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

src/image_cv.cpp

@@ -30,6 +30,9 @@ cv::Mat track;
 std::vector<int> left_line;
 std::vector<int> right_line;
 std::vector<int> mid_line;
+std::vector<int> mid_line_raw;
+
+int g_lost_rows = 0;
 
 int line_tracking_width;                 // 处理宽度 = 80
 int line_tracking_height;                // 处理高度 = 60
@@ -105,7 +108,8 @@ cv::Mat find_road(cv::Mat &frame)
     cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
 
     static cv::Mat mask;
-    mask = cv::Mat::zeros(line_tracking_height + 2, line_tracking_width + 2, CV_8UC1);
+    if (mask.empty()) mask.create(line_tracking_height + 2, line_tracking_width + 2, CV_8UC1);
+    mask.setTo(0);
 
     // 3. 种子点位置
     //    X = 图像水平中心 (line_tracking_width/2)
@@ -130,7 +134,8 @@ cv::Mat find_road(cv::Mat &frame)
                   nullptr, loDiff, upDiff, 8);
 
     static cv::Mat outputImage;
-    outputImage = cv::Mat::zeros(line_tracking_height, line_tracking_width, CV_8UC1);
+    if (outputImage.empty()) outputImage.create(line_tracking_height, line_tracking_width, CV_8UC1);
+    outputImage.setTo(0);
     mask(cv::Rect(1, 1, line_tracking_width, line_tracking_height)).copyTo(outputImage);
 
     return outputImage;
@@ -244,11 +249,13 @@ void image_main()
 
     // ── 6. 中线计算 + 丢线补全 ─────
     // 从倒数第二行开始向上，底行(row=height-1)单独兜底避免 mid_line[row+1] 越界
+    g_lost_rows = 0;
     for (int row = line_tracking_height - 2; row >= 10; --row)
     {
         // ── 6a. 丢线补全 ──────────────────────────────
         if (left_line[row] == -1 && right_line[row] == -1)
         {
+            g_lost_rows++;
             // 当前行完全丢线: 用下行(row+1)的中线来虚拟补线
             mid_line[row] = mid_line[row + 1];
 
@@ -278,6 +285,7 @@ void image_main()
         const int row = line_tracking_height - 1;
         if (left_line[row] == -1 && right_line[row] == -1)
         {
+            g_lost_rows++;
             mid_line[row] = line_tracking_width / 2;
             left_line[row]  = 0;
             right_line[row] = line_tracking_width - 1;