From 0bedc72ea6c106331519bc6e78bf033948a583ab Mon Sep 17 00:00:00 2001 From: ZZyy22200 <2690852450@qq.com> Date: Sat, 7 Mar 2026 11:07:05 +0800 Subject: [PATCH 1/2] Update main.py --- src/Lane_and_Path_Detection/main.py | 117 +++++++++++++++++++++++++++- 1 file changed, 113 insertions(+), 4 deletions(-) diff --git a/src/Lane_and_Path_Detection/main.py b/src/Lane_and_Path_Detection/main.py index c37a1af68..a0f7d72c3 100644 --- a/src/Lane_and_Path_Detection/main.py +++ b/src/Lane_and_Path_Detection/main.py @@ -2,7 +2,8 @@ import numpy as np import os from scipy import stats -from typing import Optional, Tuple, Union # 新增类型注解，提升可读性 +from typing import Optional, Tuple, Union +import time # 新增：用于FPS计算 # ===================== 配置常量（统一管理参数） ===================== CONFIG = { @@ -31,12 +32,23 @@ "WARNING": (0, 165, 255), # 橙色 "ERROR": (0, 0, 255), # 红色 "OFFSET_PERCENT": (0, 255, 255),# 青色 - "SLOPE_DIFF": (255, 0, 255) # 紫色 + "SLOPE_DIFF": (255, 0, 255), # 紫色 + "LDW_WARNING": (0, 255, 255), # 黄色（轻度偏离） + "LDW_DANGER": (0, 0, 255), # 红色（重度偏离） + "FPS": (0, 255, 0) # 绿色（FPS显示） }, "DEFAULT_OFFSET_PERCENT": 8.9, - "DEFAULT_SLOPE_DIFF": 0.0 + "DEFAULT_SLOPE_DIFF": 0.0, + # 新增：车道偏离预警阈值 + "LDW_WARNING_THRESH": 15.0, # 轻度偏离阈值（百分比） + "LDW_DANGER_THRESH": 30.0, # 重度偏离阈值（百分比） + # FPS计算参数 + "FPS_AVERAGE_FRAMES": 10 # 平均帧数（平滑FPS显示） } +# 新增：FPS计算全局变量 +fps_times = [] + def grayscale(img: np.ndarray) -> np.ndarray: """转换为灰度图""" return cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) @@ -356,8 +368,98 @@ def _calc_curvature(fit: np.ndarray) -> float: return "N/A" return f"{int(avg_curvature)} m (Straight)" if avg_curvature > 1000 else f"{avg_curvature:.1f} m" +# 新增：计算并绘制车道偏离预警 +def draw_ldw_warning( + img: np.ndarray, + offset_percent: float +) -> np.ndarray: + """ + 绘制车道偏离预警（LDW） + :param img: 输入图像 + :param offset_percent: 偏离百分比 + :return: 绘制预警后的图像 + """ + height, width = img.shape[:2] + abs_offset = abs(offset_percent) + + # 判断偏离等级 + if abs_offset < CONFIG["LDW_WARNING_THRESH"]: + return img # 无偏离，不绘制预警 + elif CONFIG["LDW_WARNING_THRESH"] <= abs_offset < CONFIG["LDW_DANGER_THRESH"]: + warning_text = "⚠️ LDW WARNING: Lane Departure!" + text_color = CONFIG["TEXT_COLORS"]["LDW_WARNING"] + bg_color = (0, 165, 255) # 橙色背景 + else: + warning_text = "🚨 LDW DANGER: Severe Departure!" + text_color = CONFIG["TEXT_COLORS"]["LDW_DANGER"] + bg_color = (0, 0, 255) # 红色背景 + + # 计算文字尺寸，绘制半透明背景 + text_size = cv2.getTextSize(warning_text, CONFIG["FONT"], CONFIG["FONT_SCALE"], CONFIG["FONT_THICKNESS"])[0] + text_x = (width - text_size[0]) // 2 + text_y = int(height * 0.1) + bg_rect = [ + (text_x - 10, text_y - text_size[1] - 10), + (text_x + text_size[0] + 10, text_y + 10) + ] + + # 绘制半透明背景 + overlay = img.copy() + cv2.rectangle(overlay, bg_rect[0], bg_rect[1], bg_color, -1) + cv2.addWeighted(overlay, 0.3, img, 0.7, 0, img) + + # 绘制预警文字 + cv2.putText( + img, warning_text, + (text_x, text_y), CONFIG["FONT"], CONFIG["FONT_SCALE"], + text_color, CONFIG["FONT_THICKNESS"] + 1 + ) + + return img + +# 新增：计算并绘制FPS +def draw_fps(img: np.ndarray) -> np.ndarray: + """ + 计算并绘制实时FPS + :param img: 输入图像 + :return: 绘制FPS后的图像 + """ + global fps_times + + # 记录当前时间 + current_time = time.time() + fps_times.append(current_time) + + # 只保留最近N帧的时间（平滑FPS） + if len(fps_times) > CONFIG["FPS_AVERAGE_FRAMES"]: + fps_times = fps_times[-CONFIG["FPS_AVERAGE_FRAMES"]:] + + # 计算FPS + if len(fps_times) >= 2: + fps = len(fps_times) / (fps_times[-1] - fps_times[0]) + fps_text = f"FPS: {fps:.1f}" + else: + fps_text = "FPS: --" + + # 绘制FPS（右上角） + height, width = img.shape[:2] + text_size = cv2.getTextSize(fps_text, CONFIG["FONT"], CONFIG["FONT_SCALE"], CONFIG["FONT_THICKNESS"])[0] + text_x = width - text_size[0] - 20 + text_y = 50 + + cv2.putText( + img, fps_text, + (text_x, text_y), CONFIG["FONT"], CONFIG["FONT_SCALE"], + CONFIG["TEXT_COLORS"]["FPS"], CONFIG["FONT_THICKNESS"] + ) + + return img + def lane_detection_pipeline(img: np.ndarray) -> np.ndarray: - """车道检测主流程（优化代码结构）""" + """车道检测主流程（优化代码结构，新增LDW和FPS功能）""" + # 记录开始时间（用于FPS计算） + start_time = time.time() + # 1. 预处理 gray = grayscale(img) blur = gaussian_blur(gray) @@ -438,6 +540,12 @@ def lane_detection_pipeline(img: np.ndarray) -> np.ndarray: CONFIG["TEXT_COLORS"]["SLOPE_DIFF"], CONFIG["FONT_THICKNESS"] ) + # ========== 新增功能：车道偏离预警（LDW） ========== + result = draw_ldw_warning(result, offset_percent) + + # ========== 新增功能：绘制FPS ========== + result = draw_fps(result) + return result def batch_detect_images(folder_path: str) -> None: @@ -475,6 +583,7 @@ def main() -> None: """主函数（优化交互体验）""" print("="*60) print(" Lane Detection System (High-Precision Version)") + print(" ✨ Added: LDW (Lane Departure Warning) + FPS ✨") print("="*60) current_dir = os.path.dirname(os.path.abspath(__file__)) From 209ac890b6c62a0fb9573c77920060be5531863d Mon Sep 17 00:00:00 2001 From: ZZyy22200 <2690852450@qq.com> Date: Fri, 13 Mar 2026 12:03:16 +0800 Subject: [PATCH 2/2] Update requirements.txt --- src/Lane_and_Path_Detection/requirements.txt | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/Lane_and_Path_Detection/requirements.txt b/src/Lane_and_Path_Detection/requirements.txt index 866b06b8a..1a80eafc6 100644 --- a/src/Lane_and_Path_Detection/requirements.txt +++ b/src/Lane_and_Path_Detection/requirements.txt @@ -1,5 +1,3 @@ opencv-python numpy - -matplotlib -opencv-contrib-python \ No newline at end of file +scipy