578 lines
24 KiB
Python
578 lines
24 KiB
Python
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_furthest_horizontal_intersection(image, observe=False, delay=1000, save_log=True):
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"""
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检测正前方x轴中间线与最远横向黄色赛道线的交点
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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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save_log: 是否保存日志和图像
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返回:
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intersection_point: x轴中线与最远横线的交点坐标 (x, y)
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intersection_info: 交点信息字典
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"""
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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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else:
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img = image.copy()
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if img is None:
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error("无法加载图像", "失败")
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return None, None
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if save_log:
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timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S_%f")
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origin_image_path = os.path.join("logs/image", f"origin_intersection_{timestamp}.jpg")
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os.makedirs("logs/image", exist_ok=True)
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cv2.imwrite(origin_image_path, img)
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info(f"保存原始图像到: {origin_image_path}", "日志")
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# 获取图像尺寸
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height, width = img.shape[:2]
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# 计算图像中间区域的范围（用于专注于正前方的赛道）
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center_x = width // 2
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search_width = int(width * 0.8) # 扩大搜索区域宽度为图像宽度的80%
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search_height = height # 搜索区域高度为图像高度的1/1
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left_bound = center_x - search_width // 2
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right_bound = center_x + search_width // 2
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bottom_bound = height
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top_bound = height - search_height
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# 定义合理的值范围 - 更宽松的参数以检测更远的横线
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valid_y_range = (height * 0.05, height * 0.6) # 扩大有效的y坐标范围
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max_slope = 0.3 # 增加允许的最大斜率
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min_line_length = width * 0.1 # 减小最小线长度要求
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if observe:
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debug("步骤1: 原始图像已加载", "加载")
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search_region_img = img.copy()
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# 绘制搜索区域
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cv2.rectangle(search_region_img, (left_bound, top_bound), (right_bound, bottom_bound), (255, 0, 0), 2)
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cv2.line(search_region_img, (center_x, 0), (center_x, height), (0, 0, 255), 2) # 中线
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cv2.imshow("搜索区域", search_region_img)
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cv2.waitKey(delay)
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# 图像预处理 - 增强对比度以便更好地提取黄色部分
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img_enhanced = img.copy()
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# 将图像转换为LAB颜色空间
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lab = cv2.cvtColor(img_enhanced, cv2.COLOR_BGR2LAB)
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# 分离L通道
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l, a, b = cv2.split(lab)
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# 应用CLAHE（对比度受限自适应直方图均衡化）
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clahe = cv2.createCLAHE(clipLimit=3.0, tileGridSize=(8, 8))
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cl = clahe.apply(l)
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# 合并通道
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limg = cv2.merge((cl, a, b))
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# 转回BGR颜色空间
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img_enhanced = cv2.cvtColor(limg, cv2.COLOR_LAB2BGR)
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if observe:
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debug("步骤1.5: 增强对比度", "处理")
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cv2.imshow("增强对比度", img_enhanced)
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cv2.waitKey(delay)
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# 转换到HSV颜色空间以便更容易提取黄色
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hsv = cv2.cvtColor(img_enhanced, cv2.COLOR_BGR2HSV)
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# 黄色的HSV范围 - 扩大范围以适应不同光照条件下的黄色
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lower_yellow = np.array([15, 70, 70]) # 降低饱和度和亮度阈值
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upper_yellow = np.array([35, 255, 255]) # 扩大色调范围
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# 创建黄色的掩码
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mask = cv2.inRange(hsv, lower_yellow, upper_yellow)
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# 添加形态学操作以改善掩码
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kernel = np.ones((5, 5), np.uint8) # 增大内核大小
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mask = cv2.dilate(mask, kernel, iterations=2) # 增加膨胀次数
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mask = cv2.erode(mask, np.ones((3, 3), np.uint8), iterations=1) # 添加腐蚀操作去除噪点
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if observe:
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debug("步骤2: 创建黄色掩码", "处理")
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cv2.imshow("黄色掩码", mask)
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cv2.waitKey(delay)
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# 应用掩码，只保留黄色部分
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yellow_only = cv2.bitwise_and(img_enhanced, img_enhanced, mask=mask)
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if observe:
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debug("步骤3: 提取黄色部分", "处理")
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cv2.imshow("只保留黄色", yellow_only)
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cv2.waitKey(delay)
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# 裁剪掩码到搜索区域
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search_mask = mask[top_bound:bottom_bound, left_bound:right_bound]
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# 寻找每列的最顶部点（最远的边缘点）
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top_points = []
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non_zero_cols = np.where(np.any(search_mask, axis=0))[0]
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for col in non_zero_cols:
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col_points = np.where(search_mask[:, col] > 0)[0]
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if len(col_points) > 0:
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top_row = np.min(col_points)
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top_points.append((left_bound + col, top_bound + top_row))
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if observe and top_points:
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debug("检测顶部边缘点", "处理")
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edge_points_img = img.copy()
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for point in top_points:
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cv2.circle(edge_points_img, point, 3, (255, 0, 255), -1)
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cv2.imshow("顶部边缘点", edge_points_img)
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cv2.waitKey(delay)
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# 尝试直接从顶部边缘点拟合直线
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if len(top_points) >= 10: # 如果有足够多的顶部边缘点
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try:
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# 使用RANSAC拟合直线
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x_points = np.array([p[0] for p in top_points]).reshape(-1, 1)
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y_points = np.array([p[1] for p in top_points])
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ransac = linear_model.RANSACRegressor(residual_threshold=5.0)
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ransac.fit(x_points, y_points)
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# 获取拟合的斜率和截距
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direct_fitted_slope = ransac.estimator_.coef_[0]
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direct_intercept = ransac.estimator_.intercept_
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# 如果斜率在合理范围内
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if abs(direct_fitted_slope) < max_slope:
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# 计算线段端点
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direct_x1 = left_bound
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direct_y1 = int(direct_fitted_slope * direct_x1 + direct_intercept)
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direct_x2 = right_bound
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direct_y2 = int(direct_fitted_slope * direct_x2 + direct_intercept)
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# 计算交点
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direct_intersection_x = center_x
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direct_intersection_y = direct_fitted_slope * (center_x - direct_x1) + direct_y1
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direct_intersection_point = (int(direct_intersection_x), int(direct_intersection_y))
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# 如果交点在合理范围内
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if 0 <= direct_intersection_y < height * 0.7:
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# 创建直接拟合的线的信息
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direct_fitted_info = {
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"x": direct_intersection_point[0],
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"y": direct_intersection_point[1],
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"distance_to_bottom": height - direct_intersection_y,
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"slope": direct_fitted_slope,
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"is_horizontal": abs(direct_fitted_slope) < 0.05,
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"score": 0.9, # 给予较高的分数
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"valid": True,
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"fitted_from_edge_points": True
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}
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if observe:
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debug("从顶部边缘点直接拟合出横线", "处理")
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direct_fit_img = img.copy()
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cv2.line(direct_fit_img, (int(direct_x1), int(direct_y1)),
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(int(direct_x2), int(direct_y2)), (0, 255, 0), 2)
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cv2.circle(direct_fit_img, direct_intersection_point, 10, (255, 0, 255), -1)
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cv2.imshow("从边缘点直接拟合的线", direct_fit_img)
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cv2.waitKey(delay)
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return direct_intersection_point, direct_fitted_info
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except Exception as e:
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if observe:
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warning(f"从边缘点直接拟合线失败: {str(e)}", "警告")
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# 边缘检测 - 使用更适合检测远处横线的参数
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edges = cv2.Canny(mask, 30, 120, apertureSize=3) # 降低阈值以检测更多边缘
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if observe:
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debug("步骤4: 边缘检测", "处理")
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cv2.imshow("边缘检测", edges)
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cv2.waitKey(delay)
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# 使用霍夫变换检测直线，使用更宽松的参数
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lines = cv2.HoughLinesP(edges, 1, np.pi/180, threshold=20, # 降低阈值
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minLineLength=width*0.08, maxLineGap=40) # 减少最小长度，增加最大间隙
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if lines is None or len(lines) == 0:
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# 如果找不到线，尝试使用更宽松的参数
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lines = cv2.HoughLinesP(edges, 1, np.pi/180, threshold=15,
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minLineLength=width*0.05, maxLineGap=50)
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if lines is None or len(lines) == 0:
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if observe:
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error("未检测到直线", "失败")
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return None, None
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if observe:
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debug(f"步骤5: 检测到 {len(lines)} 条直线", "处理")
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lines_img = img.copy()
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for i, line in enumerate(lines):
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x1, y1, x2, y2 = line[0]
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# 使用HSV颜色空间生成不同的颜色
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hue = (i * 30) % 180 # 每30度一个颜色
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color = cv2.cvtColor(np.uint8([[[hue, 255, 255]]]), cv2.COLOR_HSV2BGR)[0][0]
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color = (int(color[0]), int(color[1]), int(color[2]))
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cv2.line(lines_img, (x1, y1), (x2, y2), color, 2)
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cv2.imshow("检测到的直线", lines_img)
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cv2.waitKey(delay)
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# 过滤和合并相似的线段
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filtered_lines = []
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for line in lines:
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x1, y1, x2, y2 = line[0]
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# 确保x1 < x2
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if x1 > x2:
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x1, x2 = x2, x1
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y1, y2 = y2, y1
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filtered_lines.append([x1, y1, x2, y2])
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# 合并相似线段
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merged_lines = []
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used_indices = set()
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for i, line1 in enumerate(filtered_lines):
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if i in used_indices:
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continue
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x1, y1, x2, y2 = line1
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similar_lines = [line1]
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used_indices.add(i)
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# 查找与当前线段相似的其他线段
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for j, line2 in enumerate(filtered_lines):
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if j in used_indices or i == j:
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continue
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x3, y3, x4, y4 = line2
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# 计算两条线段的斜率
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slope1 = (y2 - y1) / (x2 - x1) if abs(x2 - x1) > 5 else 100
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slope2 = (y4 - y3) / (x4 - x3) if abs(x4 - x3) > 5 else 100
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# 计算两条线段的中点
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mid1_x, mid1_y = (x1 + x2) / 2, (y1 + y2) / 2
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mid2_x, mid2_y = (x3 + x4) / 2, (y3 + y4) / 2
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# 计算中点之间的距离
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mid_dist = np.sqrt((mid2_x - mid1_x)**2 + (mid2_y - mid1_y)**2)
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# 计算线段端点之间的最小距离
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end_dists = [
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np.sqrt((x1-x3)**2 + (y1-y3)**2),
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np.sqrt((x1-x4)**2 + (y1-y4)**2),
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np.sqrt((x2-x3)**2 + (y2-y3)**2),
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np.sqrt((x2-x4)**2 + (y2-y4)**2)
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]
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min_end_dist = min(end_dists)
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# 判断两条线段是否相似：满足以下条件之一
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# 1. 斜率接近且中点距离不太远
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# 2. 斜率接近且端点之间距离很近（可能是连接的线段）
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# 3. 端点非常接近（几乎连接），且斜率差异不太大
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if (abs(slope1 - slope2) < 0.15 and mid_dist < height * 0.15) or \
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(abs(slope1 - slope2) < 0.1 and min_end_dist < height * 0.05) or \
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(min_end_dist < height * 0.03 and abs(slope1 - slope2) < 0.25):
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similar_lines.append(line2)
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used_indices.add(j)
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# 如果找到相似线段，合并它们
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if len(similar_lines) > 1:
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# 合并所有相似线段的端点
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all_points = []
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for line in similar_lines:
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all_points.append((line[0], line[1])) # 起点
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all_points.append((line[2], line[3])) # 终点
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# 找出x坐标的最小值和最大值
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min_x = min(p[0] for p in all_points)
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max_x = max(p[0] for p in all_points)
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# 使用所有点拟合一条直线
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x_points = np.array([p[0] for p in all_points]).reshape(-1, 1)
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y_points = np.array([p[1] for p in all_points])
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# 使用RANSAC拟合更稳定的直线
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ransac = linear_model.RANSACRegressor(residual_threshold=5.0)
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ransac.fit(x_points, y_points)
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# 获取拟合的斜率和截距
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merged_slope = ransac.estimator_.coef_[0]
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merged_intercept = ransac.estimator_.intercept_
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# 计算新的端点
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y_min = int(merged_slope * min_x + merged_intercept)
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y_max = int(merged_slope * max_x + merged_intercept)
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# 添加合并后的线段
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merged_lines.append([min_x, y_min, max_x, y_max])
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else:
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# 如果没有相似线段，直接添加原线段
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merged_lines.append(line1)
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# 将合并后的线段转换为霍夫变换的格式
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merged_hough_lines = []
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for line in merged_lines:
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merged_hough_lines.append(np.array([[line[0], line[1], line[2], line[3]]]))
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if observe:
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debug(f"步骤5.1: 合并后剩余 {len(merged_hough_lines)} 条线", "处理")
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merged_img = img.copy()
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for i, line in enumerate(merged_hough_lines):
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x1, y1, x2, y2 = line[0]
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# 使用HSV颜色空间生成不同的颜色
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hue = (i * 50) % 180 # 每50度一个颜色
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color = cv2.cvtColor(np.uint8([[[hue, 255, 255]]]), cv2.COLOR_HSV2BGR)[0][0]
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color = (int(color[0]), int(color[1]), int(color[2]))
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cv2.line(merged_img, (x1, y1), (x2, y2), color, 3)
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cv2.imshow("合并后的线段", merged_img)
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cv2.waitKey(delay)
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# 使用合并后的线段继续处理
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lines = merged_hough_lines
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# 筛选水平线
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horizontal_lines = []
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for line in lines:
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x1, y1, x2, y2 = line[0]
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# 计算斜率 (避免除零错误)
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if abs(x2 - x1) < 5: # 几乎垂直的线
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continue
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slope = (y2 - y1) / (x2 - x1)
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# 筛选接近水平的线 (斜率接近0)
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if abs(slope) < max_slope:
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# 确保线在搜索区域内
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if ((left_bound <= x1 <= right_bound and top_bound <= y1 <= bottom_bound) or
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(left_bound <= x2 <= right_bound and top_bound <= y2 <= bottom_bound)):
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# 计算线的中点y坐标
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mid_y = (y1 + y2) / 2
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line_length = np.sqrt((x2-x1)**2 + (y2-y1)**2)
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# 优先选择更靠近图像上方的线段（y值更小）
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position_score = 1.0 - (mid_y / height)
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# 计算长度得分（越长越好）
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length_score = min(1.0, line_length / (width * 0.5))
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# 计算斜率得分（越水平越好）
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slope_score = max(0.0, 1.0 - abs(slope) / max_slope)
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# 计算线段位于图像中央的程度
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mid_x = (x1 + x2) / 2
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center_score = max(0.0, 1.0 - abs(mid_x - center_x) / (width * 0.4))
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# 计算综合得分，优先考虑高位置和水平度
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quality_score = position_score * 0.6 + length_score * 0.15 + slope_score * 0.2 + center_score * 0.05
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# 保存线段、其y坐标、斜率、长度和质量得分
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horizontal_lines.append((line[0], mid_y, slope, line_length, quality_score))
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# 如果没有找到水平线，尝试使用顶部边缘点拟合
|
||
if not horizontal_lines and len(top_points) >= 5:
|
||
if observe:
|
||
debug("未检测到水平线，尝试使用顶部边缘点拟合", "处理")
|
||
|
||
# 筛选上半部分的点
|
||
upper_points = [p for p in top_points if p[1] < height * 0.5]
|
||
|
||
if len(upper_points) >= 5:
|
||
try:
|
||
# 使用RANSAC拟合直线
|
||
x_points = np.array([p[0] for p in upper_points]).reshape(-1, 1)
|
||
y_points = np.array([p[1] for p in upper_points])
|
||
|
||
ransac = linear_model.RANSACRegressor(residual_threshold=8.0) # 增大残差阈值
|
||
ransac.fit(x_points, y_points)
|
||
|
||
# 获取拟合的斜率和截距
|
||
fitted_slope = ransac.estimator_.coef_[0]
|
||
intercept = ransac.estimator_.intercept_
|
||
|
||
# 如果斜率在合理范围内
|
||
if abs(fitted_slope) < max_slope:
|
||
# 计算线段端点
|
||
x1 = left_bound
|
||
y1 = int(fitted_slope * x1 + intercept)
|
||
x2 = right_bound
|
||
y2 = int(fitted_slope * x2 + intercept)
|
||
|
||
# 计算中点y坐标和线长
|
||
mid_y = (y1 + y2) / 2
|
||
line_length = np.sqrt((x2-x1)**2 + (y2-y1)**2)
|
||
|
||
# 计算得分
|
||
position_score = 1.0 - (mid_y / height)
|
||
quality_score = position_score * 0.7 + 0.3 # 边缘点拟合的线给予高分
|
||
|
||
# 添加到水平线列表
|
||
horizontal_lines.append((np.array([x1, y1, x2, y2]), mid_y, fitted_slope, line_length, quality_score))
|
||
|
||
if observe:
|
||
debug(f"从边缘点成功拟合出水平线，斜率: {fitted_slope:.4f}", "处理")
|
||
fitted_line_img = img.copy()
|
||
cv2.line(fitted_line_img, (x1, y1), (x2, y2), (0, 255, 255), 2)
|
||
for point in upper_points:
|
||
cv2.circle(fitted_line_img, point, 3, (0, 255, 0), -1)
|
||
cv2.imshow("拟合的水平线", fitted_line_img)
|
||
cv2.waitKey(delay)
|
||
except Exception as e:
|
||
if observe:
|
||
error(f"拟合水平线失败: {str(e)}", "失败")
|
||
|
||
if not horizontal_lines:
|
||
if observe:
|
||
error("未检测到合格的水平线", "失败")
|
||
return None, None
|
||
|
||
# 根据质量得分排序水平线（得分高的排前面）
|
||
horizontal_lines.sort(key=lambda x: x[4], reverse=True)
|
||
|
||
if observe:
|
||
debug(f"步骤6: 找到 {len(horizontal_lines)} 条水平线", "处理")
|
||
h_lines_img = img.copy()
|
||
|
||
# 绘制所有水平线
|
||
for i, line_info in enumerate(horizontal_lines):
|
||
line, mid_y, slope, length, score = line_info
|
||
if isinstance(line, np.ndarray) and line.shape[0] == 4:
|
||
x1, y1, x2, y2 = line
|
||
else:
|
||
x1, y1, x2, y2 = line
|
||
# 根据得分调整线的颜色，得分越高越绿
|
||
color = (int(255 * (1-score)), int(255 * score), 0)
|
||
cv2.line(h_lines_img, (int(x1), int(y1)), (int(x2), int(y2)), color, 2)
|
||
# 显示斜率和得分
|
||
cv2.putText(h_lines_img, f"{i}:{score:.2f}", ((int(x1)+int(x2))//2, (int(y1)+int(y2))//2),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
|
||
cv2.imshow("水平线", h_lines_img)
|
||
cv2.waitKey(delay)
|
||
|
||
# 选择得分最高的线作为最远横线
|
||
selected_line = horizontal_lines[0][0]
|
||
selected_slope = horizontal_lines[0][2]
|
||
selected_score = horizontal_lines[0][4]
|
||
|
||
# 提取线段端点
|
||
if isinstance(selected_line, np.ndarray) and selected_line.shape[0] == 4:
|
||
x1, y1, x2, y2 = selected_line
|
||
else:
|
||
x1, y1, x2, y2 = selected_line
|
||
|
||
# 确保x1 < x2
|
||
if x1 > x2:
|
||
x1, x2 = x2, x1
|
||
y1, y2 = y2, y1
|
||
|
||
# 计算中线与检测到的横向线的交点
|
||
# 横向线方程: y = slope * (x - x1) + y1
|
||
# 中线方程: x = center_x
|
||
# 解这个方程组得到交点坐标
|
||
intersection_x = center_x
|
||
intersection_y = selected_slope * (center_x - x1) + y1
|
||
intersection_point = (int(intersection_x), int(intersection_y))
|
||
|
||
# 计算交点到图像底部的距离（以像素为单位）
|
||
distance_to_bottom = height - intersection_y
|
||
|
||
# 检查交点是否在合理范围内
|
||
valid_result = True
|
||
reason = ""
|
||
if intersection_y < 0:
|
||
valid_result = False
|
||
reason += "交点y坐标超出图像上边界; "
|
||
elif intersection_y > height * 0.95: # 允许交点在靠近底部但不太接近底部的位置
|
||
valid_result = False
|
||
reason += "交点y坐标过于接近图像底部; "
|
||
|
||
# 可视化结果
|
||
result_img = None
|
||
if observe or save_log:
|
||
result_img = img.copy()
|
||
# 画出检测到的线
|
||
line_color = (0, 255, 0) if valid_result else (0, 0, 255)
|
||
cv2.line(result_img, (int(x1), int(y1)), (int(x2), int(y2)), line_color, 2)
|
||
# 画出中线
|
||
cv2.line(result_img, (center_x, 0), (center_x, height), (0, 0, 255), 2)
|
||
# 标记中线与横向线的交点
|
||
cv2.circle(result_img, intersection_point, 12, (255, 0, 255), -1)
|
||
cv2.circle(result_img, intersection_point, 5, (255, 255, 255), -1)
|
||
|
||
cv2.putText(result_img, f"Slope: {selected_slope:.4f}", (10, 30),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 1, line_color, 2)
|
||
cv2.putText(result_img, f"Intersection: ({intersection_point[0]}, {intersection_point[1]})", (10, 70),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 1, line_color, 2)
|
||
cv2.putText(result_img, f"Distance to bottom: {distance_to_bottom:.1f}px", (10, 110),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 1, line_color, 2)
|
||
cv2.putText(result_img, f"Score: {selected_score:.2f}", (10, 150),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 1, line_color, 2)
|
||
|
||
if not valid_result:
|
||
cv2.putText(result_img, f"Warning: {reason}", (10, 190),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 2)
|
||
|
||
if observe:
|
||
debug("显示交点结果", "显示")
|
||
cv2.imshow("交点结果", 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)
|
||
|
||
if result_img is not None:
|
||
img_path = os.path.join(log_dir, f"furthest_intersection_{timestamp}.jpg")
|
||
cv2.imwrite(img_path, result_img)
|
||
info(f"保存最远交点检测结果图像到: {img_path}", "日志")
|
||
|
||
# 保存文本日志信息
|
||
log_info = {
|
||
"timestamp": timestamp,
|
||
"intersection_point": intersection_point,
|
||
"distance_to_bottom": distance_to_bottom,
|
||
"slope": selected_slope,
|
||
"score": selected_score,
|
||
"valid": valid_result,
|
||
"reason": reason if not valid_result else ""
|
||
}
|
||
info(f"最远交点检测结果: {log_info}", "日志")
|
||
|
||
# 即使结果无效也返回，方便调试
|
||
# 创建交点信息字典
|
||
intersection_info = {
|
||
"x": intersection_point[0],
|
||
"y": intersection_point[1],
|
||
"distance_to_bottom": distance_to_bottom,
|
||
"slope": selected_slope,
|
||
"is_horizontal": abs(selected_slope) < 0.05, # 判断是否接近水平
|
||
"score": selected_score, # 线段质量得分
|
||
"valid": valid_result, # 添加有效性标志
|
||
"reason": reason if not valid_result else "" # 添加无效原因
|
||
}
|
||
|
||
# 即使交点可能无效，也返回计算结果，由调用者决定是否使用
|
||
return intersection_point, intersection_info
|
||
|
||
# 测试代码，仅在直接运行该文件时执行
|
||
if __name__ == "__main__":
|
||
import sys
|
||
|
||
if len(sys.argv) > 1:
|
||
image_path = sys.argv[1]
|
||
else:
|
||
image_path = "res/path/task-5/origin_horizontal_edge_20250528_100447_858352.jpg" # 默认测试图像
|
||
|
||
intersection_point, intersection_info = detect_furthest_horizontal_intersection(image_path, observe=True, delay=800)
|
||
|
||
if intersection_point is not None:
|
||
print(f"检测到的最远交点: {intersection_point}")
|
||
print(f"交点信息: {intersection_info}")
|
||
else:
|
||
print("未检测到有效的最远交点") |