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

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);