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fujinliang
2025-11-21 14:55:52 +08:00
parent e3ecd0550f
commit 26ed8df502
36 changed files with 908 additions and 433 deletions
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49
vision/detector.py
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@ -4,11 +4,12 @@ import cv2
from vision.angle_detector import get_current_door_angle
from vision.overflow_detector import detect_overflow_from_image
from vision.alignment_detector import detect_vehicle_alignment
from config.settings import app_set_config
class VisionDetector:
def __init__(self, settings):
self.settings = settings
def __init__(self):
pass
#model路径在对应的模型里面
# self.alignment_model = os.path.join(current_dir, "align_model/yolov11_cls_640v6.rknn")
@ -21,36 +22,36 @@ class VisionDetector:
# 加载夹角检测模型
try:
if not os.path.exists(self.settings.angle_model_path):
print(f"夹角检测模型不存在: {self.settings.angle_model_path}")
if not os.path.exists(app_set_config.angle_model_path):
print(f"夹角检测模型不存在: {app_set_config.angle_model_path}")
success = False
else:
# 注意：angle.pt模型通过predict_obb_best_angle函数使用，不需要预加载
print(f"夹角检测模型路径: {self.settings.angle_model_path}")
print(f"夹角检测模型路径: {app_set_config.angle_model_path}")
except Exception as e:
print(f"检查夹角检测模型失败: {e}")
success = False
# 加载堆料检测模型
try:
if not os.path.exists(self.settings.overflow_model_path):
print(f"堆料检测模型不存在: {self.settings.overflow_model_path}")
if not os.path.exists(app_set_config.overflow_model_path):
print(f"堆料检测模型不存在: {app_set_config.overflow_model_path}")
success = False
else:
self.overflow_model = YOLO(self.settings.overflow_model_path)
print(f"成功加载堆料检测模型: {self.settings.overflow_model_path}")
self.overflow_model = YOLO(app_set_config.overflow_model_path)
print(f"成功加载堆料检测模型: {app_set_config.overflow_model_path}")
except Exception as e:
print(f"加载堆料检测模型失败: {e}")
success = False
# 加载对齐检测模型
try:
if not os.path.exists(self.settings.alignment_model_path):
print(f"对齐检测模型不存在: {self.settings.alignment_model_path}")
if not os.path.exists(app_set_config.alignment_model_path):
print(f"对齐检测模型不存在: {app_set_config.alignment_model_path}")
success = False
else:
self.alignment_model = YOLO(self.settings.alignment_model_path)
print(f"成功加载对齐检测模型: {self.settings.alignment_model_path}")
self.alignment_model = YOLO(app_set_config.alignment_model_path)
print(f"成功加载对齐检测模型: {app_set_config.alignment_model_path}")
except Exception as e:
print(f"加载对齐检测模型失败: {e}")
success = False
@ -64,7 +65,7 @@ class VisionDetector:
# image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
image=cv2.flip(image, 0)
return get_current_door_angle(
model=self.settings.angle_model_path,
model=app_set_config.angle_model_path,
image=image
)
@ -72,21 +73,21 @@ class VisionDetector:
"""
通过图像检测是否溢料
"""
# image_array=cv2.flip(image_array, 0)
image_array=cv2.flip(image_array, 0)
# cv2.imwrite('test.jpg', image_array)
cv2.namedWindow("Alignment", cv2.WINDOW_NORMAL)
cv2.resizeWindow("Alignment", 640, 480)
cv2.imshow("Alignment", image_array)
cv2.waitKey(1)
print('path:', self.settings.overflow_model_path)
print('roi:', self.settings.roi_file_path)
# cv2.namedWindow("Alignment", cv2.WINDOW_NORMAL)
# cv2.resizeWindow("Alignment", 640, 480)
# cv2.imshow("Alignment", image_array)
# cv2.waitKey(1)
# print('path:', app_set_config.overflow_model_path)
# print('roi:', app_set_config.roi_file_path)
return detect_overflow_from_image(
self.settings.overflow_model_path,
self.settings.roi_file_path,
app_set_config.overflow_model_path,
app_set_config.roi_file_path,
image_array
)
def detect_vehicle_alignment(self, image_array):
def detect_vehicle_alignment(self, image_array)->bool:
"""
通过图像检测模具车是否对齐
"""