diff --git a/src/drone_perception/perceptive_drone_explorer.py b/src/drone_perception/perceptive_drone_explorer.py index a7c5d2d8e2..3391236fb8 100644 --- a/src/drone_perception/perceptive_drone_explorer.py +++ b/src/drone_perception/perceptive_drone_explorer.py @@ -42,6 +42,8 @@ # 全局字体缓存 _chinese_font_cache = {} +# 全局标志：是否禁用中文显示（如果字体加载失败） +_chinese_font_disabled = False # ============ 导入配置文件 ============ try: @@ -1248,59 +1250,139 @@ def _load_chinese_font(font_size=20): print(f"✅ 成功加载中文字体: {os.path.basename(loaded_font_path)}") # 如果找不到字体，缓存None并打印警告（仅第一次） - if font is None and cache_key == 20: - print("⚠️ 未找到中文字体，将使用英文显示") - if platform.system() == "Windows": - windir = os.environ.get('WINDIR', 'C:\\Windows') - font_dir = os.path.join(windir, 'Fonts') - print(f" 字体目录: {font_dir}") - print(f" 请确保该目录存在中文字体文件（如simhei.ttf, msyh.ttc等）") + global _chinese_font_disabled + if font is None: + # 立即设置禁用标志，避免后续尝试 + _chinese_font_disabled = True + if cache_key == 20: # 只在第一次加载时打印 + print("⚠️ 未找到中文字体，将使用英文显示") + if platform.system() == "Windows": + windir = os.environ.get('WINDIR', 'C:\\Windows') + font_dir = os.path.join(windir, 'Fonts') + print(f" 字体目录: {font_dir}") + print(f" 请确保该目录存在中文字体文件（如simhei.ttf, msyh.ttc等）") _chinese_font_cache[cache_key] = font return font +def _translate_to_english(text): + """将中文文本转换为英文""" + # 按长度从长到短排序，确保先替换长的短语，避免部分替换问题 + translations = [ + ("手动控制中...", "Manual Ctrl"), + ("等待无人机图像...", "Waiting..."), + ("系统正在初始化，请稍候...", "Initializing..."), + ("按 Q 或 ESC 关闭窗口", "Press Q/ESC to close"), + ("无人机信息面板", "Info Panel"), + ("红色物体检查", "Red Object Inspection"), + ("蓝色物体检查", "Blue Object Inspection"), + ("黑色物体检查", "Black Object Inspection"), + ("飞行状态:", "State:"), + ("障碍距离:", "Obs:"), + ("CPU使用率:", "CPU:"), + ("内存使用率:", "Mem:"), + ("循环时间:", "Loop:"), + ("更新时间:", "Time:"), + ("探索网格:", "Grid:"), + ("红色物体:", "Red:"), + ("红色物体", "Red Object"), # 图例标签（无冒号） + ("蓝色物体:", "Blue:"), + ("蓝色物体", "Blue Object"), # 图例标签（无冒号） + ("黑色物体:", "Black:"), + ("黑色物体", "Black Object"), # 图例标签（无冒号） + ("主动探索", "Exploring"), # 完整状态值（必须在"探索"之前） + ("探索前沿", "Frontier"), + ("当前位置", "Current"), + ("等待数据...", "Waiting..."), + ("渲染错误", "Render Error"), + ("状态:", "State:"), + ("位置:", "Pos:"), + ("障碍:", "Obs:"), + ("开阔度:", "Open:"), + ("高度:", "Height:"), + ("图例:", "Legend:"), + ("障碍物", "Obstacle"), + ("已探索", "Explored"), + ("前沿", "Frontier"), + ("悬停", "Hovering"), + ("手动控制", "Manual"), + ("紧急", "Emergency"), + ("探索", "Exploring"), # 放在最后，避免与"主动探索"冲突 + ("主动", ""), # 单独处理剩余的"主动"，避免显示问号 + ] + + result = text + for chinese, english in translations: + result = result.replace(chinese, english) + + return result + + def put_chinese_text(img, text, position, font_size=20, color=(255, 255, 255), thickness=1): """ 在OpenCV图像上绘制中文文本 - 使用PIL/Pillow来支持中文显示 + 使用PIL/Pillow来支持中文显示，如果失败则回退到英文 """ + global _chinese_font_disabled + + # 如果已禁用中文显示，直接使用英文 + if _chinese_font_disabled: + text_en = _translate_to_english(text) + cv2.putText(img, text_en, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) + return img + + # 首先检查PIL是否可用 if not PIL_AVAILABLE: - # 如果PIL不可用，使用英文替代 - text_en = text.replace("状态:", "State:").replace("位置:", "Pos:").replace("红色物体:", "Red:").replace("蓝色物体:", "Blue:").replace("黑色物体:", "Black:").replace("障碍:", "Obs:").replace("手动控制中...", "Manual Ctrl").replace("等待无人机图像...", "Waiting...").replace("飞行状态:", "State:").replace("障碍距离:", "Obs:").replace("开阔度:", "Open:").replace("探索网格:", "Grid:").replace("CPU使用率:", "CPU:").replace("内存使用率:", "Mem:").replace("循环时间:", "Loop:").replace("更新时间:", "Time:").replace("按 Q 或 ESC 关闭窗口", "Press Q/ESC to close").replace("渲染错误", "Render Error").replace("探索前沿", "Frontier").replace("当前位置", "Current").replace("障碍物", "Obstacle").replace("图例:", "Legend:").replace("无人机信息面板", "Info Panel").replace("等待数据...", "Waiting...").replace("系统正在初始化，请稍候...", "Initializing...") + _chinese_font_disabled = True + text_en = _translate_to_english(text) cv2.putText(img, text_en, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) return img + # 尝试加载中文字体 + font = _load_chinese_font(font_size) + + # 如果字体加载失败，立即回退到英文并设置禁用标志 + if font is None: + _chinese_font_disabled = True + text_en = _translate_to_english(text) + cv2.putText(img, text_en, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) + return img + + # 尝试使用PIL绘制中文 try: + # 检查文本是否包含中文字符 + has_chinese = any('\u4e00' <= char <= '\u9fff' for char in text) + + if not has_chinese: + # 如果没有中文字符，直接使用cv2.putText + cv2.putText(img, text, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) + return img + # 将OpenCV图像转换为PIL图像 img_pil = Image.fromarray(cv2.cvtColor(img, cv2.COLOR_BGR2RGB)) draw = ImageDraw.Draw(img_pil) - # 加载中文字体 - font = _load_chinese_font(font_size) - - if font is None: - # 如果找不到字体，回退到英文显示 - raise Exception("未找到支持中文的字体") - # 绘制文本（PIL使用RGB颜色） color_rgb = (color[2], color[1], color[0]) # BGR转RGB # PIL的text函数位置参数是(x, y) x, y = position - draw.text((x, y), text, font=font, fill=color_rgb) - # 转换回OpenCV格式 - img = cv2.cvtColor(np.array(img_pil), cv2.COLOR_RGB2BGR) + # 尝试绘制文本，如果失败则回退到英文 + try: + draw.text((x, y), text, font=font, fill=color_rgb) + # 转换回OpenCV格式 + img = cv2.cvtColor(np.array(img_pil), cv2.COLOR_RGB2BGR) + except Exception as draw_error: + # 如果绘制失败（可能是字体不支持某些字符），回退到英文 + raise draw_error except Exception as e: - # 如果出错（包括字体加载失败），回退到英文显示 - try: - # 将中文转换为英文 - text_en = text.replace("状态:", "State:").replace("位置:", "Pos:").replace("红色物体:", "Red:").replace("蓝色物体:", "Blue:").replace("黑色物体:", "Black:").replace("障碍:", "Obs:").replace("手动控制中...", "Manual Ctrl").replace("等待无人机图像...", "Waiting...").replace("飞行状态:", "State:").replace("障碍距离:", "Obs:").replace("开阔度:", "Open:").replace("探索网格:", "Grid:").replace("CPU使用率:", "CPU:").replace("内存使用率:", "Mem:").replace("循环时间:", "Loop:").replace("更新时间:", "Time:").replace("按 Q 或 ESC 关闭窗口", "Press Q/ESC to close").replace("渲染错误", "Render Error").replace("探索前沿", "Frontier").replace("当前位置", "Current").replace("障碍物", "Obstacle").replace("图例:", "Legend:").replace("无人机信息面板", "Info Panel").replace("等待数据...", "Waiting...").replace("系统正在初始化，请稍候...", "Initializing...") - cv2.putText(img, text_en, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) - except: - pass + # 如果绘制失败，回退到英文显示并设置禁用标志 + _chinese_font_disabled = True + text_en = _translate_to_english(text) + cv2.putText(img, text_en, position, cv2.FONT_HERSHEY_SIMPLEX, font_size / 30.0, color, thickness) return img @@ -1310,7 +1392,13 @@ class FrontViewWindow: def __init__(self, window_name=None, width=None, height=None, enable_sharpening=None, show_info=None): - self.window_name = window_name if window_name else config.DISPLAY['FRONT_VIEW_WINDOW']['NAME'] + # 窗口标题使用英文，避免乱码 + if window_name: + # 如果传入的窗口名包含中文，翻译为英文 + self.window_name = _translate_to_english(window_name) if any('\u4e00' <= char <= '\u9fff' for char in window_name) else window_name + else: + default_name = _translate_to_english(config.DISPLAY['FRONT_VIEW_WINDOW']['NAME']) + self.window_name = default_name self.window_width = width if width is not None else config.DISPLAY['FRONT_VIEW_WINDOW']['WIDTH'] self.window_height = height if height is not None else config.DISPLAY['FRONT_VIEW_WINDOW']['HEIGHT'] self.enable_sharpening = (enable_sharpening if enable_sharpening is not None @@ -1615,7 +1703,13 @@ class InfoDisplayWindow: """信息显示窗口 - 显示系统状态、探索网格、物体统计等信息""" def __init__(self, window_name=None, width=None, height=None): - self.window_name = window_name if window_name else config.DISPLAY['INFO_WINDOW']['NAME'] + # 窗口标题使用英文，避免乱码 + if window_name: + # 如果传入的窗口名包含中文，翻译为英文 + self.window_name = _translate_to_english(window_name) if any('\u4e00' <= char <= '\u9fff' for char in window_name) else window_name + else: + default_name = _translate_to_english(config.DISPLAY['INFO_WINDOW']['NAME']) + self.window_name = default_name self.window_width = width if width is not None else config.DISPLAY['INFO_WINDOW']['WIDTH'] self.window_height = height if height is not None else config.DISPLAY['INFO_WINDOW']['HEIGHT'] @@ -1765,7 +1859,8 @@ def _render_info_display(self, info_data: Dict) -> np.ndarray: # 1. 飞行状态信息 if 'state' in info_data: state = info_data['state'] - state_color = success_color if '探索' in state else highlight_color if '悬停' in state else warning_color if '紧急' in state else text_color + # 状态值已经在_update_info_window中翻译过了，这里直接使用 + state_color = success_color if 'Exploring' in state else highlight_color if 'Hovering' in state else warning_color if 'Emergency' in state else text_color img = put_chinese_text(img, f"飞行状态: {state}", (x_offset, y_offset), 21, state_color, 2) y_offset += 30 @@ -1879,8 +1974,11 @@ def _render_info_display(self, info_data: Dict) -> np.ndarray: grid_x = self.window_width - grid_size - 20 grid_y = 80 - # 添加网格标题 - img = put_chinese_text(img, "探索网格", (grid_x, grid_y - 10), 18, highlight_color, 1) + # 添加网格标题（直接使用英文，避免问号问题） + grid_title = "Grid Map" # 直接使用英文，不再翻译 + cv2.putText(img, grid_title, (grid_x, grid_y - 10), cv2.FONT_HERSHEY_SIMPLEX, 18 / 30.0, highlight_color, 1) + + # 不再在网格上方显示状态值，避免问号问题 # 添加图例 legend_y = grid_y + grid_size + 20 @@ -2148,9 +2246,10 @@ def _check_connection_health(self): def _setup_windows(self): """初始化两个显示窗口""" try: - # 前视窗口 + # 前视窗口（窗口标题使用英文，避免乱码） + front_window_name = _translate_to_english(config.DISPLAY['FRONT_VIEW_WINDOW']['NAME']) self.front_window = FrontViewWindow( - window_name=f"{config.DISPLAY['FRONT_VIEW_WINDOW']['NAME']} - {self.drone_name or 'AirSimNH'}", + window_name=f"{front_window_name} - {self.drone_name or 'AirSimNH'}", width=config.DISPLAY['FRONT_VIEW_WINDOW']['WIDTH'], height=config.DISPLAY['FRONT_VIEW_WINDOW']['HEIGHT'], enable_sharpening=config.DISPLAY['FRONT_VIEW_WINDOW']['ENABLE_SHARPENING'], @@ -2158,9 +2257,10 @@ def _setup_windows(self): ) self.logger.info("🎥 前视窗口已初始化") - # 信息显示窗口 + # 信息显示窗口（窗口标题使用英文，避免乱码） + info_window_name = _translate_to_english(config.DISPLAY['INFO_WINDOW']['NAME']) self.info_window = InfoDisplayWindow( - window_name=f"{config.DISPLAY['INFO_WINDOW']['NAME']} - {self.drone_name or 'AirSimNH'}", + window_name=f"{info_window_name} - {self.drone_name or 'AirSimNH'}", width=config.DISPLAY['INFO_WINDOW']['WIDTH'], height=config.DISPLAY['INFO_WINDOW']['HEIGHT'] ) @@ -2184,9 +2284,14 @@ def _update_info_window(self, perception: PerceptionResult): memory_usage = psutil.virtual_memory().percent if config.PERFORMANCE['ENABLE_REALTIME_METRICS'] else 0.0 # 准备信息数据 + # 无论字体是否禁用，都提前翻译状态值，避免部分翻译导致问号 + state_value = self.state.value + if any('\u4e00' <= char <= '\u9fff' for char in state_value): + state_value = _translate_to_english(state_value) + info_data = { 'timestamp': datetime.now().strftime("%H:%M:%S"), - 'state': self.state.value, + 'state': state_value, 'position': (pos.x_val, pos.y_val, pos.z_val), 'perception': { 'obstacle_distance': perception.obstacle_distance,