From 4a38259d253a9ac0891a6dff05bddca031ce365e Mon Sep 17 00:00:00 2001
From: spdis <spdis@spdis.space>
Date: Mon, 29 Jun 2026 17:15:36 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=96=91=E9=A9=AC=E7=BA=BF?=
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---
 src/camera.cpp   |  2 +-
 src/image_cv.cpp | 14 +++++++++++++-
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/camera.cpp b/src/camera.cpp
index 25cf023..84d21cb 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -72,7 +72,7 @@ static constexpr int calc_scale = 2;
 //  g_boxes:  检测结果缓冲区 (最多 16 个框)
 //  g_box_count: 当前帧有效检测框数
 // ═══════════════════════════════════════════════════════════
-static float g_thresh[4] = {0.80f, 0.75f, 0.80f, 0.87f};
+static float g_thresh[4] = {0.80f, 0.75f, 0.80f, 0.82f};
 static DetectBoxV10 g_boxes[16];
 static int          g_box_count = 0;
 
diff --git a/src/image_cv.cpp b/src/image_cv.cpp
index 3906a58..64b4130 100644
--- a/src/image_cv.cpp
+++ b/src/image_cv.cpp
@@ -104,7 +104,7 @@ cv::Mat image_binerize(cv::Mat &frame)
 // ============================================================
 cv::Mat find_road(cv::Mat &frame)
 {
-    static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(2, 2));
+    static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
     cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
 
     static cv::Mat mask;
@@ -161,6 +161,18 @@ void image_main()
     cv::resize(raw_frame, resizedFrame,
                cv::Size(line_tracking_width, line_tracking_height));
 
+    // ── 1.5 CLAHE 亮度归一化 → 压制反光 ────────────
+    // 先转 LAB, 对 L 通道做局部直方图均衡, 再转回 BGR
+    // 作用: 亮斑被压暗, 暗区被提亮, 赛道颜色更均匀
+    static cv::Mat labFrame;
+    static std::vector<cv::Mat> labCh(3);
+    static cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(2.0, cv::Size(8, 8));
+    cv::cvtColor(resizedFrame, labFrame, cv::COLOR_BGR2Lab);
+    cv::split(labFrame, labCh);
+    clahe->apply(labCh[0], labCh[0]);
+    cv::merge(labCh, labFrame);
+    cv::cvtColor(labFrame, resizedFrame, cv::COLOR_Lab2BGR);
+
     // ── 2. HSV 双通道 Otsu 二值化 ─────────────────────
     // 赛道区域 = 白色(255)，背景/边界 = 黑色(0)
     binarizedFrame = image_binerize(resizedFrame);