Revert: 移除CLAHE预处理(模型反光加剧)

CMakeLists.txt

@@ -14,7 +14,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -Wall")
 project(smartcar_demo2 VERSION 0.1.0 LANGUAGES C CXX)
 
 # OpenCV 设备端路径
-set(OpenCV_DIR /home/spdis/loongson/opencv-4.13.0/loongson/lib/cmake/opencv4)
+set(OpenCV_DIR /mnt/D/PPPProgram/smartcar/opencv-4.13.0/loongson/lib/cmake/opencv4)
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
 message(STATUS "OpenCV Include Directories: ${OpenCV_INCLUDE_DIRS}")

cross.cmake

@@ -5,7 +5,7 @@ SET(CROSS_COMPILE 1)
 IF(CROSS_COMPILE)
 SET(CMAKE_SYSTEM_NAME Linux)
 set(CMAKE_SYSTEM_PROCESSOR loongson)
-SET(TOOLCHAIN_DIR "/opt/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6")
+SET(TOOLCHAIN_DIR "/home/spdis/loongson-gnu-toolchain-8.3-x86_64-loongarch64-linux-gnu-rc1.6")
 set(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-linux-gnu-g++)
 set(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/loongarch64-linux-gnu-gcc)
 

src/camera.cpp

@@ -962,12 +962,15 @@ static void steering_update()
         }
     }
 
-    if (std::abs(deviation) < g_cfg.deadband) {
-        // 死区内 → 直行
+    // 平滑线性转向: 偏差从死区边界开始缩放，消除死区断崖
+    double effective = std::abs(deviation) - g_cfg.deadband;
+    if (effective <= 0) {
         servo.setDutyCycle(1500000);
     } else {
-        // 比例控制: 偏差 → 归一化 → × 增益 × 满偏占空比差
-        double offset  = deviation / (newWidth / 2.0) * g_cfg.steer_gain * 300000;
+        double half_w = newWidth / 2.0;
+        double norm   = effective / (half_w - g_cfg.deadband);
+        double sign   = (deviation > 0) ? 1.0 : -1.0;
+        double offset = norm * g_cfg.steer_gain * 300000.0 * sign;
         double duty_ns = std::clamp(1500000.0 + offset, 1200000.0, 1800000.0);
         servo.setDutyCycle((unsigned int)duty_ns);
     }
@@ -1031,13 +1034,16 @@ static void motor_update(bool zebra_block, bool tl_block)
     prev_zstate = g_zstate;
     prev_tlstate = g_tl_state;
 
-    double spd = target_speed * boost_factor();
-
-    // 斑马线起步后 3.3~5s 降速走稳
-    if (g_zstate == Z_COOLDOWN) {
+    double spd;
+    if (boost_factor() > 1.0) {
+        spd = 26.0;                           // 起步弹射
+    } else if (g_zstate == Z_COOLDOWN) {
+        spd = 16.0;                           // 冷却期基础速度
         time_t elapsed = time(nullptr) - g_ztime;
         if (elapsed >= 3.3 && elapsed < 5)
-            spd = std::min(spd, 13.0);
+            spd = std::min(spd, 13.0);        // 3.3~5s 降速
+    } else {
+        spd = target_speed;                   // 正常行驶
     }
 
     // 弯道减速: 舵机偏差越大 → 速度越低

src/image_cv.cpp

@@ -69,10 +69,12 @@ cv::Mat image_binerize(cv::Mat &frame)
     cv::cvtColor(frame, hsvImage, cv::COLOR_BGR2HSV);
     cv::split(hsvImage, hsvChannels);
 
-    cv::threshold(hsvChannels[0], binarizedFrame,
-                  0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
-    cv::threshold(hsvChannels[1], output,
-                  0, 255, cv::THRESH_BINARY_INV | cv::THRESH_OTSU);
+    cv::adaptiveThreshold(hsvChannels[0], binarizedFrame, 255,
+                           cv::ADAPTIVE_THRESH_GAUSSIAN_C,
+                           cv::THRESH_BINARY_INV, 11, 2);
+    cv::adaptiveThreshold(hsvChannels[1], output, 255,
+                           cv::ADAPTIVE_THRESH_GAUSSIAN_C,
+                           cv::THRESH_BINARY_INV, 11, 2);
 
     cv::bitwise_or(output, binarizedFrame, output);
 
@@ -104,7 +106,7 @@ 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(3, 3));
+    static cv::Mat kernel = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(7, 7));
     cv::morphologyEx(binarizedFrame, morphologyExFrame, cv::MORPH_OPEN, kernel);
 
     static cv::Mat mask;
@@ -173,6 +175,9 @@ void image_main()
     cv::merge(labCh, labFrame);
     cv::cvtColor(labFrame, resizedFrame, cv::COLOR_Lab2BGR);
 
+    // ── 1.6 高斯模糊 → 融合反光噪点 ────────────────────
+    cv::GaussianBlur(resizedFrame, resizedFrame, cv::Size(5, 5), 0);
+
     // ── 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);