diff --git a/src/drone_perception/perceptive_drone_explorer.py b/src/drone_perception/perceptive_drone_explorer.py index 3391236fb8..43ce60d3dc 100644 --- a/src/drone_perception/perceptive_drone_explorer.py +++ b/src/drone_perception/perceptive_drone_explorer.py @@ -31,6 +31,7 @@ import psutil import os import gc +import platform # 导入PIL用于中文文本绘制 try: @@ -1504,8 +1505,8 @@ def _display_loop(self): cv2.namedWindow(self.window_name, cv2.WINDOW_NORMAL) cv2.resizeWindow(self.window_name, self.window_width, self.window_height) - wait_img = np.zeros((300, 400, 3), dtype=np.uint8) - wait_img = put_chinese_text(wait_img, "等待无人机图像...", (50, 150), 24, (255, 255, 255), 2) + # 等待画面：只显示黑色背景，不显示任何文字 + wait_img = np.zeros((self.window_height, self.window_width, 3), dtype=np.uint8) cv2.imshow(self.window_name, wait_img) cv2.waitKey(100) @@ -1541,14 +1542,11 @@ def _display_loop(self): pass if display_image is not None: - if self.show_info: - display_image = self._add_info_overlay(display_image, info, manual_info) - + # 前视窗口只显示纯图像，不添加任何信息叠加 cv2.imshow(self.window_name, display_image) elif self.paused: - blank = np.zeros((300, 400, 3), dtype=np.uint8) - cv2.putText(blank, "PAUSED", (120, 150), - cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 0, 255), 3) + # 暂停时也显示黑色背景，不显示任何文字 + blank = np.zeros((self.window_height, self.window_width, 3), dtype=np.uint8) cv2.imshow(self.window_name, blank) key = cv2.waitKey(config.DISPLAY['FRONT_VIEW_WINDOW'].get('REFRESH_RATE_MS', 30)) & 0xFF @@ -1632,62 +1630,9 @@ def _update_stats(self): self.display_stats['last_update'] = now def _add_info_overlay(self, image: np.ndarray, info: Dict, manual_info: List[str] = None) -> np.ndarray: - if image is None or image.size == 0: - return image - - try: - overlay = image.copy() - height, width = image.shape[:2] - - is_manual = info.get('state', '') == "手动控制" - - info_height = 180 if is_manual and manual_info else 100 - - cv2.rectangle(overlay, (0, 0), (width, info_height), (0, 0, 0), -1) - cv2.addWeighted(overlay, 0.7, image, 0.3, 0, image) - - state = info.get('state', 'UNKNOWN') - state_color = (0, 255, 0) if '探索' in state else (0, 255, 255) if '悬停' in state else (255, 255, 0) if '手动' in state else (0, 0, 255) - image = put_chinese_text(image, f"状态: {state}", (10, 30), 21, state_color, 2) - - pos = info.get('position', (0, 0, 0)) - image = put_chinese_text(image, f"位置: ({pos[0]:.1f}, {pos[1]:.1f}, {-pos[2]:.1f}m)", (10, 60), 18, (255, 255, 255), 1) - - red_objects_count = info.get('red_objects_count', 0) - red_objects_visited = info.get('red_objects_visited', 0) - blue_objects_count = info.get('blue_objects_count', 0) - blue_objects_visited = info.get('blue_objects_visited', 0) - black_objects_count = info.get('black_objects_count', 0) - black_objects_visited = info.get('black_objects_visited', 0) - - if red_objects_count > 0 or blue_objects_count > 0 or black_objects_count > 0: - red_text = f"红色物体: {red_objects_visited}/{red_objects_count}" - blue_text = f"蓝色物体: {blue_objects_visited}/{blue_objects_count}" - black_text = f"黑色物体: {black_objects_visited}/{black_objects_count}" - image = put_chinese_text(image, red_text, (10, 90), 18, (0, 100, 255), 2) - image = put_chinese_text(image, blue_text, (10, 110), 18, (255, 100, 0), 2) - image = put_chinese_text(image, black_text, (10, 130), 18, (128, 128, 128), 2) - - if is_manual and manual_info: - y_start = 170 if (red_objects_count > 0 or blue_objects_count > 0 or black_objects_count > 0) else 100 - for i, line in enumerate(manual_info): - y_pos = y_start + i * 20 - image = put_chinese_text(image, line, (10, y_pos), 15, (200, 255, 200), 1) - - image = put_chinese_text(image, "手动控制中...", (width - 150, 60), 18, (255, 255, 0), 1) - elif not is_manual and red_objects_count == 0 and blue_objects_count == 0 and black_objects_count == 0: - obs_dist = info.get('obstacle_distance', 0.0) - obs_color = (0, 0, 255) if obs_dist < 5.0 else (0, 165, 255) if obs_dist < 10.0 else (0, 255, 0) - image = put_chinese_text(image, f"障碍: {obs_dist:.1f}m", (10, 90), 21, obs_color, 2) - - fps_text = f"FPS: {self.display_stats['fps']:.1f}" - cv2.putText(image, fps_text, (width - 120, 30), - cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 1) - - return image - except Exception as e: - print(f"⚠️ 添加信息叠加层出错: {e}") - return image + """前视窗口不再显示任何信息叠加，只显示纯图像""" + # 直接返回原始图像，不添加任何文字或叠加层 + return image def _save_screenshot(self, image: Optional[np.ndarray]): if image is not None and image.size > 0: @@ -1964,7 +1909,18 @@ def _render_info_display(self, info_data: Dict) -> np.ndarray: img = put_chinese_text(img, f"循环时间: {loop_time:.1f}ms", (x_offset, y_offset), 18, loop_color, 1) y_offset += 25 - # 7. 探索网格图像（右侧） + # 7. 手动控制信息（如果处于手动控制模式） + if 'manual_info' in info_data and info_data['manual_info']: + y_offset += 10 # 添加一些间距 + manual_title = "手动控制信息:" + img = put_chinese_text(img, manual_title, (x_offset, y_offset), 18, highlight_color, 2) + y_offset += 25 + + for line in info_data['manual_info']: + img = put_chinese_text(img, line, (x_offset + 10, y_offset), 16, text_color, 1) + y_offset += 22 + + # 8. 探索网格图像（右侧） if self.display_config['SHOW_GRID'] and 'grid_image' in info_data: grid_img = info_data['grid_image'] if grid_img is not None and grid_img.size > 0: @@ -2017,13 +1973,13 @@ def _render_info_display(self, info_data: Dict) -> np.ndarray: # 将网格图像放到主图像上 img[grid_y:grid_y+grid_size, grid_x:grid_x+grid_size] = grid_resized - # 8. 时间戳 + # 9. 时间戳 if 'timestamp' in info_data: timestamp = info_data['timestamp'] time_text = f"更新时间: {timestamp}" img = put_chinese_text(img, time_text, (self.window_width - 200, self.window_height - 10), 15, text_color, 1) - # 9. 底部提示 + # 10. 底部提示 hint_text = "按 Q 或 ESC 关闭窗口" img = put_chinese_text(img, hint_text, (self.window_width // 2 - 80, self.window_height - 30), 15, text_color, 1) @@ -2289,6 +2245,11 @@ def _update_info_window(self, perception: PerceptionResult): if any('\u4e00' <= char <= '\u9fff' for char in state_value): state_value = _translate_to_english(state_value) + # 获取手动控制信息 + manual_info = None + if self.state == FlightState.MANUAL: + manual_info = self._get_manual_control_info() + info_data = { 'timestamp': datetime.now().strftime("%H:%M:%S"), 'state': state_value, @@ -2318,7 +2279,8 @@ def _update_info_window(self, perception: PerceptionResult): 'cpu_usage': cpu_usage, 'memory_usage': memory_usage, 'loop_time': self.stats.get('average_loop_time', 0) - } + }, + 'manual_info': manual_info # 添加手动控制信息 } # 添加网格图像 @@ -3440,6 +3402,18 @@ def run_manual_control(self): self._check_red_object_proximity(current_pos) self._check_blue_object_proximity(current_pos) self._check_black_object_proximity(current_pos) + + # 更新信息窗口（手动控制模式下） + if current_time - last_image_time >= 0.1 and self.info_window: + # 创建一个简化的感知结果用于信息窗口更新 + simple_perception = PerceptionResult() + simple_perception.obstacle_distance = 100.0 + simple_perception.open_space_score = 1.0 + simple_perception.has_obstacle = False + simple_perception.red_objects_count = len(self.red_objects) + simple_perception.blue_objects_count = len(self.blue_objects) + simple_perception.black_objects_count = len(self.black_objects) + self._update_info_window(simple_perception) except: pass