update power estimation and upload 2 models of yolo

vision.py

@@ -678,6 +678,91 @@ def estimate_distance(pixel_radius):
         return 0.0
     return (config.REAL_RADIUS_CM * config.FOCAL_LENGTH_PIX) / pixel_radius / 100.0
 
+def _draw_yolo_roi_on_rgb_numpy(img_cv, yolo_roi_xyxy):
+    """
+    在 RGB numpy 图像上绘制靶环 YOLO ROI（与原先 shoot_manager 主线程绘制语义一致）。
+    供存图 worker 异步调用，不阻塞射箭主流程。
+    """
+    if yolo_roi_xyxy is None:
+        return
+    if not getattr(config, "TRIANGLE_YOLO_DRAW_ROI_ON_SHOT", True):
+        return
+    try:
+        rx0, ry0, rx1, ry1 = (int(round(float(v))) for v in yolo_roi_xyxy)
+        ih, iw = img_cv.shape[:2]
+        rx0 = max(0, min(rx0, iw - 1))
+        ry0 = max(0, min(ry0, ih - 1))
+        rx1 = max(rx0 + 1, min(rx1, iw))
+        ry1 = max(ry0 + 1, min(ry1, ih))
+        cv2.rectangle(
+            img_cv,
+            (rx0, ry0),
+            (rx1 - 1, ry1 - 1),
+            (0, 255, 255),
+            2,
+        )
+        cv2.putText(
+            img_cv,
+            "YOLO ROI",
+            (max(0, rx0), max(16, ry0 - 4)),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.55,
+            (0, 255, 255),
+            1,
+        )
+    except Exception:
+        pass
+
+
+def prune_old_images_in_dir(photo_dir, max_images, logger=None, log_prefix="[VISION]"):
+    """
+    若目录内 bmp/jpg/jpeg 超过 max_images，按 mtime 从最旧开始删，直到数量 ≤ max_images。
+    与射箭主图目录清理规则一致，供 PHOTO_DIR、stage2_roi 等共用。
+    """
+    try:
+        max_images = int(max_images)
+    except (TypeError, ValueError):
+        return
+    if max_images <= 0 or not photo_dir:
+        return
+    if logger is None:
+        logger = logger_manager.logger
+    try:
+        if not os.path.isdir(photo_dir):
+            return
+        image_files = []
+        for f in os.listdir(photo_dir):
+            if f.endswith((".bmp", ".jpg", ".jpeg")):
+                filepath = os.path.join(photo_dir, f)
+                try:
+                    mtime = os.path.getmtime(filepath)
+                    image_files.append((mtime, filepath, f))
+                except Exception:
+                    pass
+        if len(image_files) <= max_images:
+            return
+        image_files.sort(key=lambda x: x[0])
+        to_delete = len(image_files) - max_images
+        deleted_count = 0
+        for _, filepath, fname in image_files[:to_delete]:
+            try:
+                os.remove(filepath)
+                deleted_count += 1
+                if logger:
+                    logger.debug(f"{log_prefix} 删除旧图片: {fname}")
+            except Exception as e:
+                if logger:
+                    logger.warning(f"{log_prefix} 删除旧图片失败 {fname}: {e}")
+        if logger and deleted_count > 0:
+            logger.info(
+                f"{log_prefix} 已清理 {deleted_count} 张旧图，"
+                f"目录保留至多 {max_images} 张: {photo_dir}"
+            )
+    except Exception as e:
+        if logger:
+            logger.warning(f"{log_prefix} 清理旧图片时出错（可忽略）: {e}")
+
+
 def estimate_pixel(physical_distance_cm, target_distance_m):
     """
     根据物理距离和目标距离计算对应的像素偏移
@@ -696,7 +781,8 @@ def estimate_pixel(physical_distance_cm, target_distance_m):
 
 
 def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
-                          laser_point, distance_m, shot_id=None, photo_dir=None):
+                          laser_point, distance_m, shot_id=None, photo_dir=None,
+                          yolo_roi_xyxy=None):
     """
     内部实现：在 img_cv (numpy HWC RGB) 上绘制标注并保存。
     由 save_shot_image（同步）和存图 worker（异步）调用。
@@ -735,6 +821,8 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
                 distance_str = str(round((distance_m or 0.0) * 100))
             filename = f"{photo_dir}/{method_str}_{int(x)}_{int(y)}_{distance_str}_{img_count:04d}.jpg"
 
+        _draw_yolo_roi_on_rgb_numpy(img_cv, yolo_roi_xyxy)
+
         logger = logger_manager.logger
         if logger:
             if shot_id:
@@ -786,37 +874,7 @@ def _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
             else:
                 logger.debug(f"图像已保存（无靶心，含激光十字线）: {filename}")
 
-        # 清理旧图片：如果目录下图片超过100张，删除最老的
-        try:
-            image_files = []
-            for f in os.listdir(photo_dir):
-                if f.endswith(('.bmp', '.jpg', '.jpeg')):
-                    filepath = os.path.join(photo_dir, f)
-                    try:
-                        mtime = os.path.getmtime(filepath)
-                        image_files.append((mtime, filepath, f))
-                    except Exception:
-                        pass
-
-            from config import MAX_IMAGES
-            if len(image_files) > MAX_IMAGES:
-                image_files.sort(key=lambda x: x[0])
-                to_delete = len(image_files) - MAX_IMAGES
-                deleted_count = 0
-                for _, filepath, fname in image_files[:to_delete]:
-                    try:
-                        os.remove(filepath)
-                        deleted_count += 1
-                        if logger:
-                            logger.debug(f"[VISION] 删除旧图片: {fname}")
-                    except Exception as e:
-                        if logger:
-                            logger.warning(f"[VISION] 删除旧图片失败 {fname}: {e}")
-                if logger and deleted_count > 0:
-                    logger.info(f"[VISION] 已清理 {deleted_count} 张旧图片，当前剩余 {MAX_IMAGES} 张")
-        except Exception as e:
-            if logger:
-                logger.warning(f"[VISION] 清理旧图片时出错（可忽略）: {e}")
+        prune_old_images_in_dir(photo_dir, config.MAX_IMAGES, logger, "[VISION]")
 
         return filename
     except Exception as e:
@@ -864,7 +922,8 @@ def start_save_shot_worker():
 
 
 def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
-                      laser_point, distance_m, shot_id=None, photo_dir=None):
+                      laser_point, distance_m, shot_id=None, photo_dir=None,
+                      yolo_roi_xyxy=None):
     """
     将存图任务放入队列，由 worker 异步保存。主线程传入 result_img 的复制，不阻塞。
     """
@@ -880,7 +939,18 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
         if logger:
             logger.error(f"[VISION] enqueue_save_shot 复制图像失败: {e}")
         return
-    task = (img_copy, center, radius, method, ellipse_params, laser_point, distance_m, shot_id, photo_dir)
+    task = (
+        img_copy,
+        center,
+        radius,
+        method,
+        ellipse_params,
+        laser_point,
+        distance_m,
+        shot_id,
+        photo_dir,
+        yolo_roi_xyxy,
+    )
     try:
         _save_queue.put_nowait(task)
     except queue.Full:
@@ -890,7 +960,8 @@ def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
 
 
 def save_shot_image(result_img, center, radius, method, ellipse_params,
-                    laser_point, distance_m, shot_id=None, photo_dir=None):
+                    laser_point, distance_m, shot_id=None, photo_dir=None,
+                    yolo_roi_xyxy=None):
     """
     保存射击图像（带标注）。同步调用，会阻塞。
     主流程建议使用 enqueue_save_shot；此处保留供校准、测试等场景使用。
@@ -901,8 +972,18 @@ def save_shot_image(result_img, center, radius, method, ellipse_params,
         photo_dir = config.PHOTO_DIR
     try:
         img_cv = image.image2cv(result_img, False, False)
-        return _save_shot_image_impl(img_cv, center, radius, method, ellipse_params,
-                                     laser_point, distance_m, shot_id, photo_dir)
+        return _save_shot_image_impl(
+            img_cv,
+            center,
+            radius,
+            method,
+            ellipse_params,
+            laser_point,
+            distance_m,
+            shot_id,
+            photo_dir,
+            yolo_roi_xyxy,
+        )
     except Exception as e:
         logger = logger_manager.logger
         if logger: