From b69a5ff5bc5b2e24cff77bb3d6776ef0e3b1a7a9 Mon Sep 17 00:00:00 2001
From: spdis <spdis@spdis.space>
Date: Mon, 6 Jul 2026 18:35:46 +0800
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---
 src/image_cv.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/image_cv.cpp b/src/image_cv.cpp
index 64b4130..5f45510 100644
--- a/src/image_cv.cpp
+++ b/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;
 }