Merge branch 'ZIM-DEV'

Assets/InfraredProject/WebCamera/Script/ZIM/InfraredLocate/ScreenIdentification.cs

@@ -82,8 +82,8 @@ namespace o0.Project
         public ScreenIdentification()
         {
             Screen = new ScreenMap();
-            OnLocateScreenEnter += () => Application.targetFrameRate = 30;      // 固定识别的帧率，确保摄像机拍到正确的画面
-            OnLocateScreenEnd += () => Application.targetFrameRate = 60;
+            //OnLocateScreenEnter += () => Application.targetFrameRate = 30;      // 固定识别的帧率，确保摄像机拍到正确的画面
+            //OnLocateScreenEnd += () => Application.targetFrameRate = 60;
         }
 
         public void SetScreenQuad(QuadrilateralInCamera quad) => Screen.QuadInCamera = quad;
@@ -667,8 +667,8 @@ namespace o0.Project
             // 屏幕黑白差值，存放多批次的图像用于识别, 该List数量不能等于 0 
             List<UnityEngine.Color[]> PixelsMultipleBatches = new List<UnityEngine.Color[]>();
 
-            var sw = new System.Diagnostics.Stopwatch();
-            sw.Start();
+            //var sw = new System.Diagnostics.Stopwatch();
+            //sw.Start();
 
             //读取数据
             if (debugImages != null && debugImages.Count != 0)
@@ -689,7 +689,8 @@ namespace o0.Project
                     if (maxWhite < m)
                         maxWhite = m;
                 }
-                var scale = 1.0f / maxWhite;        // 放大对比度
+                //var scale = 1.0f / maxWhite;        // 放大对比度
+                //Debug.Log("[ScreenIdentification] 提高亮度倍数: " + scale);
 
                 var differPixel = new UnityEngine.Color[Size.x * Size.y];
                 var whitePixel = new UnityEngine.Color[Size.x * Size.y];
@@ -699,8 +700,8 @@ namespace o0.Project
                     {
                         var i = y * Size.x + x;
                         var d = ScreenWhiteTexture[i] - ScreenBlackTexture[i];
-                        differPixel[i] = new UnityEngine.Color(d.x, d.y, d.z) * scale;
-                        whitePixel[i] = new UnityEngine.Color(ScreenWhiteTexture[i].x, ScreenWhiteTexture[i].y, ScreenWhiteTexture[i].z) * scale;
+                        differPixel[i] = new UnityEngine.Color(d.x, d.y, d.z);
+                        whitePixel[i] = new UnityEngine.Color(ScreenWhiteTexture[i].x, ScreenWhiteTexture[i].y, ScreenWhiteTexture[i].z);
                     }
                 });
                 PixelsMultipleBatches.Add(differPixel);     // 色差图
@@ -710,19 +711,25 @@ namespace o0.Project
             int conSize = (int)Math.Ceiling(0.007f * Size.y) * 2 + 1;
             conSize = Math.Max(conSize, 7);     // 设置最小为7
 
-            float minLength = conSize * 7.7f;
-            minLength = locateIndex == -1 ? minLength : minLength * areaPercent;    // minLength需要按比例缩小
+            float minLength = conSize * 4f;
+            minLength = locateIndex == -1 ? minLength : minLength * areaPercent;    // minLength需要按areaPercent比例缩小
             string log = $"[Log][ScreenLocate Auto] Size: ({Size.x},{Size.y}), 卷积核Size: {conSize}, 最小线段长度: {minLength}";
 
             var allLines = new List<LineIdentified>();
             List<Texture2D> LocateTexTemp = new List<Texture2D>();
             List<Matrix> ScreenLocateMatList = new List<Matrix>();
+            var LineCaptureSizes = new Vector[2] { Vector.One * minLength, new Vector(10, 6) };
             foreach (var batch in PixelsMultipleBatches.Index())
             {
                 var locateTex = ToLocateTex(PixelsMultipleBatches[batch]);
                 LocateTexTemp.Add(locateTex);
                 var ScreenLocateMat = locateTex.Too0Mat();        // 用于获取Lines的Matrix
-                var lineCount = ZIMIdentifyQuadLSD(ref allLines, batch, ScreenLocateMat.zimIdentifyEdgeGradientAny(conSize), minLength);
+                var lineCount = ZIMIdentifyQuadLSD(
+                    ref allLines, 
+                    batch, 
+                    ScreenLocateMat.zimIdentifyEdgeGradientAny(conSize), 
+                    minLength, 
+                    LineCaptureSizes[batch]);
                 log += $"\r\n识别图片{batch}, 识别到的线段数量为: {lineCount}";
                 ScreenLocateMatList.Add(ScreenLocateMat);
             }
@@ -910,9 +917,9 @@ namespace o0.Project
 
         // 返回查找到的线段数量，0是查找失败
         int ZIMIdentifyQuadLSD(ref List<LineIdentified> allLines, int batch, (Matrix edgeMat, Matrix edgeDirMat) edgeGradient,
-            float minLength = 100)
+            float minLength, Vector LineCaptureSize)
         {
-            var l = edgeGradient.edgeMat.IdentifyLineLSD(edgeGradient.edgeDirMat, minLength, 50, LineCaptureSize: new Vector(10, 6));
+            var l = edgeGradient.edgeMat.IdentifyLineLSD(edgeGradient.edgeDirMat, minLength, 50, LineCaptureSize);
             if (l == null || l.Count == 0)
                 return 0;
             allLines.AddRange(l.Select((i) => new LineIdentified(batch, i)));
@@ -971,9 +978,9 @@ namespace o0.Project
                     lg.Add(screenLocateMatList[line.Batch][(int)ga.x, (int)ga.y] - screenLocateMatList[line.Batch][(int)gb.x, (int)gb.y]);
                 }
 
-                float e = (float)Math.Sqrt(Math.Ceiling(line.Line.Length / minLength));       // 长度系数，筛选时梯度更大、长度更长的线段更优
-                float d = (3 - distanceRatio) / 2;            // 距离系数，距离越近，系数越大
-                return e * d * Math.Abs(lg.Mean());
+                //float e = (float)Math.Sqrt(Math.Ceiling(line.Line.Length / minLength));       // 长度系数，筛选时梯度更大、长度更长的线段更优
+                float d = (1.5f - distanceRatio) * 2;            // 距离系数，距离越近，系数越大
+                return d * Math.Abs(lg.Mean());
             }
             // 根据线段梯度的角度，判断是不是屏幕的边，out index代表是哪条边(顺序是: 下、右、上、左)
             bool isScreenLine(LineIdentified line, out int index)