add:倒车辅助线
This commit is contained in:
87
web.py
87
web.py
@@ -228,7 +228,7 @@ class SerialWorker(threading.Thread):
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def _parse_rx_frame(self, frame):
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# print("[串口1 RX] " + " ".join("{:02X}".format(b) for b in frame))
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if len(frame) != 10 or frame[0] != 0x55 or frame[9] != 0xAA:
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return
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front = frame[1]; left = frame[2]
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@@ -266,7 +266,6 @@ class SerialWorker(threading.Thread):
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while self.running:
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try:
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frame = self._build_tx_frame()
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print("[串口1 TX] " + " ".join("{:02X}".format(b) for b in frame))
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ser.write(frame)
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except Exception as e:
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if self.running:
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@@ -331,7 +330,6 @@ class RemoteWorker(threading.Thread):
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if frame[:7] != REMOTE_HEADER:
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return
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code = frame[7]
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print("[遥控] 0x{:02X}".format(code))
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self.signals.key_pressed.emit(code)
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if code == KEY_OK:
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self.signals.enter_settings.emit()
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@@ -822,6 +820,71 @@ class RenderWorker(threading.Thread):
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else:
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back_part = np.zeros((sh, fw, 3), dtype=np.uint8)
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# --------------------------
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# 新增：绘制红/黄/绿倒车辅助线
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# --------------------------
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if back_frame is not None:
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h, w = back_part.shape[:2]
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h=h//2 # 只在下半部分绘制辅助线
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# ==========================================
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# 倒车线参数 - 梯形向远方伸长版本
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# ==========================================
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# 底部（车尾）两个端点 - 宽
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bottom_left = (int(w * 0.10), h+h) # 左侧起始10%
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bottom_right = (int(w * 0.90), h+h) # 右侧结束90%
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# 顶部（远方）- 更窄，形成更强的透视感
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# 绿色（最远，安全区）- 伸长到更高更窄的位置
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green_top_left = (int(w * 0.35), int(h * 0.12+h)) # 更窄更远
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green_top_right = (int(w * 0.65), int(h * 0.12+h))
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# 黄色（中间，警示区）
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yellow_top_left = (int(w * 0.28), int(h * 0.35+h)) # 稍宽
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yellow_top_right = (int(w * 0.72), int(h * 0.35+h))
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# 红色（最近，危险区）
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red_top_left = (int(w * 0.21), int(h * 0.60+h)) # 更宽
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red_top_right = (int(w * 0.79), int(h * 0.60+h))
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# 颜色定义（BGR格式）
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color_green = (0, 0, 255) # 绿色
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color_red = (0, 255, 255) # 黄色
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color_yellow = (0, 255, 0) # 红色
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# 绘制梯形（填充半透明）
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overlay = back_part.copy()
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alpha = 0.2 # 透明度
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# 绘制绿色区域（最远，安全区）
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green_pts = np.array([bottom_left, green_top_left, green_top_right, bottom_right], np.int32)
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cv2.fillPoly(overlay, [green_pts], color_green)
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# 绘制黄色区域（中间，警示区）
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yellow_pts = np.array([green_top_left, yellow_top_left, yellow_top_right, green_top_right], np.int32)
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cv2.fillPoly(overlay, [yellow_pts], color_yellow)
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# 绘制红色区域（最近，危险区）
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red_pts = np.array([yellow_top_left, red_top_left, red_top_right, yellow_top_right], np.int32)
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cv2.fillPoly(overlay, [red_pts], color_red)
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# 绘制左右车道线（加强透视感）
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# 左线
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cv2.line(overlay, bottom_left, green_top_left, (255, 255, 255), 2)
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# 右线
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cv2.line(overlay, bottom_right, green_top_right, (255, 255, 255), 2)
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# 混合半透明效果
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back_part = cv2.addWeighted(overlay, alpha, back_part, 1 - alpha, 0)
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# --------------------------
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# 原有亮度调节逻辑（保留）
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# --------------------------
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if brightness != 50:
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alpha_v = brightness / 50.0
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back_part = cv2.convertScaleAbs(back_part, alpha=alpha_v, beta=0)
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@@ -842,19 +905,18 @@ class RenderWorker(threading.Thread):
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else radar_dist)
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alarm_d = cfg.get("radar_alarm_dist", 50)
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rc = ((255, 80, 80) if dist_val <= alarm_d else (180, 220, 255))
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texts.append((bw + 10, sh - 80,
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texts.append((bw + 10, 48,
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f"雷达: {dist_val} {unit_str} 报警值: {alarm_d}{unit_str}",
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rc, 22))
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rc, 26))
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# 停机状态
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stop_text = "已停机" if is_stopped else "运行中"
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stop_color = ((255, 100, 100) if is_stopped else (100, 255, 100))
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texts.append((bw + 10, sh - 52, f"状态: {stop_text}", stop_color, 22))
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texts.append((bw + 500, 20, f"状态: {stop_text}", stop_color, 30))
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# 时间戳
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texts.append((bw + 10, sh - 26,
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time.strftime("%Y-%m-%d %H:%M:%S"), (160, 160, 160), 20))
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# texts.append((bw + 10, sh - 26,
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# time.strftime("%Y-%m-%d %H:%M:%S"), (160, 160, 160), 20))
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elif display_mode == "fullscreen":
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# ==========================================
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# 全屏轮播模式：显示有人方向的画面
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@@ -1023,13 +1085,6 @@ class RenderWorker(threading.Thread):
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presence[0], presence[1], presence[2], presence[3],
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radar_thr)
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# 记录状态用于调试
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if self._last_active_dirs != active_dirs:
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self._last_active_dirs = active_dirs.copy()
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mode_str = {"reverse": "倒车模式", "fullscreen": "全屏轮播",
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"normal": "正常模式"}.get(display_mode, display_mode)
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print(f"[RENDER] 模式切换: {mode_str}, 检测到: {active_dirs}, 倒车: {is_reverse}")
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except Exception as e:
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print("[RENDER ERROR] {}".format(e))
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