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

2026-05-25 10:31:55 +08:00
commit 28d9c6da58
52 changed files with 2599 additions and 0 deletions
--- a/vision/search.cpp
+++ b/vision/search.cpp
@@ -0,0 +1,122 @@
+#include "search.hpp"
+#include "preprocess.hpp"
+#include <algorithm>
+#include <cstring>
+
+void search_init(SearchResult& r)
+{
+    std::memset(&r, 0, sizeof(r));
+}
+
+void search_run(SearchResult& r)
+{
+    search_init(r);
+
+    int left_raw[IPM_ROW_COUNT]  = {0};
+    int right_raw[IPM_ROW_COUNT] = {0};
+    int mid_raw[IPM_ROW_COUNT]   = {0};
+
+    // ============================================================
+    // 逐行最长白段搜索 (与 demo image_main() 完全一致)
+    // ============================================================
+    for (int y = 0; y < IMAGE_HEIGHT; ++y)
+    {
+        int best_start = -1, best_end = -1, best_len = 0;
+        int cur_start  = -1, cur_len   = 0;
+
+        for (int x = 0; x < IMAGE_WIDTH; ++x)
+        {
+            if (g_ipm_image[y][x])
+            {
+                if (cur_len == 0) { cur_start = x; cur_len = 1; }
+                else cur_len++;
+                if (cur_len >= best_len)
+                {
+                    best_len   = cur_len;
+                    best_start = cur_start;
+                    best_end   = x;
+                }
+            }
+            else
+            {
+                cur_len   = 0;
+                cur_start = -1;
+            }
+        }
+
+        if (best_len > 0)
+        {
+            left_raw[y]  = best_start;
+            right_raw[y] = best_end;
+        }
+    }
+
+    // ============================================================
+    // 丢线补点 + 中线计算 (从底向上, 复用 demo 逻辑)
+    // ============================================================
+    for (int y = IMAGE_HEIGHT - 2; y >= 0; --y)
+    {
+        if (left_raw[y] == 0 && right_raw[y] == 0)
+        {
+            mid_raw[y] = mid_raw[y + 1];
+            if (mid_raw[y] > IMAGE_WIDTH / 2)
+            {
+                right_raw[y] = IMAGE_WIDTH - 1;
+                left_raw[y]  = mid_raw[y + 1];
+            }
+            else
+            {
+                left_raw[y]  = 0;
+                right_raw[y] = mid_raw[y + 1];
+            }
+        }
+        else
+        {
+            mid_raw[y] = (left_raw[y] + right_raw[y]) / 2;
+        }
+    }
+    if (left_raw[IMAGE_HEIGHT - 1] > 0 || right_raw[IMAGE_HEIGHT - 1] > 0)
+        mid_raw[IMAGE_HEIGHT - 1] = (left_raw[IMAGE_HEIGHT - 1] + right_raw[IMAGE_HEIGHT - 1]) / 2;
+
+    // ============================================================
+    // EMA 滤波 (从底向上, a=0.4, 与 demo 一致)
+    // ============================================================
+    float left_f[IPM_ROW_COUNT]  = {0};
+    float right_f[IPM_ROW_COUNT] = {0};
+    float mid_f[IPM_ROW_COUNT]   = {0};
+    constexpr float a = 0.4f;
+    int bot = IMAGE_HEIGHT - 1;
+
+    for (int y = bot; y >= 0; --y)
+    {
+        if (y == bot)
+        {
+            left_f[y]  = static_cast<float>(left_raw[y]);
+            right_f[y] = static_cast<float>(right_raw[y]);
+            mid_f[y]   = (left_f[y] + right_f[y]) * 0.5f;
+        }
+        else
+        {
+            left_f[y]  = a * left_raw[y]  + (1.0f - a) * left_f[y + 1];
+            right_f[y] = a * right_raw[y] + (1.0f - a) * right_f[y + 1];
+            mid_f[y]   = (left_f[y] + right_f[y]) * 0.5f;
+        }
+
+        int lv = static_cast<int>(left_f[y]  + 0.5f);
+        int rv = static_cast<int>(right_f[y] + 0.5f);
+        int mv = static_cast<int>(mid_f[y]   + 0.5f);
+
+        r.lines.left[y]  = static_cast<uint8>(std::clamp(lv, 0, 255));
+        r.lines.right[y] = static_cast<uint8>(std::clamp(rv, 0, 255));
+        r.lines.mid[y]   = static_cast<uint8>(std::clamp(mv, 0, 255));
+    }
+
+    int left_cnt = 0, right_cnt = 0;
+    for (int y = 0; y < IPM_ROW_COUNT; ++y)
+    {
+        if (r.lines.left[y]  > 0) ++left_cnt;
+        if (r.lines.right[y] > 0) ++right_cnt;
+    }
+    r.lines.left_valid  = (left_cnt  > 10) ? 1 : 0;
+    r.lines.right_valid = (right_cnt > 10) ? 1 : 0;
+}