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增强双轨迹线检测功能，优化了边缘检测和线条筛选逻辑，改进了评分机制以提高检测准确性。更新了调试信息和日志记录，便于可视化和结果追踪。同时，调整了图像路径以适应新的测试用例。

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Havoc 2025-05-31 14:12:52 +08:00
parent 122aea619b
commit af364ebccb
3 changed files with 696 additions and 317 deletions
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48
logs/robot_2025-05-31.log
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@ -845,3 +845,51 @@
2025-05-31 13:25:34 | INFO | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250531_132534_837444.jpg
2025-05-31 13:25:34 | INFO | utils.log_helper - ℹ️ 保存原始图像到: logs/image/dual_track_orig_20250531_132534_837444.jpg
2025-05-31 13:25:34 | INFO | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250531_132534_837444', 'center_point': (812, 1080), 'deviation': -5.684341886080801e-13, 'left_track_mid_x': 677.5, 'right_track_mid_x': 1050.0, 'track_width': 372.5, 'center_slope': -0.32784677374841315}
2025-05-31 14:08:45 | DEBUG | utils.log_helper - 🐞 步骤1: 创建黄色掩码
2025-05-31 14:08:46 | DEBUG | utils.log_helper - 🐞 步骤1.5: 底部区域掩码
2025-05-31 14:08:47 | DEBUG | utils.log_helper - 🐞 步骤2: 边缘检测
2025-05-31 14:08:48 | DEBUG | utils.log_helper - 🐞 步骤3: 检测到 65 条直线
2025-05-31 14:08:49 | DEBUG | utils.log_helper - 🐞 步骤3.2: 筛选出 30 条垂直候选线 (合并前)
2025-05-31 14:08:50 | DEBUG | utils.log_helper - 🐞 步骤3.5: 合并筛选出 9 条垂直候选线 (合并后)
2025-05-31 14:08:51 | DEBUG | utils.log_helper - 🐞 步骤4: 找到 9 条垂直线
2025-05-31 14:08:52 | DEBUG | utils.log_helper - 🐞 左侧候选线数量: 6, 右侧候选线数量: 3
2025-05-31 14:08:53 | DEBUG | utils.log_helper - 🐞 选择最佳线对，评分: -1.00
2025-05-31 14:08:55 | INFO | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250531_140855_669647.jpg
2025-05-31 14:08:55 | INFO | utils.log_helper - ℹ️ 保存原始图像到: logs/image/dual_track_orig_20250531_140855_669647.jpg
2025-05-31 14:08:55 | INFO | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250531_140855_669647', 'center_point': (1028, 1080), 'deviation': 0.0, 'left_track_mid_x': 948.0, 'right_track_mid_x': 1032.5, 'track_width': 84.5, 'center_slope': 0.231117824773414}
2025-05-31 14:08:58 | DEBUG | utils.log_helper - 🐞 步骤1: 创建黄色掩码
2025-05-31 14:08:59 | DEBUG | utils.log_helper - 🐞 步骤1.5: 底部区域掩码
2025-05-31 14:09:00 | DEBUG | utils.log_helper - 🐞 步骤2: 边缘检测
2025-05-31 14:09:01 | DEBUG | utils.log_helper - 🐞 步骤3: 检测到 65 条直线
2025-05-31 14:09:02 | DEBUG | utils.log_helper - 🐞 步骤3.2: 筛选出 30 条垂直候选线 (合并前)
2025-05-31 14:09:03 | DEBUG | utils.log_helper - 🐞 步骤3.5: 合并筛选出 9 条垂直候选线 (合并后)
2025-05-31 14:09:04 | DEBUG | utils.log_helper - 🐞 步骤4: 找到 9 条垂直线
2025-05-31 14:09:05 | DEBUG | utils.log_helper - 🐞 左侧候选线数量: 6, 右侧候选线数量: 3
2025-05-31 14:09:06 | DEBUG | utils.log_helper - 🐞 选择最佳线对，评分: -1.00
2025-05-31 14:09:09 | INFO | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250531_140908_978483.jpg
2025-05-31 14:09:09 | INFO | utils.log_helper - ℹ️ 保存原始图像到: logs/image/dual_track_orig_20250531_140908_978483.jpg
2025-05-31 14:09:09 | INFO | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250531_140908_978483', 'center_point': (1028, 1080), 'deviation': 0.0, 'left_track_mid_x': 948.0, 'right_track_mid_x': 1032.5, 'track_width': 84.5, 'center_slope': 0.231117824773414}
2025-05-31 14:12:05 | DEBUG | utils.log_helper - 🐞 步骤1: 创建黄色掩码
2025-05-31 14:12:06 | DEBUG | utils.log_helper - 🐞 步骤1.5: 底部区域掩码
2025-05-31 14:12:07 | DEBUG | utils.log_helper - 🐞 步骤2: 边缘检测 (底部ROI)
2025-05-31 14:12:08 | DEBUG | utils.log_helper - 🐞 步骤3: 检测到 36 条直线
2025-05-31 14:12:09 | DEBUG | utils.log_helper - 🐞 步骤3.2: 筛选出 18 条垂直候选线 (合并前)
2025-05-31 14:12:10 | DEBUG | utils.log_helper - 🐞 步骤3.5: 合并筛选出 6 条垂直候选线 (合并后)
2025-05-31 14:12:11 | DEBUG | utils.log_helper - 🐞 步骤4: 找到 6 条垂直线
2025-05-31 14:12:12 | DEBUG | utils.log_helper - 🐞 左侧候选线数量: 3, 右侧候选线数量: 3
2025-05-31 14:12:13 | DEBUG | utils.log_helper - 🐞 选择最佳线对，评分: -1.00
2025-05-31 14:12:15 | INFO | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250531_141215_609842.jpg
2025-05-31 14:12:15 | INFO | utils.log_helper - ℹ️ 保存原始图像到: logs/image/dual_track_orig_20250531_141215_609842.jpg
2025-05-31 14:12:15 | INFO | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250531_141215_609842', 'center_point': (772, 1080), 'deviation': 0.0, 'left_track_mid_x': 633.5, 'right_track_mid_x': 1032.5, 'track_width': 399.0, 'center_slope': -0.37845007646115425}
2025-05-31 14:12:20 | DEBUG | utils.log_helper - 🐞 步骤1: 创建黄色掩码
2025-05-31 14:12:21 | DEBUG | utils.log_helper - 🐞 步骤1.5: 底部区域掩码
2025-05-31 14:12:22 | DEBUG | utils.log_helper - 🐞 步骤2: 边缘检测 (底部ROI)
2025-05-31 14:12:23 | DEBUG | utils.log_helper - 🐞 步骤3: 检测到 36 条直线
2025-05-31 14:12:24 | DEBUG | utils.log_helper - 🐞 步骤3.2: 筛选出 18 条垂直候选线 (合并前)
2025-05-31 14:12:25 | DEBUG | utils.log_helper - 🐞 步骤3.5: 合并筛选出 6 条垂直候选线 (合并后)
2025-05-31 14:12:26 | DEBUG | utils.log_helper - 🐞 步骤4: 找到 6 条垂直线
2025-05-31 14:12:27 | DEBUG | utils.log_helper - 🐞 左侧候选线数量: 3, 右侧候选线数量: 3
2025-05-31 14:12:28 | DEBUG | utils.log_helper - 🐞 选择最佳线对，评分: -1.00
2025-05-31 14:12:30 | INFO | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250531_141230_795713.jpg
2025-05-31 14:12:30 | INFO | utils.log_helper - ℹ️ 保存原始图像到: logs/image/dual_track_orig_20250531_141230_795713.jpg
2025-05-31 14:12:30 | INFO | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250531_141230_795713', 'center_point': (772, 1080), 'deviation': 0.0, 'left_track_mid_x': 633.5, 'right_track_mid_x': 1032.5, 'track_width': 399.0, 'center_slope': -0.37845007646115425}

2
test/test_image.py
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@ -10,7 +10,7 @@ from utils.detect_dual_track_lines import detect_dual_track_lines, auto_detect_d
# 图片路径
# image_path = "res/path/image_20250514_024347.png"
image_path = "logs/res/1/dual_track_orig_20250531_012429_250427.jpg"
image_path = "logs/res/3/dual_track_orig_20250531_060458_547428.jpg"
# 确保图片存在
if not os.path.exists(image_path):

937
utils/detect_dual_track_lines.py
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