Initial commit: SmartCar Framework v0.1 — 龙芯2K0300智能车开发框架\n\n- HAL: GPIO/PWM/Encoder/Framebuffer 驱动\n- Control: PID/IMU/Motor/Servo 控制\n- Vision: HSV双Otsu→4点标定IPM→洪泛填充→逐行搜线\n- Strategy: 三区前瞻偏差+速度策略\n- Debug: 文件热调参+LCD预览+cv截帧\n- Scheduler: 5ms timerfd+epoll 中央调度器

vision/preprocess.hpp

@@ -0,0 +1,10 @@
+#pragma once
+#include <opencv2/opencv.hpp>
+#include "types.hpp"
+
+void preprocess_init();
+void preprocess_run(const cv::Mat& bgr_frame);     // 全彩 HSV 二值化 + IPM
+
+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];