feeding

vision/detector.py

@@ -1,6 +1,6 @@
 # vision/detector.py
 import os
-from ultralytics import YOLO
+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
@@ -9,16 +9,14 @@ from vision.alignment_detector import detect_vehicle_alignment
 class VisionDetector:
     def __init__(self, settings):
         self.settings = settings
-
-        # 模型实例
-        self.angle_model = None
-        self.overflow_model = None
-        self.alignment_model = None
-
+        #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")
+        
     def load_models(self):
         """
         加载所有视觉检测模型
         """
+        from ultralytics import YOLO
         success = True
 
         # 加载夹角检测模型
@@ -59,28 +57,44 @@ class VisionDetector:
 
         return success
 
-    def detect_angle(self, image=None, image_path=None):
+    def detect_angle(self, image=None):
         """
         通过视觉系统获取当前出砼门角度
         """
+        # image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        image=cv2.flip(image, 0)
         return get_current_door_angle(
-            model=self.angle_model,
-            image=image,
-            image_path=image_path
+            model=self.settings.angle_model_path,
+            image=image
         )
 
     def detect_overflow(self, image_array):
         """
         通过图像检测是否溢料
         """
+        # 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)
         return detect_overflow_from_image(
-            image_array,
-            self.overflow_model,
-            self.settings.roi_file_path
+            self.settings.overflow_model_path,
+            self.settings.roi_file_path,
+            image_array
         )
 
     def detect_vehicle_alignment(self, image_array):
         """
         通过图像检测模具车是否对齐
         """
-        return detect_vehicle_alignment(image_array, self.alignment_model)
+        image_array = cv2.cvtColor(image_array, cv2.COLOR_BGR2RGB)
+        image_array=cv2.flip(image_array, 0)
+        # cv2.namedWindow("Alignment", cv2.WINDOW_NORMAL)
+        # cv2.resizeWindow("Alignment", 640, 480)
+        # cv2.imshow("Alignment", image_array)
+        # cv2.waitKey(1)
+        
+        return detect_vehicle_alignment(image_array)