优化项目结构

inc/config.h

@@ -0,0 +1,42 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include <opencv2/opencv.hpp>
+
+// Camera intrinsic parameters (need actual calibration)
+const cv::Mat CAMERA_MATRIX = (cv::Mat_<float>(3, 3) << 
+    600, 0, 320,
+    0, 600, 240,
+    0, 0, 1);
+
+const cv::Mat DIST_COEFFS = cv::Mat::zeros(5, 1, CV_32F); // Distortion coefficients (set to 0 for no distortion)
+
+// Armor dimensions (in mm)
+const float ARMOR_WIDTH = 135.0f;
+const float ARMOR_HEIGHT = 125.0f;
+const float ARMOR_THICKNESS = 20.0f;
+
+const cv::Mat ARMOR_3D_POINTS = (cv::Mat_<float>(4, 3) <<
+    -ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0,
+    ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0,
+    ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0,
+    -ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0);
+
+// Detection thresholds
+const float HORIZONTAL_ANGLE_THRESHOLD = 25.0f; // Light bar horizontal angle threshold (degrees)
+const float HORIZONTAL_ANGLE_THRESHOLD_RAD = HORIZONTAL_ANGLE_THRESHOLD * CV_PI / 180.0f;
+const float NEARBY_LIGHT_BAR_THRESHOLD = 500.0f; // Light bar merging distance threshold (pixels)
+const float LIGHT_BAR_IOU_THRESHOLD = 0.05f;     // Light bar merging IOU threshold
+const float ARMOR_DISTANCE_RATIO_MIN = 0.6f;     // Armor light bar distance ratio range
+const float ARMOR_DISTANCE_RATIO_MAX = 3.0f;
+const float ARMOR_LENGTH_DIFF_RATIO = 0.5f;      // Armor light bar length difference ratio
+const float ARMOR_ANGLE_DIFF_THRESHOLD = 20.0f * CV_PI / 180.0f; // Armor light bar angle difference threshold (radians)
+
+// Kalman filter parameters
+const float KF_PROCESS_NOISE = 0.02f;       // Process noise covariance
+const float KF_MEASUREMENT_NOISE = 0.5f;    // Measurement noise covariance
+
+// TTL communication settings
+const int TTL_BAUDRATE = 115200;
+
+#endif // CONFIG_H