新分支 加入了标靶判断

triangle_target.py

@@ -224,7 +224,7 @@ def detect_triangle_markers(
         blackhat_kernel_frac = 0.018
     try:
         import config as _tcfg
-        _timing_log = bool(getattr(_tcfg, "TRIANGLE_TIMING_LOG", True))
+        _timing_log = bool(getattr(_tcfg, "ARCHERY_TIMING_ENABLE", True)) and bool(getattr(_tcfg, "TRIANGLE_TIMING_LOG", True))
     except Exception:
         _timing_log = True
 
@@ -641,7 +641,40 @@ def detect_triangle_markers(
         med_l = float(np.median(legs))
         leg_dev = max(abs(l - med_l) / (med_l + 1e-6) for l in legs)
 
-        score = (diag_ratio - 1.0) * 3.0 + (h_ratio - 1.0) + (v_ratio - 1.0) + leg_dev * 2.0
+        # 方向一致性：四个标靶角的直角顶点朝向应符合大致的四象限布局。
+        # 对于相邻标靶很近的情况，这个方向信息能显著减少“把同一方向的两个三角混成一组”的误判。
+        orient_pen = 0.0
+        orient_vote = []
+        for c in cands_4:
+            cen = np.array(c["center_px"], dtype=np.float32)
+            rpt = np.array(c["right_pt"], dtype=np.float32)
+            vx = float(cen[0] - rpt[0])
+            vy = float(cen[1] - rpt[1])
+            # 方向太接近轴线时，说明顶点朝向不稳定，增加惩罚
+            if abs(vx) < 1e-6 or abs(vy) < 1e-6:
+                orient_pen += 1.0
+                orient_vote.append(None)
+                continue
+            if abs(vx) < abs(vy) * 0.15 or abs(vy) < abs(vx) * 0.15:
+                orient_pen += 0.5
+            # 以中心相对右角顶点的方向做粗分类：TL=向右下，TR=向左下，BL=向右上，BR=向左上
+            if vx > 0 and vy > 0:
+                orient_vote.append(0)
+            elif vx < 0 and vy > 0:
+                orient_vote.append(1)
+            elif vx > 0 and vy < 0:
+                orient_vote.append(2)
+            else:
+                orient_vote.append(3)
+
+        # 如果 4 个候选的方向落点本身就重复很多，说明可能混入了别的靶标角，直接加罚。
+        valid_votes = [v for v in orient_vote if v is not None]
+        if valid_votes:
+            from collections import Counter
+            vc = Counter(valid_votes)
+            orient_pen += max(0, max(vc.values()) - 1) * 0.8
+
+        score = (diag_ratio - 1.0) * 3.0 + (h_ratio - 1.0) + (v_ratio - 1.0) + leg_dev * 2.0 + orient_pen
         return score, (tl, bl, br, tr)
 
     assigned = None
@@ -947,7 +980,33 @@ def _assign_marker_ids_from_filtered(filtered, verbose=True):
         v_ratio = max(s_left, s_right) / (min(s_left, s_right) + 1e-6)
         med_l = float(np.median(legs))
         leg_dev = max(abs(l - med_l) / (med_l + 1e-6) for l in legs)
-        score = (diag_ratio - 1.0) * 3.0 + (h_ratio - 1.0) + (v_ratio - 1.0) + leg_dev * 2.0
+        orient_pen = 0.0
+        orient_vote = []
+        for c in cands_4:
+            cen = np.array(c["center_px"], dtype=np.float32)
+            rpt = np.array(c["right_pt"], dtype=np.float32)
+            vx = float(cen[0] - rpt[0])
+            vy = float(cen[1] - rpt[1])
+            if abs(vx) < 1e-6 or abs(vy) < 1e-6:
+                orient_pen += 1.0
+                orient_vote.append(None)
+                continue
+            if abs(vx) < abs(vy) * 0.15 or abs(vy) < abs(vx) * 0.15:
+                orient_pen += 0.5
+            if vx > 0 and vy > 0:
+                orient_vote.append(0)
+            elif vx < 0 and vy > 0:
+                orient_vote.append(1)
+            elif vx > 0 and vy < 0:
+                orient_vote.append(2)
+            else:
+                orient_vote.append(3)
+        valid_votes = [v for v in orient_vote if v is not None]
+        if valid_votes:
+            from collections import Counter
+            vc = Counter(valid_votes)
+            orient_pen += max(0, max(vc.values()) - 1) * 0.8
+        score = (diag_ratio - 1.0) * 3.0 + (h_ratio - 1.0) + (v_ratio - 1.0) + leg_dev * 2.0 + orient_pen
         return score, (tl, bl, br, tr)
 
     assigned = None
@@ -1113,7 +1172,7 @@ def try_triangle_scoring(
 
     try:
         import config as _cfg_tl
-        _try_timing_log = bool(getattr(_cfg_tl, "TRIANGLE_TIMING_LOG", True))
+        _try_timing_log = bool(getattr(_cfg_tl, "ARCHERY_TIMING_ENABLE", True)) and bool(getattr(_cfg_tl, "TRIANGLE_TIMING_LOG", True))
         _crop_min_side = int(getattr(_cfg_tl, "TRIANGLE_CROP_ROI_MIN_SIDE_PX", 64))
     except Exception:
         _try_timing_log = True