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模型推理移至管道末尾降舵机延迟60→16ms + 视觉Mat复用 + 端到端延迟计时 + OpenCV 4.13 + WASD遥控

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spdis
2026-06-29 16:43:41 +08:00
parent 40d5cb1604
commit 017a827b18
16 changed files with 1201 additions and 709 deletions
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CMakeLists.txt
+2 -1
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@@ -7,13 +7,14 @@ cmake_minimum_required(VERSION 3.5.0)
# 设置 C++ 标准
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -pthread -Wall -march=loongarch64 -mtune=loongarch64 -ffast-math -funroll-loops -fomit-frame-pointer")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath,/home/root/opencv/lib -Wl,--disable-new-dtags")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
# 定义项目名称和版本
project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX)
# OpenCV 设备端路径
set(OpenCV_DIR /mnt/d/PPPProgram/smartcar/opencv_device/lib/cmake/opencv4)
set(OpenCV_DIR /home/ilikara/loongson/opencv-4.13.0/loongson/lib/cmake/opencv4)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}")