task-1 #2

base_move/move_base_hori_line.py

@@ -166,14 +166,15 @@ def move_to_hori_line(ctrl, msg, target_distance=0.1, observe=False):
     bool: 是否成功到达目标位置
     """
     # 首先校准到水平
-    aligned = align_to_horizontal_line(ctrl, msg, observe=observe)
+    aligned = align_to_horizontal_line(ctrl, msg, observe=False)
     
     if not aligned:
         print("无法校准到横向线水平，停止移动")
         return False
     
     # 检测横向线
-    edge_point, edge_info = detect_horizontal_track_edge(ctrl.image_processor.get_current_image(), observe=observe)
+    cv2.imwrite("current_image.jpg", ctrl.image_processor.get_current_image())
+    edge_point, edge_info = detect_horizontal_track_edge(ctrl.image_processor.get_current_image(), observe=False)
     
     if edge_point is None or edge_info is None:
         print("无法检测到横向线，停止移动")

task_1/task_1.py

@@ -5,14 +5,15 @@ import os
 
 # 添加父目录到路径，以便能够导入utils
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-
 from base_move.move_base_hori_line import align_to_horizontal_line, move_to_hori_line
 
+observe = True
+
 def run_task_1(ctrl, msg):
     print('Running task 1...')
 
     # v2
-    move_to_hori_line(ctrl, msg)
+    move_to_hori_line(ctrl, msg, observe=observe)