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

2026-05-25 13:57:47 +08:00
parent 610f0a7549
commit 235ec4c41e
15 changed files with 260 additions and 87 deletions
--- a/vision/preprocess.hpp
+++ b/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