mower-ng/mower-ng
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主线关卡导航改进
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zhbaor 2025-01-03 17:32:45 +08:00
parent d1d9758c61
commit 8eb222b6d3
2 changed files with 34 additions and 12 deletions
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42
mower/solvers/navigation/__init__.py
View file

@ -6,7 +6,7 @@ import cv2
from mower.solvers.navigation.utils import generate_name
from mower.utils import config
from mower.utils.graph import SceneGraphSolver
from mower.utils.image import thres2
from mower.utils.image import cropimg, loadres
from mower.utils.log import logger
from mower.utils.scene import Scene
from mower.utils.vector import va, vs
@ -531,15 +531,39 @@ class NavigationSolver(SceneGraphSolver):
if not isinstance(self.prefix, int):
self.back()
return
act_scope = ((300, 315), (400, 370))
if self.find(f"navigation/act/{self.act}", scope=act_scope):
if pos := self.find(f"navigation/main/{self.prefix}"):
self.tap(pos)
else:
self.swipe_ext([(932, 554), (1425, 554)], [300], 500, 0.5)
else:
if self.animation():
return
img = cropimg(config.recog.gray, ((300, 315), (405, 370)))
act, score = 0, 0
for i in range(3):
result = cv2.matchTemplate(
img, loadres(f"navigation/act/{i}", True), cv2.TM_CCOEFF_NORMED
)
min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(result)
if max_val > score:
act, score = i, max_val
if self.act > act:
self.ctap((251, 846), 3)
return
elif self.act < act:
self.ctap((230, 175), 3)
return
prefix_scope = ((1150, 250), (1700, 780))
img = cropimg(config.recog.gray, prefix_scope)
prefix, score = 0, 0
for i in range(15):
result = cv2.matchTemplate(
img, loadres(f"navigation/main/{i}", True), cv2.TM_CCOEFF_NORMED
)
min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(result)
if max_val > score:
prefix, score = i, max_val
if self.prefix > prefix:
self.swipe_ext([(1425, 554), (932, 554)], [300], 500)
elif self.prefix < prefix:
self.swipe_ext([(932, 554), (1425, 554)], [300], 500)
else:
self.tap(prefix_scope)
elif scene == Scene.TERMINAL_BIOGRAPHY:
if self.prefix not in ["OF"]:
self.back()

4
mower/utils/recognize/data.py
View file

@ -285,9 +285,6 @@ template_matching = {
"mission_daily_on": ((685, 15), (1910, 100)),
"mission_weekly": ((685, 15), (1910, 100)),
"mission_weekly_on": ((685, 15), (1910, 100)),
"navigation/act/0": (309, 318),
"navigation/act/1": (309, 319),
"navigation/act/2": (307, 319),
"navigation/collection/AP_entry": ((0, 170), (1920, 870)),
"navigation/collection/CA_entry": ((0, 170), (1920, 870)),
"navigation/collection/CE_entry": ((0, 170), (1920, 870)),
@ -400,6 +397,7 @@ template_matching_score = {
"connecting": 0.7,
"fight/pause": 0.8,
"navigation/episode": 0.7,
"navigation/ope_difficulty": 0.7,
"navigation/ope_hard": 0.7,
"navigation/ope_hard_small": 0.7,
"navigation/ope_normal": 0.7,