参考上海交通大学代码进行修改

Catalyst-MDVS2/inc/BallisticPredictor.h

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+#ifndef BALLISTICPREDICTOR_H
+#define BALLISTICPREDICTOR_H
+
+#include <opencv2/opencv.hpp>
+
+class BallisticPredictor {
+public:
+    BallisticPredictor(float bullet_speed = 16.0f);
+    ~BallisticPredictor(); // Added destructor to properly manage memory
+
+    // Predict ballistic point considering target movement and flight time
+    cv::Point2f* predict_ballistic_point(const cv::Point2f* predicted_center,
+                                        const cv::Point2f& img_center,
+                                        const cv::Point2f& target_speed);
+
+    // Get last ballistic point
+    const cv::Point2f* get_last_ballistic_point() const { return last_ballistic_point; }
+
+private:
+    float bullet_speed;            // Bullet speed (m/s)
+    float armor_half_width;       // Armor half width (converted to meters)
+    float armor_half_height;      // Armor half height (converted to meters)
+    cv::Point2f* last_ballistic_point;  // Last ballistic prediction
+
+    // Calculate distance to target
+    float calculate_distance(const cv::Point2f& armor_center, const cv::Point2f& img_center, float focal_length = 800.0f);
+};
+
+#endif // BALLISTICPREDICTOR_H