优化项目结构

inc/ArmorDetector.h

@@ -0,0 +1,48 @@
+#ifndef ARMORDETECTOR_H
+#define ARMORDETECTOR_H
+
+#include <opencv2/opencv.hpp>
+#include <vector>
+#include <string>
+#include "config.h"
+
+struct LightBar {
+    cv::Point2f center;
+    cv::Size2f size;
+    float angle;          // in degrees
+    float angle_rad;      // in radians
+    float area;
+    std::vector<cv::Point2f> center_line;  // [end1, end2]
+    float center_line_length;
+    std::vector<cv::Point2f> box;
+};
+
+struct ArmorPlate {
+    std::string color;
+    cv::Point2f center;
+    double confidence;
+    std::pair<LightBar, LightBar> pair;
+    std::vector<cv::Point2f> corners_2d;  // Can be computed later for 3D pose
+};
+
+class ArmorDetector {
+public:
+    ArmorDetector();
+    
+    // Main detection function
+    void detect(const cv::Mat& mask, const std::string& target_color, 
+                std::vector<LightBar>& valid_light_bars, 
+                std::vector<ArmorPlate>& armor_plates);
+
+private:
+    float angle_threshold_rad;
+    
+    // Helper methods
+    std::vector<LightBar> extract_initial_light_bars(const cv::Mat& mask);
+    std::vector<std::vector<cv::Point2f>> merge_nearby_light_bars(const std::vector<LightBar>& initial_light_bars);
+    std::vector<LightBar> filter_valid_light_bars(const std::vector<std::vector<cv::Point2f>>& processed_boxes);
+    std::vector<ArmorPlate> pair_light_bars_to_armor(const std::vector<LightBar>& light_bars, const std::string& target_color);
+    double calculate_iou(const cv::Rect& b1, const cv::Rect& b2);
+};
+
+#endif // ARMORDETECTOR_H