Fix vision pipeline: search-first IPM, IMU non-blocking, LCD inverse IPM, servo direction, model WIP

model/test_model.cpp

@@ -0,0 +1,30 @@
+#include "model/model.hpp"
+#include <cstdio>
+#include <cstring>
+#include <cstdlib>
+
+int main()
+{
+    if (!model_init("./model/nanodet.bin")) {
+        printf("model_init failed\n");
+        return 1;
+    }
+
+    // 造一张假 160×120×3 测试图
+    uint8_t* img = new uint8_t[160*120*3];
+    std::memset(img, 128, 160*120*3);
+
+    DetectBox boxes[16];
+    for (int i = 0; i < 5; ++i) {
+        int n = model_detect(img, 160, 120, boxes, 16, 0.3f);
+        printf("run %d: %d detections\n", i, n);
+        for (int j = 0; j < n; ++j)
+            printf("  cls=%d conf=%.3f xy=(%.0f,%.0f)\n",
+                   boxes[j].cls, boxes[j].conf, boxes[j].cx, boxes[j].cy);
+    }
+
+    delete[] img;
+    model_deinit();
+    printf("OK\n");
+    return 0;
+}