speed20: V通道反光剔除(高亮+低饱和像素标记为非赛道)

src/image_cv.cpp

@@ -76,6 +76,12 @@ cv::Mat image_binerize(cv::Mat &frame)
 
     cv::bitwise_or(output, binarizedFrame, output);
 
+    // V 通道反光剔除: 高亮度(V>180) 且 低饱和度(S<40) → 白反光，标记为非赛道
+    cv::Mat hi_v, lo_s;
+    cv::threshold(hsvChannels[2], hi_v, 180, 255, cv::THRESH_BINARY);
+    cv::threshold(hsvChannels[1], lo_s, 40, 255, cv::THRESH_BINARY_INV);
+    output.setTo(0, hi_v & lo_s);
+
     return output;
 }