160 lines
5.5 KiB
Python
160 lines
5.5 KiB
Python
from ultralytics import YOLO
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import cv2
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import numpy as np
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import os
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# ------------------ 模型与路径配置 ------------------
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MODEL_PATH = '../ultralytics_yolo11-main/runs/train/seg_j/exp/weights/best.pt'
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OUTPUT_DIR = '../test_image'
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os.makedirs(OUTPUT_DIR, exist_ok=True)
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# 加载模型（全局一次）
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model = YOLO(MODEL_PATH)
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model.to('cuda') # 如无 GPU，可改为 'cpu'
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def detect_jaw_angle(image_path, mode='show'):
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"""
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检测图像中两个夹具的开合角度
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参数:
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image_path (str): 输入图像路径
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mode (str): 'show' -> 保存可视化结果；'silent' -> 只返回角度
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返回:
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float: 夹具开合角度 (0 ~ 90°)
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"""
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img = cv2.imread(image_path)
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if img is None:
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raise FileNotFoundError(f"无法读取图像: {image_path}")
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h, w = img.shape[:2]
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filename = os.path.basename(image_path)
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name_only = os.path.splitext(filename)[0]
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# 创建掩码并检测
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composite_mask = np.zeros((h, w), dtype=np.uint8)
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results = model(image_path, imgsz=640, conf=0.5)
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jaws = []
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for r in results:
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if r.masks is not None:
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masks = r.masks.data.cpu().numpy()
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boxes = r.boxes.xyxy.cpu().numpy()
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for i, mask in enumerate(masks):
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x1, y1, x2, y2 = map(int, boxes[i])
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x1, y1 = max(0, x1), max(0, y1)
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x2, y2 = min(w, x2), min(h, y2)
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obj_mask = np.zeros((h, w), dtype=np.uint8)
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mask_resized = cv2.resize(mask, (w, h))
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obj_mask[y1:y2, x1:x2] = (mask_resized[y1:y2, x1:x2] * 255).astype(np.uint8)
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contours, _ = cv2.findContours(obj_mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
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if len(contours) == 0:
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continue
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largest_contour = max(contours, key=cv2.contourArea)
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area = cv2.contourArea(largest_contour)
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if area < 100:
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continue
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rect = cv2.minAreaRect(largest_contour)
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jaws.append({
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'contour': largest_contour,
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'rect': rect,
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'area': area
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})
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composite_mask = np.maximum(composite_mask, obj_mask)
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# 必须检测到至少两个夹具
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if len(jaws) < 2:
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print(f"检测到的夹具少于2个（共{len(jaws)}个）")
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if mode == 'show':
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cv2.imwrite(os.path.join(OUTPUT_DIR, f'mask_{name_only}.png'), composite_mask)
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return None
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# 取面积最大的两个
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jaws.sort(key=lambda x: x['area'], reverse=True)
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jaw1, jaw2 = jaws[0], jaws[1]
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# ------------------ 计算角度 ------------------
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def get_long_edge_vector(rect):
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center, (w, h), angle = rect
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rad = np.radians(angle + (0 if w >= h else 90))
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return np.array([np.cos(rad), np.sin(rad)])
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def get_center(contour):
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M = cv2.moments(contour)
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return np.array([M['m10']/M['m00'], M['m01']/M['m00']]) if M['m00'] != 0 else np.array([0,0])
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dir1 = get_long_edge_vector(jaw1['rect'])
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dir2 = get_long_edge_vector(jaw2['rect'])
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# 校正方向：指向夹具中心
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center1 = get_center(jaw1['contour'])
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center2 = get_center(jaw2['contour'])
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fixture_center = (center1 + center2) / 2
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to_center1 = fixture_center - center1
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to_center2 = fixture_center - center2
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if np.linalg.norm(to_center1) > 1e-6 and np.dot(dir1, to_center1) < 0:
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dir1 = -dir1
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if np.linalg.norm(to_center2) > 1e-6 and np.dot(dir2, to_center2) < 0:
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dir2 = -dir2
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# 计算最小内角
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cos_angle = np.clip(np.dot(dir1, dir2), -1.0, 1.0)
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angle = np.degrees(np.arccos(cos_angle))
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opening_angle = min(angle, 180 - angle)
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# ------------------ 可视化（仅 mode='show'）------------------
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if mode == 'show':
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vis_img = np.stack([composite_mask]*3, axis=-1)
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vis_img[composite_mask > 0] = [255, 255, 255]
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# 绘制矩形框
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box1 = np.int32(cv2.boxPoints(jaw1['rect']))
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box2 = np.int32(cv2.boxPoints(jaw2['rect']))
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cv2.drawContours(vis_img, [box1], 0, (0, 0, 255), 2)
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cv2.drawContours(vis_img, [box2], 0, (255, 0, 0), 2)
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# 绘制方向箭头
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scale = 60
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c1 = tuple(np.int32(center1))
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c2 = tuple(np.int32(center2))
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end1 = tuple(np.int32(center1 + scale * dir1))
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end2 = tuple(np.int32(center2 + scale * dir2))
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cv2.arrowedLine(vis_img, c1, end1, (0, 255, 0), 2, tipLength=0.3)
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cv2.arrowedLine(vis_img, c2, end2, (0, 255, 0), 2, tipLength=0.3)
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# 标注角度
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cv2.putText(vis_img, f"Angle: {opening_angle:.2f}°", (20, 50),
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cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2)
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# 保存
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save_path = os.path.join(OUTPUT_DIR, f'mask_with_angle_{name_only}.png')
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cv2.imwrite(save_path, vis_img)
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print(f"✅ 可视化结果已保存: {save_path}")
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return round(opening_angle, 2)
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# ------------------ 主函数 ------------------
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if __name__ == '__main__':
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# ✅ 设置输入图像路
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image_path = r"/home/hx/yolo/output_masks/2.jpg" # ← 修改为你自己的图片路径
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# ✅ 模式选择：
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# mode='show': 保存可视化图像
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# mode='silent': 只返回角度
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mode = 'show' # 或 'silent'
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print(f"🔍 正在处理图像: {image_path}")
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angle = detect_jaw_angle(image_path, mode=mode)
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if angle is not None:
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print(f"🎉 检测到的夹具开合角度: {angle}°")
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else:
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print("❌ 未能检测到足够的夹具") |