utils.log_helper - 🚶 移动到航点 1: (1.0, 0.0)
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2025-05-17 12:33:09 | WARNING | utils.log_helper - 👁️ 检测到障碍物，调整路径
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2025-05-17 12:33:09 | SUCCESS | utils.log_helper - 📍 到达航点 1
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2025-05-17 12:33:09 | INFO | utils.log_helper - 🚶 移动到航点 2: (1.0, 1.0)
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2025-05-17 12:33:10 | WARNING | utils.log_helper - 👁️ 检测到障碍物，调整路径
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2025-05-17 12:33:10 | SUCCESS | utils.log_helper - 📍 到达航点 2
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2025-05-17 12:33:10 | INFO | utils.log_helper - 🚶 移动到航点 3: (0.0, 1.0)
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2025-05-17 12:33:11 | WARNING | utils.log_helper - 👁️ 检测到障碍物，调整路径
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2025-05-17 12:33:11 | SUCCESS | utils.log_helper - 📍 到达航点 3
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2025-05-17 12:33:11 | INFO | utils.log_helper - 🚶 移动到航点 4: (0.0, 0.0)
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2025-05-17 12:33:11 | SUCCESS | utils.log_helper - 📍 到达航点 4
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2025-05-17 12:33:11 | INFO | utils.log_helper - ⏱️ 路径执行耗时: 2.913秒
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2025-05-17 12:33:11 | INFO | utils.log_helper - ================== 🐞 错误处理测试 🐞 ==================
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2025-05-17 12:33:11 | INFO | utils.log_helper - 🧮 执行复杂计算
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2025-05-17 12:33:12 | SUCCESS | utils.log_helper - 🏁 计算完成
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2025-05-17 12:33:12 | INFO | utils.log_helper - ====================== 🏁 演示完成 🏁 ======================
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2025-05-17 12:33:12 | SUCCESS | utils.log_helper - 🏁 机器人日志系统演示完成
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BIN
res/path/test/result_image_20250514_024347.png
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BIN
res/path/test/result_image_20250514_024347.png
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After Width: | Height: | Size: 59 KiB |
@ -88,7 +88,8 @@ def align_to_horizontal_line(ctrl, msg, observe=False):
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# 检测横向线边缘
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edge_point, edge_info = detect_horizontal_track_edge(
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ctrl.image_processor.get_current_image(),
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observe=observe
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observe=observe,
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save_log=True
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)
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if edge_point is None:
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@ -17,7 +17,7 @@ def process_image(image_path, save_dir=None, show_steps=False):
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# 检测赛道并估算距离
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start_time = time.time()
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edge_point, edge_info = detect_horizontal_track_edge(image_path, observe=show_steps)
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edge_point, edge_info = detect_horizontal_track_edge(image_path, observe=show_steps, save_log=True)
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processing_time = time.time() - start_time
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# 输出结果
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@ -107,7 +107,7 @@ def process_image(image_path, save_dir=None, show_steps=False):
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# 测试双轨道线检测
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print("\n执行双轨道线检测...")
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start_time = time.time()
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center_info, left_info, right_info = detect_dual_track_lines(image, observe=show_steps)
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center_info, left_info, right_info = detect_dual_track_lines(image, observe=show_steps, save_log=True)
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processing_time = time.time() - start_time
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print(f"处理时间: {processing_time:.4f} 秒")
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@ -1,22 +1,24 @@
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import cv2
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import numpy as np
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import os
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import datetime
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from sklearn import linear_model
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from utils.log_helper import get_logger, debug, info, warning, error, success
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def detect_horizontal_track_edge(image, observe=False, delay=1000):
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observe = False # TSET
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def detect_horizontal_track_edge(image, observe=False, delay=1000, save_log=True):
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"""
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检测正前方横向黄色赛道的边缘，并返回y值最大的边缘点
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参数:
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image: 输入图像，可以是文件路径或者已加载的图像数组
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observe: 是否输出中间状态信息和可视化结果，默认为False
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delay: 展示每个步骤的等待时间(毫秒)
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delay: 展示每个步骤的等待时间(毫秒)
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save_log: 是否保存日志和图像
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返回:
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edge_point: 赛道前方边缘点的坐标 (x, y)
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edge_info: 边缘信息字典
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"""
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observe = False # TSET
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# 如果输入是字符串（文件路径），则加载图像
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if isinstance(image, str):
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img = cv2.imread(image)
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@ -272,8 +274,8 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000):
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# 计算交点到图像底部的距离（以像素为单位）
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distance_to_bottom = height - intersection_y
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if observe:
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debug("显示边缘斜率和中线交点", "显示")
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result_img = None
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if observe or save_log:
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slope_img = img.copy()
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# 画出检测到的线
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cv2.line(slope_img, (x1, y1), (x2, y2), (0, 255, 0), 2)
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@ -295,9 +297,33 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000):
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cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
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cv2.putText(slope_img, f"中线交点: ({intersection_point[0]}, {intersection_point[1]})", (10, 150),
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cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
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cv2.imshow("边缘斜率和中线交点", slope_img)
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cv2.imwrite("res/path/test/edge_img.png", slope_img)
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cv2.waitKey(delay)
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if observe:
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debug("显示边缘斜率和中线交点", "显示")
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cv2.imshow("边缘斜率和中线交点", slope_img)
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cv2.waitKey(delay)
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result_img = slope_img
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# 保存日志图像
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if save_log and result_img is not None:
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timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S_%f")
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log_dir = "logs/image"
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os.makedirs(log_dir, exist_ok=True)
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img_path = os.path.join(log_dir, f"horizontal_edge_{timestamp}.jpg")
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cv2.imwrite(img_path, result_img)
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info(f"保存横向边缘检测结果图像到: {img_path}", "日志")
|
||||
|
||||
# 保存文本日志信息
|
||||
log_info = {
|
||||
"timestamp": timestamp,
|
||||
"edge_point": bottom_edge_point,
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"distance_to_center": distance_to_center,
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"slope": selected_slope,
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"distance_to_bottom": distance_to_bottom,
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"intersection_point": intersection_point
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}
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info(f"横向边缘检测结果: {log_info}", "日志")
|
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|
||||
# 创建边缘信息字典
|
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edge_info = {
|
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@ -318,7 +344,7 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000):
|
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if __name__ == "__main__":
|
||||
pass
|
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|
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def detect_dual_track_lines(image, observe=False, delay=1000):
|
||||
def detect_dual_track_lines(image, observe=False, delay=1000, save_log=True):
|
||||
"""
|
||||
检测左右两条平行的黄色轨道线
|
||||
|
||||
@ -326,6 +352,7 @@ def detect_dual_track_lines(image, observe=False, delay=1000):
|
||||
image: 输入图像，可以是文件路径或者已加载的图像数组
|
||||
observe: 是否输出中间状态信息和可视化结果，默认为False
|
||||
delay: 展示每个步骤的等待时间(毫秒)
|
||||
save_log: 是否保存日志和图像
|
||||
|
||||
返回:
|
||||
tuple: (中心线信息, 左轨迹线信息, 右轨迹线信息)
|
||||
@ -518,7 +545,8 @@ def detect_dual_track_lines(image, observe=False, delay=1000):
|
||||
# 计算中心线与图像中心线的偏差
|
||||
deviation = bottom_x - center_x
|
||||
|
||||
if observe:
|
||||
result_img = None
|
||||
if observe or save_log:
|
||||
result_img = img.copy()
|
||||
# 绘制左右轨迹线
|
||||
cv2.line(result_img, (left_x1, left_y1), (left_x2, left_y2), (255, 0, 0), 2)
|
||||
@ -535,8 +563,30 @@ def detect_dual_track_lines(image, observe=False, delay=1000):
|
||||
cv2.putText(result_img, f"Deviation: {deviation}px", (10, 30),
|
||||
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
|
||||
|
||||
cv2.imshow("轨迹线检测结果", result_img)
|
||||
cv2.waitKey(delay)
|
||||
if observe:
|
||||
cv2.imshow("轨迹线检测结果", result_img)
|
||||
cv2.waitKey(delay)
|
||||
|
||||
# 保存日志图像
|
||||
if save_log and result_img is not None:
|
||||
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S_%f")
|
||||
log_dir = "logs/image"
|
||||
os.makedirs(log_dir, exist_ok=True)
|
||||
img_path = os.path.join(log_dir, f"dual_track_{timestamp}.jpg")
|
||||
cv2.imwrite(img_path, result_img)
|
||||
info(f"保存双轨迹线检测结果图像到: {img_path}", "日志")
|
||||
|
||||
# 保存文本日志信息
|
||||
log_info = {
|
||||
"timestamp": timestamp,
|
||||
"center_point": center_point,
|
||||
"deviation": deviation,
|
||||
"left_track_mid_x": left_line[1],
|
||||
"right_track_mid_x": right_line[1],
|
||||
"track_width": right_line[1] - left_line[1],
|
||||
"center_slope": center_slope
|
||||
}
|
||||
info(f"双轨迹线检测结果: {log_info}", "日志")
|
||||
|
||||
# 创建左右轨迹线和中心线信息
|
||||
left_track_info = {
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user