spdis/Loongson_2k0300_SmartCar
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清理编码器+死代码+可读性整理: 删除ENCODER类(含UB析构), MotorController简化为PWM+GPIO裸控制器, 移除mortor_kp/ki/kd全局变量, 排除vl53l0x/zebra_detect死代码, 修复image_cv行列写反, 清理无关include

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Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
spdis
2026-06-10 15:15:34 +08:00
parent d284e18407
commit 114d93cec7
16 changed files with 264 additions and 519 deletions
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lib/image_cv.h
+4 -16
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@@ -1,11 +1,3 @@
/*
* @Author: ilikara 3435193369@qq.com
* @Date: 2025-01-04 06:51:37
* @LastEditors: ilikara 3435193369@qq.com
* @LastEditTime: 2025-03-13 08:05:00
* @FilePath: /smartcar/lib/image_main.h
* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
*/
#include <opencv2/opencv.hpp>
#include <iostream>
#include <vector>
@@ -13,16 +5,12 @@
void image_main();
extern cv::Mat raw_frame;
extern cv::Mat grayFrame;
extern cv::Mat binarizedFrame;
extern cv::Mat morphologyExFrame;
extern cv::Mat track;
extern std::vector<int> left_line; // 左边缘列号数组
extern std::vector<int> right_line; // 右边缘列号数组
extern std::vector<int> mid_line; // 中线列号数组
extern std::vector<double> left_line_filtered; // 中线列号数组
extern std::vector<double> right_line_filtered; // 中线列号数组
extern std::vector<double> mid_line_filtered; // 中线列号数组
extern std::vector<int> left_line;
extern std::vector<int> right_line;
extern std::vector<int> mid_line;
extern int line_tracking_height, line_tracking_width;
extern int line_tracking_height, line_tracking_width;