模型每类阈值+配置热重载+雷达纯距离触发+速度min不叠加+弯道参数化

src/model_v10.cpp

@@ -305,7 +305,7 @@ static void model_compute() {
                  nullptr, nullptr, 15, 20, 64, 9, 1, 1, 1, false);
 }
 
-static int decode(DetectBoxV10* boxes, int max_boxes, float thr) {
+static int decode(DetectBoxV10* boxes, int max_boxes, const float* thresh) {
     const int N = OH * OW;
     int cnt = 0;
 
@@ -323,6 +323,7 @@ static int decode(DetectBoxV10* boxes, int max_boxes, float thr) {
     }
 
     for (int c = 0; c < NC && cnt < max_boxes; ++c) {
+        float thr = thresh ? thresh[c] : 0.6f;
         for (int gy = 0; gy < OH; ++gy) {
             for (int gx = 0; gx < OW; ++gx) {
                 const int idx = gy * OW + gx;
@@ -453,7 +454,7 @@ bool model_v10_init(const char* path) {
 }
 
 int model_v10_detect_fmt(const uint8_t* img, int w, int h, MildPixFmt fmt,
-                    DetectBoxV10* boxes, int max_boxes, float thr) {
+                    DetectBoxV10* boxes, int max_boxes, const float* thresh) {
     if (!g_rdy || !img || !boxes || max_boxes <= 0 || w <= 1 || h <= 1) return 0;
 
     const uint8_t* net_in = img;
@@ -463,7 +464,7 @@ int model_v10_detect_fmt(const uint8_t* img, int w, int h, MildPixFmt fmt,
     }
     preproc_160(net_in, fmt);
     model_compute();
-    const int n = decode(boxes, max_boxes, thr);
+    const int n = decode(boxes, max_boxes, thresh);
 
     const float sx = (float)w / (float)IN_W;
     const float sy = (float)h / (float)IN_H;
@@ -475,8 +476,7 @@ int model_v10_detect_fmt(const uint8_t* img, int w, int h, MildPixFmt fmt,
 }
 
 int model_v10_detect(const uint8_t* img, int w, int h, DetectBoxV10* boxes, int max_boxes, const float* thresh) {
-    float thr = thresh ? thresh[0] : 0.6f;
-    return model_v10_detect_fmt(img, w, h, MILD_FMT_BGR, boxes, max_boxes, thr);
+    return model_v10_detect_fmt(img, w, h, MILD_FMT_BGR, boxes, max_boxes, thresh);
 }
 
 const float* model_v10_forward_debug(const float* chw) {