270 lines
9.0 KiB
Java
270 lines
9.0 KiB
Java
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package com.aros.apron.tools;
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import android.os.Environment;
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import android.os.Handler;
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import android.os.Looper;
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import org.opencv.core.Core;
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import org.opencv.core.CvType;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfInt;
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import org.opencv.core.Size;
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import org.opencv.imgcodecs.Imgcodecs;
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import org.opencv.imgproc.Imgproc;
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import java.io.File;
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import java.text.SimpleDateFormat;
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import java.util.Date;
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import java.util.Locale;
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import android.os.Handler;
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import android.os.Looper;
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import com.aros.apron.constant.AMSConfig;
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import com.aros.apron.entity.ArucoMarker;
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import com.aros.apron.entity.Movement;
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import com.aros.apron.manager.AlternateLandingManager;
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import org.opencv.calib3d.Calib3d;
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import org.opencv.core.Core;
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import org.opencv.core.CvType;
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import org.opencv.core.Mat;
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import org.opencv.core.MatOfInt;
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import org.opencv.core.MatOfPoint2f;
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import org.opencv.core.Point;
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import org.opencv.core.Scalar;
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import org.opencv.core.Size;
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import org.opencv.imgproc.Imgproc;
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import org.opencv.objdetect.ArucoDetector;
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import org.opencv.objdetect.DetectorParameters;
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import org.opencv.objdetect.Dictionary;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.Executors;
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import java.util.concurrent.Future;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.TimeUnit;
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/**
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* 双图保存工具 - 单例版
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* 持续接收帧，按钮触发保存
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* 替换为【极致容错】图像增强逻辑，保留增强后图像的保存
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*/
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public class DualCaptureHelper {
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private static final String TAG = "DualCapture";
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private static final String TAG_LOG = "EnhanceError"; // 增强失败日志TAG
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private static DualCaptureHelper instance;
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private int count = 0;
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private volatile boolean shouldCapture = false; // 按钮触发标志
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private Handler mainHandler = new Handler(Looper.getMainLooper());
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// 帧数据缓存（最新一帧）
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private int lastHeight = 0;
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private int lastWidth = 0;
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private byte[] lastFrameData = null;
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private DualCaptureHelper() {}
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public static synchronized DualCaptureHelper getInstance() {
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if (instance == null) {
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instance = new DualCaptureHelper();
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}
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return instance;
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}
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/**
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* 持续接收帧（在帧回调里调用，每次都有）
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* 参数别改：和你 detectArucoTags 一致
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*/
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public void onFrame(int height, int width, byte[] yuvData) {
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// 缓存最新帧
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this.lastHeight = height;
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this.lastWidth = width;
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this.lastFrameData = yuvData;
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// 如果按钮触发了，保存这一帧
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if (shouldCapture && lastFrameData != null) {
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shouldCapture = false; // 重置，只保存一次
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final int num = ++count;
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final String time = new SimpleDateFormat("HHmmss", Locale.CHINA).format(new Date());
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// 子线程保存
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new Thread(() -> {
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saveRaw(lastHeight, lastWidth, lastFrameData, time, num);
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saveEnhanced(lastHeight, lastWidth, lastFrameData, time, num);
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mainHandler.post(() -> {
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LogUtil.log(TAG, "【完成】第" + num + "组");
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});
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}).start();
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}
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}
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/**
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* 按钮调用：触发下一帧保存
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* 绑定到你的按钮点击
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*/
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public void captureNextFrame() {
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shouldCapture = true;
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LogUtil.log(TAG, "【等待】下一帧保存...");
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}
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/**
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* 原始图：YUV直接转BGR，无任何处理
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*/
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private void saveRaw(int height, int width, byte[] yuvData, String time, int num) {
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try {
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Mat yuv = new Mat(height + height / 2, width, CvType.CV_8UC1);
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yuv.put(0, 0, yuvData);
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Mat bgr = new Mat();
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Imgproc.cvtColor(yuv, bgr, Imgproc.COLOR_YUV2BGR_I420);
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yuv.release();
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File dir = getSaveDir();
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String name = String.format("raw_%s_%03d.jpg", time, num);
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String path = new File(dir, name).getAbsolutePath();
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Imgcodecs.imwrite(path, bgr, new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 95));
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bgr.release();
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LogUtil.log(TAG, "【原始】" + path);
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} catch (Exception e) {
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LogUtil.log(TAG, "【原始失败】" + e.getMessage());
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}
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}
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/**
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* 增强图：应用【极致容错】图像增强流程
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*/
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private void saveEnhanced(int height, int width, byte[] yuvData, String time, int num) {
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try {
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Mat yuv = new Mat(height + height / 2, width, CvType.CV_8UC1);
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yuv.put(0, 0, yuvData);
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Mat gray = new Mat();
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Imgproc.cvtColor(yuv, gray, Imgproc.COLOR_YUV2GRAY_I420);
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yuv.release();
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// 替换为极致容错的增强逻辑
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Mat enhanced = createEnhancedImage(gray);
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gray.release();
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Mat bgr = new Mat();
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Imgproc.cvtColor(enhanced, bgr, Imgproc.COLOR_GRAY2BGR);
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enhanced.release();
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File dir = getSaveDir();
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String name = String.format("enhanced_%s_%03d.jpg", time, num);
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String path = new File(dir, name).getAbsolutePath();
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Imgcodecs.imwrite(path, bgr, new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 95));
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bgr.release();
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LogUtil.log(TAG, "【增强】" + path);
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} catch (Exception e) {
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LogUtil.log(TAG, "【增强失败】" + e.getMessage());
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}
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}
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// ========== 【极致容错】图像增强：全高度段通用 ==========
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private Mat createEnhancedImage(Mat src) {
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Mat result = new Mat();
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try {
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// 1. 多尺度CLAHE（适应不同亮度）
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Mat claheMat = new Mat();
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Imgproc.createCLAHE(2.0, new Size(8, 8)).apply(src, claheMat);
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// 2. 中值滤波去噪（比双边快，保边足够）
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Mat filtered = new Mat();
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Imgproc.medianBlur(claheMat, filtered, 5);
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claheMat.release();
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// 3. 自适应阈值（块大小动态，适应全高度）
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Mat binary = new Mat();
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Imgproc.adaptiveThreshold(filtered, binary, 255,
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Imgproc.ADAPTIVE_THRESH_GAUSSIAN_C,
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Imgproc.THRESH_BINARY, 41, 3); // 块41更大，常数3更敏感
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filtered.release();
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// 4. 形态学操作（连接断裂边框）
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Mat morph = new Mat();
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Mat kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
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Imgproc.morphologyEx(binary, morph, Imgproc.MORPH_CLOSE, kernel);
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kernel.release();
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binary.release();
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// 5. 轻度锐化（突出边缘，不过度）
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Mat sharpened = new Mat();
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Mat blurred = new Mat();
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Imgproc.GaussianBlur(morph, blurred, new Size(0, 0), 3.0);
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Core.addWeighted(morph, 1.3, blurred, -0.3, 0, sharpened);
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morph.release();
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blurred.release();
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return sharpened;
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} catch (Exception e) {
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LogUtil.log(TAG_LOG, "增强失败: " + e.getMessage());
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src.copyTo(result);
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return result;
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}
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}
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// ========== 【超高容错】ArUco检测参数配置（保留方法，按需调用） ==========
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private DetectorParameters createUltraTolerantParams() {
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DetectorParameters params = new DetectorParameters();
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// 全高度段：4dm=375px, 9dm=190px, 50dm=19px
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params.set_minMarkerPerimeterRate(0.003f); // 降到0.003，19像素也能检
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// 畸变/反光/模糊宽容
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params.set_polygonalApproxAccuracyRate(0.12f); // 更松
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params.set_cornerRefinementMethod(1); // SUBPIX
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params.set_cornerRefinementWinSize(3); // 降到3更快
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params.set_cornerRefinementMaxIterations(30);
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params.set_cornerRefinementMinAccuracy(0.12f); // 放宽收敛
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// 阈值范围更大，适应全光照
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params.set_adaptiveThreshWinSizeMin(3);
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params.set_adaptiveThreshWinSizeMax(63); // 更大
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params.set_adaptiveThreshWinSizeStep(10);
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params.set_adaptiveThreshConstant(3); // 配合预处理
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params.set_minCornerDistanceRate(0.02f);
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params.set_minMarkerLengthRatioOriginalImg(0.03f); // 更宽容
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params.set_minDistanceToBorder(1); // 边缘也检
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params.set_perspectiveRemovePixelPerCell(2); // 降到2，小像素精细
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params.set_perspectiveRemoveIgnoredMarginPerCell(0.2f);
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params.set_maxErroneousBitsInBorderRate(0.6f); // 60%容错
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params.set_detectInvertedMarker(false);
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return params;
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}
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private File getSaveDir() {
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File dir = new File(Environment.getExternalStoragePublicDirectory(Environment.DIRECTORY_DCIM),
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"DJIDemo/DualCapture");
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if (!dir.exists()) dir.mkdirs();
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return dir;
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}
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public void reset() {
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count = 0;
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LogUtil.log(TAG, "【重置】");
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}
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public int getCount() {
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return count;
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}
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}
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