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

vision/element.cpp

@@ -96,7 +96,7 @@ namespace {
 
 void element_init()
 {
-    std::memset(&g_elm, 0, sizeof(g_elm));
+    g_elm = ElementMachine{};
     g_elm.state      = TRACK_STRAIGHT;
     g_elm.last_state = TRACK_STRAIGHT;
     g_elm.normal_width = 50.0f;

vision/preprocess.cpp

@@ -20,7 +20,7 @@ static constexpr float CAL_FAR_Y_MM   = 1050.0f;  // 矩形远边 Y (mm)
 static constexpr float CAL_HALF_W_MM  = 200.0f;   // 矩形半宽 (mm)
 
 static bool  g_ipm_enabled   = true;        // 启用 IPM
-static cv::Mat g_ipm_matrix;                // 3×3 透视变换矩阵
+cv::Mat g_ipm_matrix;                        // 3×3 透视变换矩阵 (extern)
 
 void preprocess_init() {}
 
@@ -95,21 +95,6 @@ void preprocess_run(const cv::Mat& bgr_frame)
     cv::resize(bgr_frame, small, cv::Size(PROC_W, PROC_H));
 
     cv::Mat bin = track_binarize(small);
-
-    // IPM 透视校正 (首次调用时计算矩阵)
-    if (g_ipm_enabled)
-    {
-        if (g_ipm_matrix.empty())
-            init_ipm_calibration();
-
-        cv::Mat ipm_out;
-        cv::warpPerspective(bin, ipm_out, g_ipm_matrix,
-                            cv::Size(PROC_W, PROC_H),
-                            cv::INTER_LINEAR,
-                            cv::BORDER_CONSTANT, cv::Scalar(0));
-        bin = ipm_out;
-    }
-
     cv::Mat track = flood_fill_track(bin);
     cv::Mat full;
     cv::resize(track, full, cv::Size(IMAGE_WIDTH, IMAGE_HEIGHT), 0, 0, cv::INTER_NEAREST);

vision/preprocess.hpp

@@ -3,8 +3,9 @@
 #include "types.hpp"
 
 void preprocess_init();
-void preprocess_run(const cv::Mat& bgr_frame);     // 全彩 HSV 二值化 + IPM
+void preprocess_run(const cv::Mat& bgr_frame);
 
 extern uint8 g_ipm_image[IMAGE_HEIGHT][IMAGE_WIDTH];
 extern uint8 g_valid_l_bound[IMAGE_HEIGHT];
 extern uint8 g_valid_r_bound[IMAGE_HEIGHT];
+extern cv::Mat g_ipm_matrix;    // 80x60 鸟瞰→相机 透视矩阵

vision/search.cpp

@@ -5,7 +5,7 @@
 
 void search_init(SearchResult& r)
 {
-    std::memset(&r, 0, sizeof(r));
+    r = SearchResult{};
 }
 
 void search_run(SearchResult& r)