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项目结构大变

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This commit is contained in:
Luo Yufei
2025-11-20 19:29:00 +08:00
parent 6a7ab65597
commit a8791ab3df
17 changed files with 549 additions and 287 deletions
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4
inc/config.h
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@@ -28,9 +28,9 @@ const float HORIZONTAL_ANGLE_THRESHOLD_RAD = HORIZONTAL_ANGLE_THRESHOLD * CV_PI
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_DISTANCE_RATIO_MAX = 4.0f;
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)
const float ARMOR_ANGLE_DIFF_THRESHOLD = 15.0f * CV_PI / 180.0f; // Armor light bar angle difference threshold (radians)
// Kalman filter parameters
const float KF_PROCESS_NOISE = 0.02f; // Process noise covariance