死代码清理+越界修复+构建去重: 注释PIDController/删除TimerVideo, floodFill半径10→5, ctl.sh删GPIO66/75, CMake双重互斥合并

src/Timer.cpp

@@ -1,36 +0,0 @@
-#include "Timer.h"
-
-Timer::Timer(int interval_ms, std::function<void()> task)
-    : interval(interval_ms), task(task), running(false) {}
-
-Timer::~Timer()
-{
-    stop(); // Ensure the timer is stopped in the destructor
-}
-
-void Timer::start()
-{
-    running = true;
-    worker = std::thread(&Timer::run, this);
-}
-
-void Timer::stop()
-{
-    running = false;
-    if (worker.joinable())
-    {
-        worker.join();
-    }
-}
-
-void Timer::run()
-{
-    while (running)
-    {
-        std::this_thread::sleep_for(std::chrono::milliseconds(interval));
-        if (running)
-        {
-            std::thread(task).detach();
-        }
-    }
-}

src/image_cv.cpp

@@ -129,7 +129,7 @@ cv::Mat find_road(cv::Mat &frame)
 
     // 4. 在种子点位置画一个白色实心圆，确保种子点落在赛道区域内
     //    避免因二值化偶尔在种子位置为黑色导致洪泛失败
-    cv::circle(morphologyExFrame, seedPoint, 10, 255, -1);
+    cv::circle(morphologyExFrame, seedPoint, 5, 255, -1);
 
     // 5. 洪泛填充参数
     cv::Scalar newVal(128);               // 填充值 = 128 (标记为赛道内部)

src/video.cpp

@@ -1,20 +0,0 @@
-#include "video.h"
-
-Video::Video(const std::string &filename, double fps) 
-    : timer(static_cast<int>(1000 / fps), std::bind(&Video::streamCapture, this)), cap(filename)
-{
-    streamCapture();
-}
-
-Video::~Video(void)
-{
-    timer.stop();
-}
-
-void Video::streamCapture(void) 
-{
-    frameMutex.lock();
-    cap.read(frame);
-    frameMutex.unlock();
-}
-