修改文件夹名字

视觉代码python/visualizer.py

@@ -0,0 +1,80 @@
+import cv2
+import numpy as np
+
+class Visualizer:
+    """可视化：绘制灯条、装甲板、预测位置等"""
+    def __init__(self):
+        self.colors = {
+            "red": (0, 0, 255),
+            "blue": (255, 0, 0),
+            "light_bar": (0, 255, 255),
+            "armor": (0, 255, 0),
+            "prediction": (0, 165, 255),
+            "text": (255, 255, 255)
+        }
+
+    def draw_light_bars(self, frame, light_bars, target_color):
+        """绘制灯条（矩形+中心线+标签）"""
+        bar_color = self.colors[target_color]
+        line_color = self.colors["light_bar"]
+
+        for lb in light_bars:
+            cv2.drawContours(frame, [lb["box"]], 0, bar_color, 2)
+            end1 = tuple(map(int, lb["center_line"][0]))
+            end2 = tuple(map(int, lb["center_line"][1]))
+            cv2.line(frame, end1, end2, line_color, 2)
+            center = tuple(map(int, lb["center"]))
+            cv2.putText(
+                frame, target_color, (center[0], center[1] - 8),
+                cv2.FONT_HERSHEY_SIMPLEX, 0.4, bar_color, 1
+            )
+
+        return frame
+
+    def draw_armor_plate(self, frame, armor):
+        """绘制装甲板（2D框+3D信息）"""
+        corners = armor.get("corners_2d")
+        if corners is not None:
+            # 关键修改：np.int0 替换为 np.int32
+            cv2.polylines(frame, [np.int32(corners)], True, self.colors["armor"], 2)
+
+        center = tuple(map(int, armor["center"]))
+        cv2.circle(frame, center, 3, self.colors["armor"], -1)
+        cv2.putText(
+            frame, "Armor", (center[0] + 5, center[1] - 5),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.colors["armor"], 2
+        )
+
+        return frame
+
+    def draw_prediction(self, frame, predicted_pos, label="Predicted"):
+        """绘制预测位置（橙色圆点+标签）"""
+        if predicted_pos is None:
+            return frame
+
+        pos = tuple(map(int, predicted_pos))
+        cv2.circle(frame, pos, 5, self.colors["prediction"], -1)
+        cv2.putText(
+            frame, label, (pos[0] + 10, pos[1] - 10),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.colors["prediction"], 2
+        )
+
+        return frame
+
+    def draw_offset_text(self, frame, display_center, target_color, is_predicted):
+        """绘制装甲板相对图像中心的偏移量"""
+        if display_center is None:
+            text = "Armor: unknown | Offset: (0, 0)"
+        else:
+            img_center = (frame.shape[1] // 2, frame.shape[0] // 2)
+            offset_x = int(display_center[0] - img_center[0])
+            offset_y = int(display_center[1] - img_center[1])
+            color_text = f"{target_color} (predicted)" if is_predicted else target_color
+            text = f"Armor: {color_text} | Offset: ({offset_x}, {offset_y})"
+
+        cv2.putText(
+            frame, text, (10, 30),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.8, self.colors["text"], 2
+        )
+
+        return frame