添加命令行参数支持

src/Yolov3_Autonomous_Vehicle_Object_Detection/main.py

@@ -3,19 +3,44 @@
 import queue
 import numpy as np
 import carla
+import argparse  # [新增] 引入命令行参数解析库
 
 from config import config
 from utils.carla_client import CarlaClient
 from models.yolo_detector import YOLODetector
+<<<<<<< HEAD
+=======
 # [新增] 引入新的绘图函数
+>>>>>>> af1df56e41e216690d1e8e26081896cfd8849632
 from utils.visualization import draw_results, draw_safe_zone
 from utils.planner import SimplePlanner
 from utils.logger import PerformanceLogger
 
 
+# [新增] 参数解析函数
+def parse_arguments():
+    parser = argparse.ArgumentParser(description="Autonomous Vehicle Object Detection System")
+
+    parser.add_argument("--host", default=config.CARLA_HOST, help="CARLA Host IP")
+    parser.add_argument("--port", type=int, default=config.CARLA_PORT, help="CARLA Port")
+    parser.add_argument("--no-render", action="store_true", help="Disable OpenCV rendering window (Headless mode)")
+
+    return parser.parse_args()
+
+
 def main():
+<<<<<<< HEAD
+    # 1. 解析命令行参数
+    args = parse_arguments()
+
+=======
     # 1. 初始化模块
+>>>>>>> af1df56e41e216690d1e8e26081896cfd8849632
     print("[Main] 初始化模块...")
+    # 打印运行模式
+    if args.no_render:
+        print("[INFO] 运行模式: Headless (无窗口渲染)")
+
     detector = YOLODetector(
         cfg_path=config.YOLO_CONFIG_PATH,
         weights_path=config.YOLO_WEIGHTS_PATH,
@@ -27,7 +52,13 @@ def main():
 
     planner = SimplePlanner()
     logger = PerformanceLogger(log_dir=config.LOG_DIR)
+<<<<<<< HEAD
+
+    # [Mod] 使用命令行参数初始化客户端
+    client = CarlaClient(host=args.host, port=args.port)
+=======
     client = CarlaClient()
+>>>>>>> af1df56e41e216690d1e8e26081896cfd8849632
 
     if not client.connect():
         return
@@ -62,6 +93,23 @@ def main():
                 # --- 记录数据 ---
                 fps = 1 / (time.time() - start_time)
                 logger.log_step(fps, len(results))
+<<<<<<< HEAD
+
+                # --- 可视化 (根据 --no-render 参数决定是否显示) ---
+                if not args.no_render:
+                    frame = draw_safe_zone(frame)
+                    frame = draw_results(frame, results, detector.classes)
+
+                    cv2.putText(frame, f"FPS: {fps:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
+                    if is_brake:
+                        cv2.putText(frame, "EMERGENCY BRAKING!", (150, 300), cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 0, 255),
+                                    4)
+                        cv2.putText(frame, warning_msg, (180, 350), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 2)
+
+                    cv2.imshow("CARLA Object Detection", frame)
+                    if cv2.waitKey(1) & 0xFF == ord('q'):
+                        break
+=======
 
                 # --- 可视化 ---
                 # 1. 先画安全走廊 (蓝色辅助线)
@@ -80,6 +128,7 @@ def main():
 
                 if cv2.waitKey(1) & 0xFF == ord('q'):
                     break
+>>>>>>> af1df56e41e216690d1e8e26081896cfd8849632
 
             except queue.Empty:
                 continue
@@ -91,7 +140,9 @@ def main():
         print("[Main] 正在清理资源...")
         client.destroy_actors()
         logger.close()
-        cv2.destroyAllWindows()
+        # 只有创建了窗口才需要销毁
+        if not args.no_render:
+            cv2.destroyAllWindows()
         print("[Main] 程序已退出")
 
 

src/Yolov3_Autonomous_Vehicle_Object_Detection/utils/carla_client.py

@@ -20,9 +20,11 @@ class CarlaClient:
     CARLA 模拟器客户端封装类
     """
 
-    def __init__(self):
-        self.host = config.CARLA_HOST
-        self.port = config.CARLA_PORT
+    # [Mod] 修改 __init__ 方法，允许覆盖 host 和 port
+    def __init__(self, host=None, port=None):
+        # 如果传入了参数就用传入的，否则用 config 里的默认值
+        self.host = host if host else config.CARLA_HOST
+        self.port = port if port else config.CARLA_PORT
         self.timeout = config.CARLA_TIMEOUT
 
         self.client = None
@@ -50,7 +52,6 @@ def spawn_vehicle(self):
             print("[ERROR] 世界未加载，请先连接！")
             return None
 
-        # [Refactor] 使用配置文件中的车型
         model_name = config.VEHICLE_MODEL
         bp = self.blueprint_library.find(model_name)
 
@@ -74,7 +75,6 @@ def setup_camera(self):
         camera_bp.set_attribute('image_size_y', str(config.CAMERA_HEIGHT))
         camera_bp.set_attribute('fov', str(config.CAMERA_FOV))
 
-        # [Refactor] 使用配置文件中的安装位置
         spawn_point = carla.Transform(carla.Location(x=config.CAMERA_POS_X, z=config.CAMERA_POS_Z))
 
         self.camera = self.world.spawn_actor(camera_bp, spawn_point, attach_to=self.vehicle)