参考上海交大

inc/ArmorDetector.h

@@ -23,6 +23,23 @@ struct ArmorPlate {
     double confidence;
     std::pair<LightBar, LightBar> pair;
     std::vector<cv::Point2f> corners_2d;  // Can be computed later for 3D pose
+
+    // Function to get bounding rectangle of the armor plate
+    cv::Rect2d getBoundingRect() const {
+        if (corners_2d.size() >= 4) {
+            cv::Point2f min_pt = corners_2d[0];
+            cv::Point2f max_pt = corners_2d[0];
+            for (const auto& pt : corners_2d) {
+                min_pt.x = std::min(min_pt.x, pt.x);
+                min_pt.y = std::min(min_pt.y, pt.y);
+                max_pt.x = std::max(max_pt.x, pt.x);
+                max_pt.y = std::max(max_pt.y, pt.y);
+            }
+            return cv::Rect2d(min_pt.x, min_pt.y, max_pt.x - min_pt.x, max_pt.y - min_pt.y);
+        }
+        // Fallback: use center and a fixed size
+        return cv::Rect2d(center.x - 30, center.y - 15, 60, 30);
+    }
 };
 
 class ArmorDetector {

inc/BallisticPredictor.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/Camera.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/ImagePreprocessor.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/KalmanFilter.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/MindVisionCamera.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/TTLCommunicator.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/Visualizer.h:Zone.Identifier

@@ -0,0 +1,2 @@
+[ZoneTransfer]
+ZoneId=3

inc/config.h

@@ -36,6 +36,9 @@ const float ARMOR_ANGLE_DIFF_THRESHOLD = 15.0f * CV_PI / 180.0f; // Armor light
 const float KF_PROCESS_NOISE = 0.02f;       // Process noise covariance
 const float KF_MEASUREMENT_NOISE = 0.5f;    // Measurement noise covariance
 
+// Focal length in pixels (from camera calibration)
+const double FOCAL_PIXAL = 600.0;  // This should match your actual camera calibration
+
 // TTL communication settings
 const int TTL_BAUDRATE = 115200;