830 plan-A

QT.py

@@ -291,19 +291,19 @@ def setupUi(self, MainWindow):
         print("\033[0;32m相机初始化完成\033[0m")
         self.thread_init()
         print("\033[0;32m多线程初始化完成\033[0m")
-        # self.names.append("ZA001")  # 舒肤佳
+        self.names.append("ZA001")  # 舒肤佳
         # self.names.append("ZA001v")
-        # self.names.append("ZA001h1")
+        self.names.append("ZA001h1")
         # self.names.append("ZA001h2")
         # self.names.append("ZA002")  # 洗手液
         # self.names.append("ZA003")  # 牙膏
-        # self.names.append("ZA004")  # 花露水
+        self.names.append("ZA004")  # 花露水
         # self.names.append("ZA005")  # 鸭子
-        # self.names.append("ZB001")  # 八宝粥
+        self.names.append("ZB001")  # 八宝粥
         # self.names.append("ZB002")  # 辣酱
         # self.names.append("ZB003")  # 曲奇
         # self.names.append("ZB004")  # 果珍
-        self.names.append("ZB005")  # 绿箭
+        # self.names.append("ZB005")  # 绿箭
         # self.names.append("ZB006")  # 面
         # self.names.append("ZB006r")
         # self.names.append("ZB007")  # 太平饼干
@@ -313,7 +313,7 @@ def setupUi(self, MainWindow):
         # self.names.append("ZB009r")
         # self.names.append("ZB010")  # 瓜子
         # self.names.append("ZC004")  # 红牛
-        # self.names.append("ZC005")  # AD奶
+        self.names.append("ZC005")  # AD奶
         # self.names.append("ZC006")  # 橙汁
         # self.names.append("ZC008")  # 加多宝
         # self.names.append("ZC009")  # 冰红茶
@@ -323,8 +323,8 @@ def setupUi(self, MainWindow):
         # self.names.append("ZC011h")
         # self.names.append("ZC012")  # 茶π
         # self.names.append("ZC012h")
-        # self.names.append("ZC013")  # 椰奶
-        # self.names.append("ZC014")  # 农夫山泉
+        self.names.append("ZC013")  # 椰奶
+        self.names.append("ZC014")  # 农夫山泉
         for name in self.names:
             self.result.append([name, 0, 0, 0, 0, 0])
             model = dn('yolo6D/yolo-pose.cfg')
@@ -413,17 +413,17 @@ def save_result(self):
             for res in self.result:
                 if res[1] == 0:  # 无有效识别
                     continue
-                f.write('GOAL_ID=%s;' % res[0])
-                f.write('GOAL_X=%.1f;' % (res[2] / res[1]))
-                f.write('GOAL_Y=%.1f;' % (res[3] / res[1]))
-                f.write('GOAL_Angle=%.1f\n' % (res[5] / res[1]))
+                f.write('Goal_ID=%s;' % res[0])
+                f.write('Goal_X=%.1f;' % (res[2] / res[1]))
+                f.write('Goal_Y=%.1f;' % (res[3] / res[1]))
+                f.write('Goal_Angle=%.1f\n' % (res[5] / res[1]))
                 res[1] = res[2] = res[3] = res[4] = res[5] = 0
         else:
             for res in self.result:
                 if res[1] == 0:  # 无有效识别
                     continue
-                f.write('GOAL_ID=%s;' % res[0])
-                f.write('GOAL_Radius=%.1f\n' % (res[4] / res[1]))
+                f.write('Goal_ID=%s;' % res[0])
+                f.write('Goal_Radius=%.1f\n' % (res[4] / res[1]))
                 res[1] = res[2] = res[3] = res[4] = res[5] = 0
         f.write('END')
         print('    \33[0;32m第%s回合结果已保存\033[0m' % self.round)

circle_fit.py

@@ -79,7 +79,8 @@ def circle_line(origin, thresed, S_thre=(100000, 600000)):
     # ret, thresh = cv2.threshold(imgray, 127, 255, cv2.THRESH_BINARY)
     # cv2.imshow("thres", thresh)
     # image, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
-    _, contours, _ = cv2.findContours(thresed, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+    # _, contours, _ = cv2.findContours(thresed, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+    contours, _ = cv2.findContours(thresed, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
     top = []; bottle = []; right = []; left = []; center = []
     Circle_2D = []
     last_longest = 4
@@ -141,6 +142,7 @@ def circle_desk(num, x, canny, hough):
     thresed = corner.thres(img, x)
     thresed_new = corner.remove_small_objects(thresed)
     lined, _, Circle_2D = circle_line(img, thresed_new, [100000, 600000])
+    # lined, _, Circle_2D = circle_line(img, thresed_new, [100000, 800000])
     # affine_table_2D = np.float32([[0,0],[0,550],[550,0],[550,550]])
     # M = cv2.getPerspectiveTransform(Table_2D,affine_table_2D)
     # marked = cv2.warpPerspective(lined,M,(550,550)) # Perspective_Transformation

data1.txt

@@ -1,6 +1,6 @@
-red_low = 165
-red_high = 200
-green_low = 165
-green_high = 200
-blue_low = 165
-blue_high = 200
+red_low = 180
+red_high = 255
+green_low = 180
+green_high = 255
+blue_low = 180
+blue_high = 255

data2.txt

@@ -3,4 +3,4 @@ canny_threshold_2 = 150
 sobel = 3
 hough_rho = 1
 hough_theta = 1
-hough_threshold = 70
+hough_threshold = 60

debugger.py

@@ -255,10 +255,10 @@ def setting_2(self):
         ho[2] = self.lineEdit_12.text()
         img = corner.thres(self.img, self.x)
         thresed = corner.remove_small_objects(img)
-        # edges = corner.square_canny(thresed, ca)
+        # edges = corner.square_canny(thresed, ca) # 方桌检测
         # cv2.imshow('edges', edges)
         # lined, Table_2D = corner.square_line(self.img, edges, ho)
-        lined, _, Circle_2D = circle_fit.circle_line(self.img, thresed)
+        lined, _, Circle_2D = circle_fit.circle_line(self.img, thresed) # 圆桌检测
         cv2.imshow('lines', lined)
 
         f = open("data2.txt", "w+")

东南大学-LabVIEW-R1.txt

@@ -1,3 +1,8 @@
 START
-GOAL_ID=ZC013;GOAL_X=17.2;GOAL_Y=33.7;GOAL_Angle=129.0
+GOAL_ID=ZA001;GOAL_X=27.0;GOAL_Y=47.4;GOAL_Angle=129.7
+GOAL_ID=ZA004;GOAL_X=48.1;GOAL_Y=38.9;GOAL_Angle=28.9
+GOAL_ID=ZB001;GOAL_X=8.3;GOAL_Y=48.3;GOAL_Angle=135.0
+GOAL_ID=ZC005;GOAL_X=47.3;GOAL_Y=41.6;GOAL_Angle=62.9
+GOAL_ID=ZC013;GOAL_X=7.2;GOAL_Y=47.0;GOAL_Angle=136.6
+GOAL_ID=ZC014;GOAL_X=27.5;GOAL_Y=43.2;GOAL_Angle=103.0
 END