From 43e7e0ba176fec0ad0ca27e22a4db5b2f74578f7 Mon Sep 17 00:00:00 2001
From: gcw_4spBpAfv <gcw_4spBpAfv@noreply.gitcode.com>
Date: Fri, 17 Apr 2026 18:30:50 +0800
Subject: [PATCH] new shoot algo

---
 app.yaml                                      |   9 +-
 ...y_netcore.cpython-311-riscv64-linux-gnu.so | Bin 0 -> 176328 bytes
 cameraParameters.xml                          |  33 +
 config.py                                     |  33 +-
 design_doc/command_record.md                  |  47 +
 design_doc/solution_record.md                 |  93 +-
 server.pem                                    |  33 +
 shoot_manager.py                              | 362 +++++--
 triangle_positions.json                       |   6 +
 triangle_target.py                            | 513 ++++++++++
 vision.py                                     | 944 ++++++++++++++++++
 11 files changed, 1976 insertions(+), 97 deletions(-)
 create mode 100644 archery_netcore.cpython-311-riscv64-linux-gnu.so
 create mode 100644 cameraParameters.xml
 create mode 100644 server.pem
 create mode 100644 triangle_positions.json
 create mode 100644 triangle_target.py
 create mode 100644 vision.py

diff --git a/app.yaml b/app.yaml
index 40b272a..16bdd0a 100644
--- a/app.yaml
+++ b/app.yaml
@@ -5,10 +5,13 @@ author: t11
 icon: ''
 desc: t11
 files:
+  - 4g_download_manager.py
   - app.yaml
   - archery_netcore.cpython-311-riscv64-linux-gnu.so
+  - aruco_detector.py
   - at_client.py
   - camera_manager.py
+  - cameraParameters.xml
   - config.py
   - hardware.py
   - laser_manager.py
@@ -17,9 +20,13 @@ files:
   - network.py
   - ota_manager.py
   - power.py
+  - server.pem
   - shoot_manager.py
   - shot_id_generator.py
   - time_sync.py
+  - triangle_positions.json
+  - triangle_target.py
   - version.py
-  - vision.cpython-311-riscv64-linux-gnu.so
+  - vision.py
+  - wifi_config_httpd.py
   - wifi.py
diff --git a/archery_netcore.cpython-311-riscv64-linux-gnu.so b/archery_netcore.cpython-311-riscv64-linux-gnu.so
new file mode 100644
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diff --git a/cameraParameters.xml b/cameraParameters.xml
new file mode 100644
index 0000000..b41a66e
--- /dev/null
+++ b/cameraParameters.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<calibrationDate>"Sat Apr 11 12:05:27 2026"</calibrationDate>
+<framesCount>29</framesCount>
+<cameraResolution>
+  640 480</cameraResolution>
+<camera_matrix type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    2207.9058323074869 0. 328.90661220953149 0. 2207.9058323074869
+    205.49515894111076 0. 0. 1.</data></camera_matrix>
+<camera_matrix_std_dev type_id="opencv-matrix">
+  <rows>4</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0. 11.687428265309892 3.6908895632668468 3.597571733110271</data></camera_matrix_std_dev>
+<distortion_coefficients type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    -0.63036604771649651 3.3832710000807449 0. 0. -0.45113389267675552</data></distortion_coefficients>
+<distortion_coefficients_std_dev type_id="opencv-matrix">
+  <rows>5</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0.025002349846111244 1.0651877135605927 0. 0. 0.04021252864120229</data></distortion_coefficients_std_dev>
+<avg_reprojection_error>0.28992233810828955</avg_reprojection_error>
+</opencv_storage>
diff --git a/config.py b/config.py
index 00bb188..62d2c41 100644
--- a/config.py
+++ b/config.py
@@ -36,17 +36,17 @@ WIFI_CONFIG_HTTP_PORT = 8080               # 默认 8080，避免占用 80 需 r
 WIFI_CONFIG_AP_IP = "192.168.66.1"         # 与 MaixPy Wifi.start_ap 默认一致，手机访问 http://192.168.66.1:8080/
 
 # ===== TCP over SSL(TLS) 配置 =====
-USE_TCP_SSL = False          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
+USE_TCP_SSL = True          # True=按手册走 MSSLCFG/MIPCFG 绑定 SSL
 TCP_LINK_ID = 2             # 
-TCP_SSL_PORT = 443          # TLS 端口（不一定必须 443，以服务器为准）
+TCP_SSL_PORT = 50006          # TLS 端口（不一定必须 443，以服务器为准）
 
 # SSL profile
 SSL_ID = 1                  # ssl_id=1
-SSL_AUTH_MODE = 0           # 1=单向认证（验证服务器），2=双向
+SSL_AUTH_MODE = 1           # 1=单向认证（验证服务器），2=双向
 SSL_VERIFY_MODE = 1         # 0=不验（仅测试用）；1=写入并使用 CA 证书
 
-SSL_CERT_FILENAME = "www.shelingxingqiu.com.crt"      # 模组里证书名（MSSLCERTWR / MSSLCFG="cert" 用）
-SSL_CERT_PATH = "/root/www.shelingxingqiu.com.crt"    # 设备文件系统里 CA 证书路径（你自己放进去）
+SSL_CERT_FILENAME = "server.pem"      # 模组里证书名（MSSLCERTWR / MSSLCFG="cert" 用）
+SSL_CERT_PATH = "/maixapp/apps/t11/server.pem"    # 设备文件系统里 CA 证书路径（你自己放进去）
 # MIPOPEN 末尾的参数在不同固件里含义可能不同；按你手册例子保留
 MIPOPEN_TAIL = ",,0"
 
@@ -95,7 +95,7 @@ DEFAULT_LASER_POINT =  (320, 245)   # 默认激光中心点
 
 # 硬编码激光点配置
 HARDCODE_LASER_POINT = True  # 是否使用硬编码的激光点（True=使用硬编码值，False=使用校准值）
-HARDCODE_LASER_POINT_VALUE = (320, 245) # 硬编码的激光点坐标(315, 245) #   # 硬编码的激光点坐标 (x, y)
+HARDCODE_LASER_POINT_VALUE = (320, 296) # 硬编码的激光点坐标(315, 245) #   # 硬编码的激光点坐标 (x, y)
 
 # 激光点检测配置
 LASER_DETECTION_THRESHOLD = 140  # 红色通道阈值（默认120，可调整，范围建议：100-150）
@@ -122,6 +122,27 @@ LASER_CAMERA_OFFSET_CM = 1.4  # 激光在摄像头下方的物理距离（厘米
 IMAGE_CENTER_X = 320  # 图像中心 X 坐标
 IMAGE_CENTER_Y = 240  # 图像中心 Y 坐标
 
+# ==================== 三角形四角标记：单应性偏移 + PnP 估距 ====================
+# 依赖 cameraParameters.xml（相机内参）与 triangle_positions.json（四角物方坐标，厘米或毫米见 JSON 约定）。
+# 部署时请把这两个文件放到 APP_DIR（与 main 同应用目录），或改下面路径为设备上的实际绝对路径。
+USE_TRIANGLE_OFFSET = True  # False 时仅走黄心圆/椭圆 + 半径估距，不使用三角形路径
+CAMERA_CALIB_XML = APP_DIR + "/cameraParameters.xml"
+TRIANGLE_POSITIONS_JSON = APP_DIR + "/triangle_positions.json"
+# 检测到的三角形边长在图像中的像素范围，分辨率或靶纸占比变化时可微调
+TRIANGLE_SIZE_RANGE = (8, 500)
+# 三角形检测兜底增强：CLAHE（更鲁棒但更慢）。默认关闭以优先速度。
+TRIANGLE_ENABLE_CLAHE_FALLBACK = False
+# 三角形检测超时（毫秒）。超过该时间直接判失败，回退圆心算法（并行时不再等待）。
+TRIANGLE_TIMEOUT_MS = 1000
+
+# 三角形检测性能/鲁棒性参数（偏向速度的默认值）
+# 说明：
+# - Otsu 是最快的全局阈值；adaptiveThreshold 更鲁棒但更慢
+# - filtered 候选过多时，枚举 C(n,4) 会变慢，需限幅
+TRIANGLE_EARLY_EXIT_CANDIDATES = 4          # 找到多少个候选就提前停止二值化尝试
+TRIANGLE_ADAPTIVE_BLOCK_SIZES = (11, 21)    # 自适应阈值 blockSize 尝试列表；置空 () 可完全关闭 adaptiveThreshold
+TRIANGLE_MAX_FILTERED_FOR_COMBO = 10        # 参与四点组合评分的最大候选数（超过则截断到最可能的一部分）
+
 FLASH_LASER_WHILE_SHOOTING = True  # 是否在拍摄时闪一下激光（True=闪，False=不闪）
 FLASH_LASER_DURATION_MS = 1000  # 闪一下激光的持续时间（毫秒）
 
diff --git a/design_doc/command_record.md b/design_doc/command_record.md
index 1156f54..f4f0527 100644
--- a/design_doc/command_record.md
+++ b/design_doc/command_record.md
@@ -36,3 +36,50 @@ printf 'AT+MHTTPDLFILE="http://static.shelingxingqiu.com/shoot/v1/main.py","down
 4. wifi的启动条件，在 /boot 目录下，看看是否有 wifi.sta 和 wifi.ssid， wifi.pass 这些文件。其中 wifi.sta 是开关文件。
    如果没有了它就不会启动wifi流程。具体的wifi流程 由 /etc/init.d/S30wifi 控制。它会判断 wifi.sta 是否存在，然后是否启动wifi，还是启动热点。
 
+5. 给自己的程序打包到基础镜像中，参考：https://wiki.sipeed.com/maixpy/doc/zh/pro/compile_os.html
+    5.1. 按照链接中的步骤，去github上获取了基础镜像，这次使用的是 v4.12.4，把Assets中的下面几样东西下载下来，我是在windows的wsl中执行的，注意，
+         假如是在windows中下载的文件，在wsl中编译会很慢，所以我采用的是直接在wsl中下载，放到wsl的自己的文件系统中。
+         1）maixcam-2025-12-31-maixpy-v4.12.4.img.xz
+         2）maixcam_builtin_files.tar.xz 
+         3）MaixPy-4.12.4-py3-none-any.whl
+         4）Source code(zip)
+    5.2. 把自己的文件放到 buildtin_files中：
+         1）我把项目文件目录 t11 放到了 maixcam_builtin_files\maixapp\apps 这个目录下。
+         2）为了能让它自启动，我把 auto_start.txt 放到了 maixcam_builtin_files\maixapp 这个目录下。
+         
+    5.3. 然后在解压后的源码中找到tools/os目录下 /home/saga/maixcam/MaixPy-4.12.4/tools/os/maixcam
+        执行
+        export MAIXCDK_PATH=/home/saga/maixcam/MaixCDK
+        编译：
+        ./gen_os.sh ../../../../../maixcam/maixcam-2025-12-31-maixpy-v4.12.4.img ../../../../../maixcam/MaixPy-4.12.4-py3-none-any.whl ../../../../../maixcam/maixcam_builtin_files 0 maixcam
+        注意，在编译过程中，也会去 github 下载内容，所以需要打开梯子。
+    5.4. 等待编译完成，会编译成镜像文件，然后根据 https://wiki.sipeed.com/hardware/zh/maixcam/os.html 这个指引来烧录系统。
+    5.5. 烧录完系统后，需要安装 runtime， 可以按照  https://wiki.sipeed.com/maixpy/doc/zh/README_no_screen.html 这个来升级运行库，或者直接在 Maixvision 中链接的时候安装 runtime。
+    5.6. 安装 runtime 之后，重启，我们的系统就会自己启动起来了。
+
+   遇到问题：
+   /mnt/d/code/shooting/compile_maixcam/MaixPy-4.12.4/MaixPy-4.12.4/tools/os/maixcam/fuse2fs: error while loading shared libraries: libfuse.so.2: cannot open shared object file: No such file or directory
+   解决办法：
+    安装 libfuse2
+    sudo apt update
+     sudo apt install libfuse2
+
+   遇到问题：
+    python 缺少  yaml
+    解决办法：
+    pip install pyyaml
+
+   遇到问题：
+   ./build_all.sh: line 56: maixtool: command not found
+   解决办法：
+   export PATH="/mnt/d/code/MaixCDK/.venv/bin:$PATH" 
+
+    遇到问题：
+    ./update_img.sh: line 80: mcopy: command not found
+    解决办法：
+    sudo apt update
+    sudo apt install mtools
+
+6. 相机标定：
+set OPENCV_FFMPEG_CAPTURE_OPTIONS="rtsp_transport;tcp"
+opencv_interactive-calibration -t=chessboard -w=9 -h=6 -sz=0.025 -v="http://192.168.1.55:8000/stream"
\ No newline at end of file
diff --git a/design_doc/solution_record.md b/design_doc/solution_record.md
index f76bdb6..0ca7831 100644
--- a/design_doc/solution_record.md
+++ b/design_doc/solution_record.md
@@ -102,4 +102,95 @@ WiFi 连接成功
     尝试切换到 4G
     ↓
 上层检测到连接断开：
-    重新 connect_server() → 自动选择 4G
\ No newline at end of file
+    重新 connect_server() → 自动选择 4G
+
+10. 现在使用的相机，其实是支持更大的分辨率的，比如说1920*1280，但是由于我们的图像处理，拍照处理之后很容易触发OOM。
+
+11. 环数计算流程：
+现在设备侧的目标是：算出箭点相对靶心的偏移(dx,dy)，单位是物理厘米（cm），然后把它作为 x,y 上报给后端；后端再去算环。
+设备侧本身不直接算环数，它算的是偏移与距离，并上报。
+
+算法流程（一次射箭从触发到上报）
+1) 触发后取一帧图
+    在 process_shot() 里读取相机帧并调用 analyze_shot(frame)
+2) 确定激光点（laser_point） 
+
+    analyze_shot() 第一步先确定激光点 (x,y)（像素坐标）：
+
+   硬编码：config.HARDCODE_LASER_POINT=True → 用 laser_manager.laser_point
+   已校准：laser_manager.has_calibrated_point() → 用校准值
+   动态模式：先 detect_circle_v3(frame, None) 粗估距离，再根据距离反推激光点
+   代码在：
+
+   if config.HARDCODE_LASER_POINT:
+       ...
+   elif laser_manager.has_calibrated_point():
+       ...
+   else:
+       _, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
+       distance_m_first = estimate_distance(best_radius1_temp) ...
+       laser_point = laser_manager.calculate_laser_point_from_distance(distance_m_first)
+3) 优先走三角形路径（成功就直接用于上报 x/y）
+如果 config.USE_TRIANGLE_OFFSET=True，先尝试识别靶面四角三角形标记：
+
+if getattr(config, "USE_TRIANGLE_OFFSET", False):
+    K, dist_coef, pos = _get_triangle_calib()
+    img_rgb = image.image2cv(frame, False, False)
+    tri = try_triangle_scoring(img_rgb, (x, y), pos, K, dist_coef, ...)
+    if tri.get("ok"):
+        return {... "dx": tri["dx_cm"], "dy": tri["dy_cm"], "distance_m": tri.get("distance_m"), ...}
+这一步里 try_triangle_scoring() 做了两件事（都在 triangle_target.py）：
+
+单应性（homography）：把激光点从图像坐标映射到靶面坐标系，得到(dx,dy)（cm）
+PnP：用识别到的角点与相机标定，估算 相机到靶的距离 distance_m
+关键代码：
+
+ok_h, tx, ty, _H = homography_calibration(...)
+out["dx_cm"] = tx
+out["dy_cm"] = -ty
+out["distance_m"] = dist_m
+out["distance_method"] = "pnp_triangle"
+注意：这里 dy_cm 取了负号，是为了和现网约定一致（laser_manager.compute_laser_position 的坐标方向）。
+
+4) 三角形失败 → 回退圆形/椭圆靶心检测（兜底）
+如果三角形不可用或识别失败，就走传统靶心检测：
+
+detect_circle_v3(frame, laser_point) 找黄心/红心、半径、椭圆参数
+用 laser_manager.compute_laser_position() 把像素偏移换算成厘米偏移(dx,dy)
+在 shoot_manager.py：
+
+result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
+if center and radius:
+    dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+    distance_m = estimate_distance(best_radius1) ...
+在 laser_manager.compute_laser_position()（核心换算逻辑）：
+
+r = radius * 5
+target_x = (lx-cx)/r*100
+target_y = (ly-cy)/r*100
+return (target_x, -target_y)
+这里 (像素差)/(radius*5)*100 是你们旧约定下的“像素→厘米”比例模型（并且 y 方向同样取负号）。
+
+5) 上报数据：把(dx,dy) 作为 x/y 发给后端
+最终上报发生在 process_shot()，直接把 dx,dy 填到 inner_data["x"],["y"]：
+
+srv_x = round(float(dx), 4) if dx is not None else 200.0
+srv_y = round(float(dy), 4) if dy is not None else 200.0
+inner_data = {
+    "x": srv_x,
+    "y": srv_y,
+    "d": round((distance_m or 0.0) * 100),
+    "m": method if method else "no_target",
+    "offset_method": offset_method,
+    "distance_method": distance_method,
+    ...
+}
+network_manager.safe_enqueue(...)
+x,y：物理厘米（cm）
+d：相机到靶距离（m→cm，乘 100；三角形成功时来自 PnP）
+m/offset_method/distance_method：标记本次用的算法路径（triangle / yellow / pnp 等）
+后端收到 x,y 后，再用你之前给的 Go 公式 CalculateRingNumber(x,y,tenRingRadius) 计算环数。
+
+你现在的“环数计算”实际依赖关系
+最好路径（快+稳）：三角形 → dx,dy（单应性） + distance_m（PnP）
+兜底路径：圆/椭圆靶心 → dx,dy（基于黄心半径比例/透视校正） + distance_m（黄心半径估距）
diff --git a/server.pem b/server.pem
new file mode 100644
index 0000000..f0f14b9
--- /dev/null
+++ b/server.pem
@@ -0,0 +1,33 @@
+-----BEGIN CERTIFICATE-----
+MIIFwjCCA6qgAwIBAgIUAZIGjFLTekYI+IIquQ/87qLDuNAwDQYJKoZIhvcNAQEL
+BQAwXjELMAkGA1UEBhMCQ04xDjAMBgNVBAgMBUxvY2FsMQ4wDAYDVQQHDAVMb2Nh
+bDEOMAwGA1UECgwFTG9jYWwxHzAdBgNVBAMMFnd3dy5zaGVsaW5neGluZ3FpdS5j
+b20wIBcNMjYwNDA3MDc0NDI2WhgPMjEyNjAzMTQwNzQ0MjZaMF4xCzAJBgNVBAYT
+AkNOMQ4wDAYDVQQIDAVMb2NhbDEOMAwGA1UEBwwFTG9jYWwxDjAMBgNVBAoMBUxv
+Y2FsMR8wHQYDVQQDDBZ3d3cuc2hlbGluZ3hpbmdxaXUuY29tMIICIjANBgkqhkiG
+9w0BAQEFAAOCAg8AMIICCgKCAgEAvKRcWr8QeT1OzhMbWlHmqxmduE+e7r2Oet9I
+mU4O888U1X1YKaIDnq+zqRCNteid3jrOWucDLReZzNnrZ4l3Jq9nbWuTwj9Y9vCq
+ahW3K3BOhnuJ+qvqX2Izn1Z9iNCFhXnUaFy8+iP0nJNNIRXwg7ioKbY6+SaTbBzI
+vfG33MjOmwnQlqZzdGyNpvieO9XzqVyRxeDen/LJf4Z1NocP2rOjqQC3dIDXOfBt
+/ZOZymb4XwQ9b/t+6WJn9Zfycw0tp/7GqI+vqLDUMpipO4ahmybJPO02IhokZ09t
+BnCXe0enLnMAshIipTxSaJEick9HnQVSUzF+9A1F0cCFAhS8cM/04aksfYsJD2xj
+riiVHVoVo6tb0GJSCM+b0j9ObH9bDx3DKfy9EcqP25mJxWQTuT8G0oiyuxE5knjA
+HL7yjwd5gVSuig+ACnxE3vITeVKtvyep7sD4tJqkN93t7OMeBRFMGsYpJ8w+8u6X
++9/RmMcOnuNcT/4HrOuAtlAnM1D44MSI1RLaOCJJ9evqhpWdktfn2Uv4gCnaTjUr
+OiEU/G+lquST2kggjbcReLqkk+7yN3XkaR9dun4iV35WfEo1ENThVhLPGV61LaJq
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+56GUNaUCAwEAAaN2MHQwHQYDVR0OBBYEFH1HCDm4N7LMhIX2Fb2FXAfdyhwQMB8G
+A1UdIwQYMBaAFH1HCDm4N7LMhIX2Fb2FXAfdyhwQMA8GA1UdEwEB/wQFMAMBAf8w
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+zhcosH8XmNmJmT/X64FhhRqxAqX65WanVQABtBS/vsC+FAQDGMb3RkZSbLEnIlgj
+bx/6bSkhHl+J2xIqA7tLvYhRSvM3H12X7VSVc+tkVzI5JoUSugZLxxRDGpYgkvRz
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+-----END CERTIFICATE-----
diff --git a/shoot_manager.py b/shoot_manager.py
index d80c75b..89c8fad 100644
--- a/shoot_manager.py
+++ b/shoot_manager.py
@@ -1,11 +1,44 @@
+import os
+import threading
+
 import config
 from camera_manager import camera_manager
 from laser_manager import laser_manager
 from logger_manager import logger_manager
 from network import network_manager
-from power import get_bus_voltage, voltage_to_percent
-from vision import estimate_distance, detect_circle_v3, save_shot_image
-from maix import camera, display, image, app, time, uart, pinmap, i2c
+from triangle_target import load_camera_from_xml, load_triangle_positions, try_triangle_scoring
+from vision import estimate_distance, detect_circle_v3, enqueue_save_shot
+from maix import image, time
+
+# 缓存相机标定与三角形位置，避免每次射箭重复读磁盘
+_tri_calib_cache = None
+
+def _get_triangle_calib():
+    """返回 (K, dist, marker_positions)；首次调用时从磁盘加载并缓存。"""
+    global _tri_calib_cache
+    if _tri_calib_cache is not None:
+        return _tri_calib_cache
+    calib_path = getattr(config, "CAMERA_CALIB_XML", "")
+    tri_json = getattr(config, "TRIANGLE_POSITIONS_JSON", "")
+    if not (os.path.isfile(calib_path) and os.path.isfile(tri_json)):
+        _tri_calib_cache = (None, None, None)
+        return _tri_calib_cache
+    K, dist = load_camera_from_xml(calib_path)
+    pos = load_triangle_positions(tri_json)
+    _tri_calib_cache = (K, dist, pos)
+    return _tri_calib_cache
+
+
+def preload_triangle_calib():
+    """
+    启动阶段预加载三角形标定与坐标文件，避免首次射箭触发时的读盘/解析开销。
+    """
+    try:
+        _get_triangle_calib()
+    except Exception:
+        # 预加载失败不影响主流程；射箭时会再次按需尝试
+        pass
+
 
 def analyze_shot(frame, laser_point=None):
     """
@@ -13,18 +46,18 @@ def analyze_shot(frame, laser_point=None):
     :param frame: 图像帧
     :param laser_point: 激光点坐标 (x, y)
     :return: 包含分析结果的字典
+
+    优先级：
+      1. 三角形单应性（USE_TRIANGLE_OFFSET=True 时）— 成功则直接返回，跳过圆形检测
+      2. 圆形检测（三角形不可用或识别失败时兜底）
     """
     logger = logger_manager.logger
+    from datetime import datetime
 
-    # 先检测靶心以获取距离（用于计算激光点）
-    result_img_temp, center_temp, radius_temp, method_temp, best_radius1_temp, ellipse_params_temp = detect_circle_v3(
-        frame, None)
-
-    # 计算距离
-    distance_m = estimate_distance(best_radius1_temp) if best_radius1_temp else None
-
-    # 根据距离动态计算激光点坐标
+    # ── Step 1: 确定激光点 ────────────────────────────────────────────────────
     laser_point_method = None
+    distance_m_first = None
+
     if config.HARDCODE_LASER_POINT:
         laser_point = laser_manager.laser_point
         laser_point_method = "hardcode"
@@ -33,65 +66,128 @@ def analyze_shot(frame, laser_point=None):
         laser_point_method = "calibrated"
         if logger:
             logger.info(f"[算法] 使用校准值: {laser_manager.laser_point}")
-    elif distance_m and distance_m > 0:
-        laser_point = laser_manager.calculate_laser_point_from_distance(distance_m)
-        laser_point_method = "dynamic"
-        if logger:
-            logger.info(f"[算法] 使用比例尺: {laser_point}")
     else:
-        laser_point = laser_manager.laser_point
-        laser_point_method = "default"
-        if logger:
-            logger.info(f"[算法] 使用默认值: {laser_point}")
+        # 动态模式：先做一次无激光点检测以估算距离，再推算激光点
+        _, _, _, _, best_radius1_temp, _ = detect_circle_v3(frame, None)
+        distance_m_first = estimate_distance(best_radius1_temp) if best_radius1_temp else None
+        if distance_m_first and distance_m_first > 0:
+            laser_point = laser_manager.calculate_laser_point_from_distance(distance_m_first)
+            laser_point_method = "dynamic"
+            if logger:
+                logger.info(f"[算法] 使用比例尺: {laser_point}")
+        else:
+            laser_point = laser_manager.laser_point
+            laser_point_method = "default"
+            if logger:
+                logger.info(f"[算法] 使用默认值: {laser_point}")
 
     if laser_point is None:
-        return {
-            "success": False,
-            "reason": "laser_point_not_initialized"
-        }
+        return {"success": False, "reason": "laser_point_not_initialized"}
 
     x, y = laser_point
 
-    # 绘制激光十字线
-    color = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
-    frame.draw_line(
-        int(x - config.LASER_LENGTH), int(y),
-        int(x + config.LASER_LENGTH), int(y),
-        color, config.LASER_THICKNESS
-    )
-    frame.draw_line(
-        int(x), int(y - config.LASER_LENGTH),
-        int(x), int(y + config.LASER_LENGTH),
-        color, config.LASER_THICKNESS
-    )
-    frame.draw_circle(int(x), int(y), 1, color, config.LASER_THICKNESS)
+    # ── Step 2: 提前转换一次图像，两个检测线程共享（只读）────────────────────────
+    img_cv = image.image2cv(frame, False, False)
 
-    # 重新检测靶心（使用计算出的激光点）
-    result_img, center, radius, method, best_radius1, ellipse_params = detect_circle_v3(frame, laser_point)
+    # ── Step 3: 检查三角形是否可用 ────────────────────────────────────────────────
+    use_tri = getattr(config, "USE_TRIANGLE_OFFSET", False)
+    K = dist_coef = pos = None
+    if use_tri:
+        K, dist_coef, pos = _get_triangle_calib()
+        use_tri = K is not None and dist_coef is not None and pos
 
-    # 计算偏移与距离
-    if center and radius:
-        dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
-        distance_m = estimate_distance(best_radius1)
-    else:
+    def _build_circle_result(cdata):
+        """从圆形检测结果构建 analyze_shot 返回值。"""
+        r_img, center, radius, method, best_radius1, ellipse_params = cdata
         dx, dy = None, None
-        distance_m = None
+        d_m = distance_m_first
+        if center and radius:
+            dx, dy = laser_manager.compute_laser_position(center, (x, y), radius, method)
+            d_m = estimate_distance(best_radius1) if best_radius1 else distance_m_first
+        return {
+            "success": True,
+            "result_img": r_img,
+            "center": center, "radius": radius, "method": method,
+            "best_radius1": best_radius1, "ellipse_params": ellipse_params,
+            "dx": dx, "dy": dy, "distance_m": d_m,
+            "laser_point": laser_point, "laser_point_method": laser_point_method,
+            "offset_method": "yellow_ellipse" if ellipse_params else "yellow_circle",
+            "distance_method": "yellow_radius",
+        }
 
-    # 返回分析结果
-    return {
-        "success": True,
-        "result_img": result_img,
-        "center": center,
-        "radius": radius,
-        "method": method,
-        "best_radius1": best_radius1,
-        "ellipse_params": ellipse_params,
-        "dx": dx,
-        "dy": dy,
-        "distance_m": distance_m,
-        "laser_point": laser_point,
-        "laser_point_method": laser_point_method
-    }
+    if not use_tri:
+        # 三角形未配置，直接跑圆形检测
+        return _build_circle_result(
+            detect_circle_v3(frame, laser_point, img_cv=img_cv)
+        )
+
+    # ── Step 4: 三角形 + 圆形并行检测 ─────────────────────────────────────────────
+    # 两个线程共享只读的 img_cv，互不干扰
+    tri_result = {}
+    circle_result = {}
+
+    def _run_triangle():
+        try:
+            logger.info(f"[TRI] begin {datetime.now()}")
+            logger.info(f"[TRI] K: {K}, dist: {dist_coef}, pos: {pos},  {datetime.now()}")
+            tri = try_triangle_scoring(
+                img_cv, (x, y), pos, K, dist_coef,
+                size_range=getattr(config, "TRIANGLE_SIZE_RANGE", (8, 500)),
+            )
+            logger.info(f"[TRI] tri: {tri},  {datetime.now()}")
+            tri_result['data'] = tri
+        except Exception as e:
+            logger.error(f"[TRI] 三角形路径异常: {e}")
+            tri_result['data'] = {'ok': False}
+
+    def _run_circle():
+        try:
+            circle_result['data'] = detect_circle_v3(frame, laser_point, img_cv=img_cv)
+        except Exception as e:
+            logger.error(f"[CIRCLE] 圆形检测异常: {e}")
+            circle_result['data'] = (frame, None, None, None, None, None)
+
+    t_tri = threading.Thread(target=_run_triangle, daemon=True)
+    t_cir = threading.Thread(target=_run_circle, daemon=True)
+    t_tri.start()
+    t_cir.start()
+
+    # 最多等待三角形 TRIANGLE_TIMEOUT_MS（默认 1000ms）
+    tri_timeout_s = float(getattr(config, "TRIANGLE_TIMEOUT_MS", 1000)) / 1000.0
+    t_tri.join(timeout=tri_timeout_s)
+    if t_tri.is_alive():
+        # 超时：直接放弃三角形结果，回退圆心（圆心线程通常已跑完）
+        logger.warning(f"[TRI] timeout>{tri_timeout_s:.2f}s，回退圆心算法")
+        t_cir.join()
+        return _build_circle_result(
+            circle_result.get('data') or (frame, None, None, None, None, None)
+        )
+
+    tri = tri_result.get('data', {})
+
+    if tri.get('ok'):
+        logger.info(f"[TRI] end {datetime.now()}")
+        return {
+            "success": True,
+            "result_img": frame,
+            "center": None, "radius": None,
+            "method": tri.get("offset_method") or "triangle_homography",
+            "best_radius1": None, "ellipse_params": None,
+            "dx": tri["dx_cm"], "dy": tri["dy_cm"],
+            "distance_m": tri.get("distance_m") or distance_m_first,
+            "laser_point": laser_point, "laser_point_method": laser_point_method,
+            "offset_method": tri.get("offset_method") or "triangle_homography",
+            "distance_method": tri.get("distance_method") or "pnp_triangle",
+            "tri_markers": tri.get("markers", []),
+            "tri_homography": tri.get("homography"),
+        }
+
+    # 三角形失败，等圆形结果（已并行跑完，几乎无额外等待）
+    t_cir.join()
+    logger.info(f"[TRI] end(fallback) {datetime.now()}")
+    return _build_circle_result(
+        circle_result.get('data') or (frame, None, None, None, None, None)
+    )
 
 
 def process_shot(adc_val):
@@ -103,6 +199,7 @@ def process_shot(adc_val):
     logger = logger_manager.logger
 
     try:
+        network_manager.safe_enqueue({"shoot_event": "start"}, msg_type=2, high=True)
         frame = camera_manager.read_frame()
 
         # 调用算法分析
@@ -126,16 +223,21 @@ def process_shot(adc_val):
         distance_m = analysis_result["distance_m"]
         laser_point = analysis_result["laser_point"]
         laser_point_method = analysis_result["laser_point_method"]
+        offset_method = analysis_result.get("offset_method", "yellow_circle")
+        distance_method = analysis_result.get("distance_method", "yellow_radius")
+        tri_markers = analysis_result.get("tri_markers", [])
+        tri_homography = analysis_result.get("tri_homography")
         x, y = laser_point
 
-        camera_manager.show(result_img)
+        # 三角形路径成功时 center/radius 为空是正常的；此时用 triangle 方法名用于保存文件名与上报字段 m
+        if (not method) and tri_markers:
+            method = offset_method or "triangle_homography"
 
-        if not (center and radius) and logger:
-            logger.warning("[MAIN] 未检测到靶心，但会保存图像")
+        if config.SHOW_CAMERA_PHOTO_WHILE_SHOOTING:
+            camera_manager.show(result_img)
 
-        # 读取电量
-        voltage = get_bus_voltage()
-        battery_percent = voltage_to_percent(voltage)
+        if dx is None and dy is None and logger:
+            logger.warning("[MAIN] 未检测到偏移量（三角形与圆形均失败），但会保存图像")
 
         # 生成射箭ID
         from shot_id_generator import shot_id_generator
@@ -144,33 +246,30 @@ def process_shot(adc_val):
         if logger:
             logger.info(f"[MAIN] 射箭ID: {shot_id}")
 
-        # 保存图像
-        save_shot_image(
-            result_img,
-            center,
-            radius,
-            method,
-            ellipse_params,
-            (x, y),
-            distance_m,
-            shot_id=shot_id,
-            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None
-        )
+        laser_distance_m = None
+        laser_signal_quality = 0
+
+        # x,y 单位：物理厘米（compute_laser_position 与三角形单应性均输出物理 cm）
+        # 未检测到靶心时 x/y 用 200.0（脱靶标志）
+        srv_x = round(float(dx), 4) if dx is not None else 200.0
+        srv_y = round(float(dy), 4) if dy is not None else 200.0
 
         # 构造上报数据
         inner_data = {
             "shot_id": shot_id,
-            "x": float(dx) if dx is not None else 200.0,
-            "y": float(dy) if dy is not None else 200.0,
-            "r": 90.0,
+            "x": srv_x,
+            "y": srv_y,
+            "r": 20.0,  # 保留字段（服务端当前忽略，物理外环半径 cm）
             "d": round((distance_m or 0.0) * 100),
-            "d_laser": 0.0,
-            "d_laser_quality": 0,
+            "d_laser": round((laser_distance_m or 0.0) * 100),
+            "d_laser_quality": laser_signal_quality,
             "m": method if method else "no_target",
             "adc": adc_val,
             "laser_method": laser_point_method,
             "target_x": float(x),
             "target_y": float(y),
+            "offset_method": offset_method,
+            "distance_method": distance_method,
         }
 
         if ellipse_params:
@@ -190,14 +289,99 @@ def process_shot(adc_val):
         report_data = {"cmd": 1, "data": inner_data}
         network_manager.safe_enqueue(report_data, msg_type=2, high=True)
 
-        if logger:
-            if center and radius:
-                logger.info(f"射箭事件已加入发送队列（已检测到靶心），ID: {shot_id}")
-            else:
-                logger.info(f"射箭事件已加入发送队列（未检测到靶心，已保存图像），ID: {shot_id}")
+        # 数据上报后再画标注，不干扰检测阶段的原始画面
+        if result_img is not None:
+            # 1. 若有三角形标记，先用 cv2 画轮廓 / 顶点 / ID，再反推靶心位置
+            if tri_markers:
+                import cv2 as _cv2
+                import numpy as _np
+                _img_cv = image.image2cv(result_img, False, False)
+
+                # 三角形轮廓 + 直角顶点 + ID
+                for _m in tri_markers:
+                    _corners = _np.array(_m["corners"], dtype=_np.int32)
+                    _cv2.polylines(_img_cv, [_corners], True, (0, 255, 0), 2)
+                    _cx, _cy = int(_m["center"][0]), int(_m["center"][1])
+                    _cv2.circle(_img_cv, (_cx, _cy), 4, (0, 0, 255), -1)
+                    _cv2.putText(_img_cv, f"T{_m['id']}",
+                                 (_cx - 18, _cy - 12),
+                                 _cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 255, 0), 1)
+
+                # 靶心（H_inv @ [0,0]）：小红圆
+                _center_px = None
+                if tri_homography is not None:
+                    try:
+                        _H_inv = _np.linalg.inv(tri_homography)
+                        _c_img = _cv2.perspectiveTransform(
+                            _np.array([[[0.0, 0.0]]], dtype=_np.float32), _H_inv)[0][0]
+                        _ocx, _ocy = int(_c_img[0]), int(_c_img[1])
+                        _cv2.circle(_img_cv, (_ocx, _ocy), 5, (0, 0, 255), -1)   # 实心
+                        _cv2.circle(_img_cv, (_ocx, _ocy), 9, (0, 0, 255), 1)    # 外框
+                        _center_px = (_ocx, _ocy)
+                        logger.info(f"[算法] 靶心: {_center_px}")
+                    except Exception:
+                        pass
+
+                # 叠加信息：落点-圆心距离 / 相机-靶距离等
+                try:
+                    import math as _math
+                    _lines = []
+                    if dx is not None and dy is not None:
+                        _r_cm = _math.hypot(float(dx), float(dy))
+                        _lines.append(f"offset=({float(dx):.2f},{float(dy):.2f})cm  |r|={_r_cm:.2f}cm")
+                    if distance_m is not None:
+                        _lines.append(f"cam_dist={float(distance_m):.2f}m  ({distance_method})")
+                    if method:
+                        _lines.append(f"method={method}")
+                    if _lines:
+                        _y0 = 22
+                        for i, _t in enumerate(_lines):
+                            _cv2.putText(
+                                _img_cv,
+                                _t,
+                                (10, _y0 + i * 18),
+                                _cv2.FONT_HERSHEY_SIMPLEX,
+                                0.5,
+                                (0, 255, 0),
+                                1,
+                            )
+                except Exception:
+                    pass
+
+                result_img = image.cv2image(_img_cv, False, False)
+
+            # 2. 激光十字线
+            _lc = image.Color(config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+            result_img.draw_line(int(x - config.LASER_LENGTH), int(y),
+                                 int(x + config.LASER_LENGTH), int(y),
+                                 _lc, config.LASER_THICKNESS)
+            result_img.draw_line(int(x), int(y - config.LASER_LENGTH),
+                                 int(x), int(y + config.LASER_LENGTH),
+                                 _lc, config.LASER_THICKNESS)
+            result_img.draw_circle(int(x), int(y), 1, _lc, config.LASER_THICKNESS)
 
         # 闪一下激光（射箭反馈）
-        laser_manager.flash_laser(1000)
+        if config.FLASH_LASER_WHILE_SHOOTING:
+            laser_manager.flash_laser(config.FLASH_LASER_DURATION_MS)
+
+        # 保存图像（异步队列，与 main.py 一致）
+        enqueue_save_shot(
+            result_img,
+            center,
+            radius,
+            method,
+            ellipse_params,
+            (x, y),
+            distance_m,
+            shot_id=shot_id,
+            photo_dir=config.PHOTO_DIR if config.SAVE_IMAGE_ENABLED else None,
+        )
+
+        if logger:
+            if dx is not None and dy is not None:
+                logger.info(f"射箭事件已加入发送队列（偏移=({dx:.2f},{dy:.2f})cm），ID: {shot_id}")
+            else:
+                logger.info(f"射箭事件已加入发送队列（未检测到偏移，已保存图像），ID: {shot_id}")
 
         time.sleep_ms(100)
     except Exception as e:
diff --git a/triangle_positions.json b/triangle_positions.json
new file mode 100644
index 0000000..655e966
--- /dev/null
+++ b/triangle_positions.json
@@ -0,0 +1,6 @@
+{
+    "0": [-20.0, -20.0, 0.0],
+    "1": [-20.0,  20.0, 0.0],
+    "2": [ 20.0,  20.0, 0.0],
+    "3": [ 20.0, -20.0, 0.0]
+}
diff --git a/triangle_target.py b/triangle_target.py
new file mode 100644
index 0000000..8778750
--- /dev/null
+++ b/triangle_target.py
@@ -0,0 +1,513 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+靶纸四角等腰直角三角形：检测、单应性落点、PnP 估距。
+从 test/aruco_deteck.py 抽出，供主流程 shoot_manager 使用。
+"""
+import json
+import os
+from itertools import combinations
+
+import cv2
+import numpy as np
+
+
+def _log(msg):
+    try:
+        from logger_manager import logger_manager
+        if logger_manager.logger:
+            logger_manager.logger.info(msg)
+    except Exception:
+        pass
+
+
+def load_camera_from_xml(path):
+    """读取 OpenCV FileStorage XML，返回 (camera_matrix, dist_coeffs) 或 (None, None)。"""
+    if not path or not os.path.isfile(path):
+        _log(f"[TRI] 标定文件不存在: {path}")
+        return None, None
+    try:
+        fs = cv2.FileStorage(path, cv2.FILE_STORAGE_READ)
+        K = fs.getNode("camera_matrix").mat()
+        dist = fs.getNode("distortion_coefficients").mat()
+        fs.release()
+        if K is None or K.size == 0:
+            return None, None
+        if dist is None or dist.size == 0:
+            dist = np.zeros((5, 1), dtype=np.float64)
+        return K, dist
+    except Exception as e:
+        _log(f"[TRI] 读取标定失败: {e}")
+        return None, None
+
+
+def load_triangle_positions(path):
+    """加载 triangle_positions.json，返回 dict[int, [x,y,z]]。"""
+    if not path or not os.path.isfile(path):
+        _log(f"[TRI] 三角形位置文件不存在: {path}")
+        return None
+    with open(path, "r", encoding="utf-8") as f:
+        raw = json.load(f)
+    return {int(k): v for k, v in raw.items()}
+
+
+def homography_calibration(marker_centers, marker_ids, marker_positions, impact_point_pixel):
+    target_points = []
+    for mid in marker_ids:
+        pos = marker_positions.get(mid)
+        if pos is None:
+            return False, None, None, None
+        target_points.append([pos[0], pos[1]])
+
+    src_pts = np.array(marker_centers, dtype=np.float32)
+    dst_pts = np.array(target_points, dtype=np.float32)
+    H, _ = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, ransacReprojThreshold=1.0)
+    if H is None:
+        return False, None, None, None
+
+    pt = np.array([[impact_point_pixel]], dtype=np.float32)
+    transformed = cv2.perspectiveTransform(pt, H)
+    target_x = float(transformed[0][0][0])
+    target_y = float(transformed[0][0][1])
+    return True, target_x, target_y, H
+
+
+def complete_fourth_point(detected_ids, detected_centers, marker_positions):
+    target_order = [0, 1, 2, 3]
+    target_coords = {mid: marker_positions[mid][:2] for mid in target_order}
+    all_ids = set(target_coords.keys())
+    missing_id = (all_ids - set(detected_ids)).pop()
+
+    known_src = []
+    known_dst = []
+    for mid, pt in zip(detected_ids, detected_centers):
+        known_src.append(pt)
+        known_dst.append(target_coords[mid])
+
+    M_inv, _ = cv2.estimateAffine2D(
+        np.array(known_dst, dtype=np.float32),
+        np.array(known_src, dtype=np.float32),
+    )
+    if M_inv is None:
+        return None
+
+    missing_target = target_coords[missing_id]
+    missing_src_h = M_inv @ np.array([missing_target[0], missing_target[1], 1.0])
+    missing_src = missing_src_h[:2]
+
+    complete_centers = []
+    for mid in target_order:
+        if mid == missing_id:
+            complete_centers.append(missing_src)
+        else:
+            idx = detected_ids.index(mid)
+            complete_centers.append(detected_centers[idx])
+
+    return complete_centers, target_order
+
+
+def pnp_distance_meters(marker_ids, marker_centers_px, marker_positions, K, dist):
+    """
+    靶面原点 (0,0,0) 到相机光心的距离：||tvec||，object 单位为 cm 时 tvec 为 cm，返回米。
+    """
+    obj = []
+    for mid in marker_ids:
+        p = marker_positions[mid]
+        obj.append([float(p[0]), float(p[1]), float(p[2])])
+    obj_pts = np.array(obj, dtype=np.float64)
+    img_pts = np.array(marker_centers_px, dtype=np.float64)
+
+    ok, rvec, tvec = cv2.solvePnP(
+        obj_pts, img_pts, K, dist, flags=cv2.SOLVEPNP_ITERATIVE
+    )
+    if not ok:
+        return None
+    tvec = tvec.reshape(-1)
+    dist_cm = float(np.linalg.norm(tvec))
+    return dist_cm / 100.0
+
+
+def detect_triangle_markers(
+    gray_image,
+    orig_gray=None,
+    size_range=(8, 500),
+    max_interior_gray=90,
+    dark_pixel_gray=80,
+    min_dark_ratio=0.70,
+    verbose=True,
+):
+    # 读取可调参数（缺省值与 config.py 保持一致）
+    try:
+        import config as _cfg
+        early_exit = int(getattr(_cfg, "TRIANGLE_EARLY_EXIT_CANDIDATES", 4))
+        block_sizes = tuple(getattr(_cfg, "TRIANGLE_ADAPTIVE_BLOCK_SIZES", (11, 21, 35)))
+        max_combo_n = int(getattr(_cfg, "TRIANGLE_MAX_FILTERED_FOR_COMBO", 10))
+    except Exception:
+        early_exit = 4
+        block_sizes = (11, 21, 35)
+        max_combo_n = 10
+
+    min_leg, max_leg = size_range
+    min_area = 0.5 * (min_leg ** 2) * 0.1
+    kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
+
+    def _check_shape(approx):
+        pts = approx.reshape(3, 2).astype(np.float32)
+        sides = [
+            np.linalg.norm(pts[1] - pts[0]),
+            np.linalg.norm(pts[2] - pts[1]),
+            np.linalg.norm(pts[0] - pts[2]),
+        ]
+        order = sorted(range(3), key=lambda i: sides[i])
+        leg1, leg2, hyp = sides[order[0]], sides[order[1]], sides[order[2]]
+        avg_leg = (leg1 + leg2) / 2
+
+        if not (min_leg <= avg_leg <= max_leg):
+            return None
+        if abs(leg1 - leg2) / (avg_leg + 1e-6) > 0.20:
+            return None
+        if abs(hyp - avg_leg * np.sqrt(2)) / (avg_leg * np.sqrt(2) + 1e-6) > 0.20:
+            return None
+
+        edge_verts = [(0, 1), (1, 2), (2, 0)]
+        hv0, hv1 = edge_verts[order[2]]
+        right_v = 3 - hv0 - hv1
+        right_pt = pts[right_v]
+
+        v0 = pts[hv0] - right_pt
+        v1_vec = pts[hv1] - right_pt
+        cos_a = np.dot(v0, v1_vec) / (
+            np.linalg.norm(v0) * np.linalg.norm(v1_vec) + 1e-6
+        )
+        if abs(cos_a) > 0.20:
+            return None
+
+        return right_pt, avg_leg, pts
+
+    def _color_ok(approx):
+        if orig_gray is None:
+            return True
+        mask = np.zeros(orig_gray.shape[:2], dtype=np.uint8)
+        cv2.fillPoly(mask, [approx], 255)
+        erode_k = max(1, int(min(orig_gray.shape[:2]) * 0.002))
+        erode_k = min(erode_k, 5)
+        k = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (2 * erode_k + 1, 2 * erode_k + 1))
+        mask_in = cv2.erode(mask, k, iterations=1)
+        if cv2.countNonZero(mask_in) < 20:
+            mask_in = mask
+
+        mean_val = cv2.mean(orig_gray, mask=mask_in)[0]
+        ys, xs = np.where(mask_in > 0)
+        if len(xs) == 0:
+            return False
+        interior = orig_gray[ys, xs]
+        dark_ratio = float(np.mean(interior <= dark_pixel_gray))
+        return (mean_val <= max_interior_gray) and (dark_ratio >= min_dark_ratio)
+
+    def _extract_candidates(binary_img):
+        contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        found = []
+        for cnt in contours:
+            if cv2.contourArea(cnt) < min_area:
+                continue
+            peri = cv2.arcLength(cnt, True)
+            approx = cv2.approxPolyDP(cnt, 0.05 * peri, True)
+            if len(approx) != 3:
+                continue
+            shape = _check_shape(approx)
+            if shape is None:
+                continue
+            if not _color_ok(approx):
+                continue
+            right_pt, avg_leg, pts = shape
+            center_px = np.mean(pts, axis=0).tolist()
+            dedup_key = f"{int(center_px[0] // 10)},{int(center_px[1] // 10)}"
+            found.append({
+                "center_px": center_px,
+                "right_pt": right_pt.tolist(),
+                "corners": pts.tolist(),
+                "avg_leg": avg_leg,
+                "dedup_key": dedup_key,
+            })
+        return found
+
+    all_candidates = []
+    seen_keys = set()
+    # 早退条件：不仅要数量够，还要候选分布足够分散（覆盖多个象限），避免误检集中导致提前退出
+    h0, w0 = gray_image.shape[:2]
+    cx0, cy0 = w0 / 2.0, h0 / 2.0
+    seen_quadrants = set()
+    # 4 个候选就够 4 角检测；3 个够 3 点补全，加 1 裕量
+    _EARLY_EXIT = max(3, early_exit)
+
+    def _add_from_binary(b):
+        b = cv2.morphologyEx(b, cv2.MORPH_CLOSE, kernel)
+        for c in _extract_candidates(b):
+            if c["dedup_key"] not in seen_keys:
+                seen_keys.add(c["dedup_key"])
+                all_candidates.append(c)
+                # 象限统计：按图像中心划分
+                tx, ty = c["center_px"]
+                if tx < cx0 and ty < cy0:
+                    q = 0
+                elif tx < cx0:
+                    q = 1
+                elif ty >= cy0:
+                    q = 2
+                else:
+                    q = 3
+                seen_quadrants.add(q)
+
+    def _should_early_exit():
+        # 至少覆盖 3 个象限 + 数量达到阈值，才认为“足够像四角”可停止更多尝试
+        return (len(all_candidates) >= _EARLY_EXIT) and (len(seen_quadrants) >= 3)
+
+    # 1. 最快：全局 Otsu（无需逐像素邻域计算，~10ms）
+    _, b_otsu = cv2.threshold(gray_image, 0, 255, cv2.THRESH_BINARY_INV + cv2.THRESH_OTSU)
+    _add_from_binary(b_otsu)
+
+    # 2. 只在 Otsu 不够时才跑自适应阈值（每次 ~100ms，尽早退出）
+    for block_size in block_sizes:
+        if _should_early_exit():
+            break
+        if block_size is None:
+            continue
+        b = cv2.adaptiveThreshold(
+            gray_image, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY_INV, block_size, 4
+        )
+        _add_from_binary(b)
+
+    if verbose:
+        _log(f"[TRI] 候选三角形共 {len(all_candidates)} 个(预过滤前)")
+
+    if len(all_candidates) < 2:
+        return []
+
+    all_legs = [c["avg_leg"] for c in all_candidates]
+    med_leg = float(np.median(all_legs))
+    filtered = []
+    for c in all_candidates:
+        leg = c["avg_leg"]
+        if med_leg > 1e-6 and not (0.40 * med_leg <= leg <= 2.0 * med_leg):
+            continue
+        filtered.append(c)
+
+    if len(filtered) < 2:
+        return []
+
+    # 候选过多时，四点组合枚举会变慢：截断到更可能的 max_combo_n 个候选
+    if max_combo_n > 0 and len(filtered) > max_combo_n:
+        # 以 avg_leg 接近中位数优先（更符合四角同尺度）
+        med_leg = float(np.median([c["avg_leg"] for c in filtered]))
+        filtered = sorted(filtered, key=lambda c: abs(c["avg_leg"] - med_leg))[:max_combo_n]
+
+    def _order_quad(pts_4):
+        by_y = sorted(range(4), key=lambda i: pts_4[i][1])
+        top_pair = sorted(by_y[:2], key=lambda i: pts_4[i][0])
+        bot_pair = sorted(by_y[2:], key=lambda i: pts_4[i][0])
+        return top_pair[0], bot_pair[0], bot_pair[1], top_pair[1]
+
+    def _score_quad(cands_4):
+        pts = [np.array(c["center_px"]) for c in cands_4]
+        legs = [c["avg_leg"] for c in cands_4]
+        tl, bl, br, tr = _order_quad(pts)
+
+        diag1 = np.linalg.norm(pts[tl] - pts[br])
+        diag2 = np.linalg.norm(pts[bl] - pts[tr])
+        diag_ratio = max(diag1, diag2) / (min(diag1, diag2) + 1e-6)
+
+        s_top = np.linalg.norm(pts[tl] - pts[tr])
+        s_bot = np.linalg.norm(pts[bl] - pts[br])
+        s_left = np.linalg.norm(pts[tl] - pts[bl])
+        s_right = np.linalg.norm(pts[tr] - pts[br])
+        h_ratio = max(s_top, s_bot) / (min(s_top, s_bot) + 1e-6)
+        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
+        return score, (tl, bl, br, tr)
+
+    assigned = None
+    if len(filtered) >= 4:
+        best_score = float("inf")
+        best_combo = None
+        best_order = None
+
+        for combo in combinations(range(len(filtered)), 4):
+            cands = [filtered[i] for i in combo]
+            score, order = _score_quad(cands)
+            if score < best_score:
+                best_score = score
+                best_combo = combo
+                best_order = order
+
+        if verbose:
+            _log(f"[TRI] 最优四边形: score={best_score:.3f}")
+
+        if best_score < 3.0:
+            cands = [filtered[i] for i in best_combo]
+            tl, bl, br, tr = best_order
+            assigned = {
+                0: cands[tl],
+                1: cands[bl],
+                2: cands[br],
+                3: cands[tr],
+            }
+
+    if assigned is None:
+        cx = np.mean([c["center_px"][0] for c in filtered])
+        cy = np.mean([c["center_px"][1] for c in filtered])
+        quadrant_map = {}
+        for c in filtered:
+            tx, ty = c["center_px"]
+            if tx < cx and ty < cy:
+                q = 0
+            elif tx < cx:
+                q = 1
+            elif ty >= cy:
+                q = 2
+            else:
+                q = 3
+            if q not in quadrant_map or c["avg_leg"] > quadrant_map[q]["avg_leg"]:
+                quadrant_map[q] = c
+        assigned = quadrant_map
+
+    result = []
+    for tid in sorted(assigned.keys()):
+        c = assigned[tid]
+        result.append({
+            "id": tid,
+            "center": c["right_pt"],
+            "corners": c["corners"],
+        })
+    return result
+
+
+def try_triangle_scoring(
+    img_rgb,
+    laser_xy,
+    marker_positions,
+    camera_matrix,
+    dist_coeffs,
+    size_range=(8, 500),
+):
+    """
+    尝试三角形单应性 + PnP 估距。
+    img_rgb: RGB，与 laser_xy 同一像素坐标系。
+    返回 dict:
+      ok, dx_cm, dy_cm, distance_m, offset_method, distance_method
+    """
+    out = {
+        "ok": False,
+        "dx_cm": None,
+        "dy_cm": None,
+        "distance_m": None,
+        "offset_method": None,
+        "distance_method": None,
+    }
+    if marker_positions is None or camera_matrix is None or dist_coeffs is None:
+        return out
+
+    h_orig, w_orig = img_rgb.shape[:2]
+
+    # 缩图加速：嵌入式 CPU 上图像处理耗时与面积成正比，缩到最长边 320px 可获得 ~4× 加速
+    # 检测完后把像素坐标乘以 inv_scale 还原到原始分辨率，再送入单应性/PnP（与 K 标定分辨率一致）
+    MAX_DETECT_DIM = 320
+    long_side = max(h_orig, w_orig)
+    if long_side > MAX_DETECT_DIM:
+        det_scale = MAX_DETECT_DIM / long_side
+        det_w = int(w_orig * det_scale)
+        det_h = int(h_orig * det_scale)
+        img_det = cv2.resize(img_rgb, (det_w, det_h), interpolation=cv2.INTER_LINEAR)
+        inv_scale = 1.0 / det_scale
+        size_range_det = (max(4, int(size_range[0] * det_scale)),
+                          max(8, int(size_range[1] * det_scale)))
+    else:
+        img_det = img_rgb
+        inv_scale = 1.0
+        size_range_det = size_range
+
+    gray = cv2.cvtColor(img_det, cv2.COLOR_RGB2GRAY)
+
+    # 快速路径：直接在原始灰度图上跑（内部先走 Otsu，几乎不耗时）
+    # 光照均匀时通常在这一步就找到 ≥3 个三角形，完全跳过 CLAHE
+    tri_markers = detect_triangle_markers(
+        gray, orig_gray=gray, size_range=size_range_det, verbose=True
+    )
+
+    if len(tri_markers) < 3:
+        # 慢速兜底：CLAHE 增强对比度后再试（光线不均 / 局部过暗时有效）
+        # 默认关闭以优先速度；由 config.TRIANGLE_ENABLE_CLAHE_FALLBACK 控制。
+        try:
+            import config as _cfg
+            enable_clahe = bool(getattr(_cfg, "TRIANGLE_ENABLE_CLAHE_FALLBACK", False))
+        except Exception:
+            enable_clahe = False
+
+        if enable_clahe:
+            _log(f"[TRI] 快速路径不足{len(tri_markers)}个，启用CLAHE增强")
+            clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(8, 8))
+            gray_clahe = clahe.apply(gray)
+            tri_markers = detect_triangle_markers(
+                gray_clahe, orig_gray=gray, size_range=size_range_det, verbose=True
+            )
+        else:
+            _log(f"[TRI] 快速路径不足{len(tri_markers)}个，跳过CLAHE兜底（已关闭）")
+
+    if len(tri_markers) < 3:
+        _log(f"[TRI] 三角形不足3个: {len(tri_markers)}")
+        return out
+
+    # 将缩图坐标还原为原始分辨率（K 矩阵在原始分辨率下标定）
+    if inv_scale != 1.0:
+        for m in tri_markers:
+            m["center"] = [m["center"][0] * inv_scale, m["center"][1] * inv_scale]
+            m["corners"] = [[c[0] * inv_scale, c[1] * inv_scale] for c in m["corners"]]
+
+    lx = float(np.clip(laser_xy[0], 0, w_orig - 1))
+    ly = float(np.clip(laser_xy[1], 0, h_orig - 1))
+
+    if len(tri_markers) == 4:
+        tri_sorted = sorted(tri_markers, key=lambda m: m["id"])
+        marker_ids = [m["id"] for m in tri_sorted]
+        marker_centers = [[float(m["center"][0]), float(m["center"][1])] for m in tri_sorted]
+        offset_tag = "triangle_homography"
+    else:
+        marker_ids_list = [m["id"] for m in tri_markers]
+        marker_centers_orig = [[float(m["center"][0]), float(m["center"][1])] for m in tri_markers]
+        comp = complete_fourth_point(marker_ids_list, marker_centers_orig, marker_positions)
+        if comp is None:
+            _log("[TRI] 3点补全第4点失败")
+            return out
+        marker_centers, marker_ids = comp
+        marker_centers = [[float(c[0]), float(c[1])] for c in marker_centers]
+        offset_tag = "triangle_homography_3pt"
+
+    ok_h, tx, ty, _H = homography_calibration(
+        marker_centers, marker_ids, marker_positions, [lx, ly]
+    )
+    if not ok_h:
+        _log("[TRI] 单应性失败")
+        return out
+
+    # 与 laser_manager.compute_laser_position 现网约定一致：(x_cm, -y_cm_target)
+    out["dx_cm"] = tx
+    out["dy_cm"] = -ty
+    out["ok"] = True
+    out["offset_method"] = offset_tag
+    out["markers"] = tri_markers   # 供上层绘制标注用
+    out["homography"] = _H         # 供上层反推靶心像素位置用
+
+    dist_m = pnp_distance_meters(marker_ids, marker_centers, marker_positions, camera_matrix, dist_coeffs)
+    if dist_m is not None and 0.3 < dist_m < 50.0:
+        out["distance_m"] = dist_m
+        out["distance_method"] = "pnp_triangle"
+        _log(f"[TRI] PnP 距离={dist_m:.2f}m, 偏移=({out['dx_cm']:.2f},{out['dy_cm']:.2f})cm")
+    else:
+        out["distance_m"] = None
+        out["distance_method"] = None
+        _log(f"[TRI] PnP 距离无效，回退黄心估距; 偏移=({out['dx_cm']:.2f},{out['dy_cm']:.2f})cm")
+
+    return out
diff --git a/vision.py b/vision.py
new file mode 100644
index 0000000..f97a34b
--- /dev/null
+++ b/vision.py
@@ -0,0 +1,944 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+视觉检测模块
+提供靶心检测、距离估算、图像保存等功能
+"""
+import cv2
+import numpy as np
+import os
+import math
+import threading
+import queue
+from maix import image
+import config
+from logger_manager import logger_manager
+
+# 导入ArUco检测器（如果启用）
+if config.USE_ARUCO:
+    from aruco_detector import detect_target_with_aruco, aruco_detector
+
+# 存图队列 + worker
+_save_queue = queue.Queue(maxsize=16)
+_save_worker_started = False
+_save_worker_lock = threading.Lock()
+
+def check_laser_point_sharpness(frame, laser_point=None, roi_size=30, threshold=100.0, ellipse_params=None):
+    """
+    检测激光点本身的清晰度（不是整个靶子）
+    
+    Args:
+        frame: 图像帧对象
+        laser_point: 激光点坐标 (x, y)，如果为None则自动查找
+        roi_size: ROI区域大小（像素），默认30x30
+        threshold: 清晰度阈值
+        ellipse_params: 椭圆参数 ((center_x, center_y), (width, height), angle)，用于限制激光点必须在椭圆内
+    
+    Returns:
+        (is_sharp, sharpness_score, laser_pos): (是否清晰, 清晰度分数, 激光点坐标)
+    """
+    try:
+        # 1. 如果没有提供激光点，先查找
+        if laser_point is None:
+            from laser_manager import laser_manager
+            laser_point = laser_manager.find_red_laser(frame, ellipse_params=ellipse_params)
+            if laser_point is None:
+                logger_manager.logger.debug(f"未找到激光点")
+                return False, 0.0, None
+        
+        x, y = laser_point
+        
+        # 2. 转换为 OpenCV 格式
+        img_cv = image.image2cv(frame, False, False)
+        h, w = img_cv.shape[:2]
+        
+        # 3. 提取 ROI 区域（激光点周围）
+        roi_half = roi_size // 2
+        x_min = max(0, int(x) - roi_half)
+        x_max = min(w, int(x) + roi_half)
+        y_min = max(0, int(y) - roi_half)
+        y_max = min(h, int(y) + roi_half)
+        
+        roi = img_cv[y_min:y_max, x_min:x_max]
+        
+        if roi.size == 0:
+            return False, 0.0, laser_point
+        
+        # 4. 转换为灰度图（用于清晰度检测）
+        gray_roi = cv2.cvtColor(roi, cv2.COLOR_RGB2GRAY)
+        
+        # 5. 方法1：检测点的扩散程度（能量集中度）
+        # 计算中心区域的能量集中度
+        center_x, center_y = roi.shape[1] // 2, roi.shape[0] // 2
+        center_radius = min(5, roi.shape[0] // 4)  # 中心区域半径
+        
+        # 创建中心区域的掩码
+        y_coords, x_coords = np.ogrid[:roi.shape[0], :roi.shape[1]]
+        center_mask = (x_coords - center_x)**2 + (y_coords - center_y)**2 <= center_radius**2
+        
+        # 计算中心区域和周围区域的亮度
+        center_brightness = gray_roi[center_mask].mean()
+        outer_mask = ~center_mask
+        outer_brightness = gray_roi[outer_mask].mean() if np.any(outer_mask) else 0
+        
+        # 对比度（清晰的点对比度高）
+        contrast = abs(center_brightness - outer_brightness)
+        
+        # 6. 方法2：检测点的边缘锐度（使用拉普拉斯）
+        laplacian = cv2.Laplacian(gray_roi, cv2.CV_64F)
+        edge_sharpness = abs(laplacian).var()
+        
+        # 7. 方法3：检测点的能量集中度（方差）
+        # 清晰的点：能量集中在中心，方差小
+        # 模糊的点：能量分散，方差大
+        # 但我们需要的是：清晰的点中心亮度高，周围低，所以梯度大
+        sobel_x = cv2.Sobel(gray_roi, cv2.CV_64F, 1, 0, ksize=3)
+        sobel_y = cv2.Sobel(gray_roi, cv2.CV_64F, 0, 1, ksize=3)
+        gradient = np.sqrt(sobel_x**2 + sobel_y**2)
+        gradient_sharpness = gradient.var()
+        
+        # 8. 组合多个指标
+        # 对比度权重0.3，边缘锐度权重0.4，梯度权重0.3
+        sharpness_score = (contrast * 0.3 + edge_sharpness * 0.4 + gradient_sharpness * 0.3)
+        
+        is_sharp = sharpness_score >= threshold
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.debug(f"[VISION] 激光点清晰度: 位置=({x}, {y}), 对比度={contrast:.2f}, 边缘={edge_sharpness:.2f}, 梯度={gradient_sharpness:.2f}, 综合={sharpness_score:.2f}, 是否清晰={is_sharp}")
+        
+        return is_sharp, sharpness_score, laser_point
+        
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] 激光点清晰度检测失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return False, 0.0, laser_point
+
+def check_image_sharpness(frame, threshold=100.0, save_debug_images=False):
+    """
+    检查图像清晰度（针对圆形靶子优化，基于圆形边缘检测）
+    检测靶心的圆形边缘，计算边缘区域的梯度清晰度
+    
+    Args:
+        frame: 图像帧对象
+        threshold: 清晰度阈值，低于此值认为图像模糊（默认100.0）
+                  可以根据实际情况调整：
+                  - 清晰图像通常 > 200
+                  - 模糊图像通常 < 100
+                  - 中等清晰度 100-200
+        save_debug_images: 是否保存调试图像（原始图和边缘图），默认False
+    
+    Returns:
+        (is_sharp, sharpness_score): (是否清晰, 清晰度分数)
+    """
+    try:
+        logger_manager.logger.debug(f"begin")
+        # 转换为 OpenCV 格式
+        img_cv = image.image2cv(frame, False, False)
+        logger_manager.logger.debug(f"after image2cv")
+        
+        # 转换为 HSV 颜色空间
+        hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+        h, s, v = cv2.split(hsv)
+        logger_manager.logger.debug(f"after HSV conversion")
+        
+        # 检测黄色区域（靶心）
+        # 调整饱和度策略：稍微增强，不要过度
+        s_enhanced = np.clip(s * 1.1, 0, 255).astype(np.uint8)
+        hsv_enhanced = cv2.merge((h, s_enhanced, v))
+        
+        # HSV 阈值范围（与 detect_circle_v3 保持一致）
+        lower_yellow = np.array([7, 80, 0])
+        upper_yellow = np.array([32, 255, 255])
+        mask_yellow = cv2.inRange(hsv_enhanced, lower_yellow, upper_yellow)
+        
+        # 形态学操作，填充小孔洞
+        kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+        mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel)
+        logger_manager.logger.debug(f"after yellow mask detection")
+        
+        # 计算边缘区域：扩展黄色区域，然后减去原始区域，得到边缘区域
+        mask_dilated = cv2.dilate(mask_yellow, kernel, iterations=2)
+        mask_edge = cv2.subtract(mask_dilated, mask_yellow)  # 边缘区域
+        
+        # 计算边缘区域的像素数量
+        edge_pixel_count = np.sum(mask_edge > 0)
+        logger_manager.logger.debug(f"edge pixel count: {edge_pixel_count}")
+        
+        # 如果检测不到边缘区域，使用全局梯度作为后备方案
+        if edge_pixel_count < 100:
+            logger_manager.logger.debug(f"edge region too small, using global gradient")
+            # 使用 V 通道计算全局梯度
+            sobel_v_x = cv2.Sobel(v, cv2.CV_64F, 1, 0, ksize=3)
+            sobel_v_y = cv2.Sobel(v, cv2.CV_64F, 0, 1, ksize=3)
+            gradient = np.sqrt(sobel_v_x**2 + sobel_v_y**2)
+            sharpness_score = gradient.var()
+            logger_manager.logger.debug(f"global gradient variance: {sharpness_score:.2f}")
+        else:
+            # 在边缘区域计算梯度清晰度
+            # 使用 V（亮度）通道计算梯度，因为边缘在亮度上通常很明显
+            sobel_v_x = cv2.Sobel(v, cv2.CV_64F, 1, 0, ksize=3)
+            sobel_v_y = cv2.Sobel(v, cv2.CV_64F, 0, 1, ksize=3)
+            gradient = np.sqrt(sobel_v_x**2 + sobel_v_y**2)
+            
+            # 只在边缘区域计算清晰度
+            edge_gradient = gradient[mask_edge > 0]
+            
+            if len(edge_gradient) > 0:
+                # 计算边缘梯度的方差（清晰图像的边缘梯度变化大）
+                sharpness_score = edge_gradient.var()
+                # 也可以使用均值作为补充指标（清晰图像的边缘梯度均值也较大）
+                gradient_mean = edge_gradient.mean()
+                logger_manager.logger.debug(f"edge gradient: mean={gradient_mean:.2f}, var={sharpness_score:.2f}, pixels={len(edge_gradient)}")
+            else:
+                # 如果边缘区域没有有效梯度，使用全局梯度
+                sharpness_score = gradient.var()
+                logger_manager.logger.debug(f"no edge gradient, using global: {sharpness_score:.2f}")
+        
+        # 保存调试图像（如果启用）
+        if save_debug_images:
+            try:
+                debug_dir = config.PHOTO_DIR
+                if debug_dir not in os.listdir("/root"):
+                    try:
+                        os.mkdir(debug_dir)
+                    except:
+                        pass
+                
+                # 生成文件名
+                try:
+                    all_images = [f for f in os.listdir(debug_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+                    img_count = len(all_images)
+                except:
+                    img_count = 0
+                
+                # 保存原始图像
+                img_orig = image.cv2image(img_cv, False, False)
+                orig_filename = f"{debug_dir}/sharpness_debug_orig_{img_count:04d}.bmp"
+                img_orig.save(orig_filename)
+                
+                # # 保存边缘检测结果（可视化）
+                # # 创建可视化图像：原始图像 + 黄色区域 + 边缘区域
+                # debug_img = img_cv.copy()
+                # # 在黄色区域绘制绿色
+                # debug_img[mask_yellow > 0] = [0, 255, 0]  # RGB格式，绿色
+                # # 在边缘区域绘制红色
+                # debug_img[mask_edge > 0] = [255, 0, 0]  # RGB格式，红色
+                
+                # debug_img_maix = image.cv2image(debug_img, False, False)
+                # debug_filename = f"{debug_dir}/sharpness_debug_edge_{img_count:04d}.bmp"
+                # debug_img_maix.save(debug_filename)
+                
+                # logger = logger_manager.logger
+                # if logger:
+                #     logger.info(f"[VISION] 保存调试图像: {orig_filename}, {debug_filename}")
+            except Exception as e:
+                logger = logger_manager.logger
+                if logger:
+                    logger.warning(f"[VISION] 保存调试图像失败: {e}")
+                    import traceback
+                    logger.error(traceback.format_exc())
+        
+        is_sharp = sharpness_score >= threshold
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.debug(f"[VISION] 清晰度检测: 分数={sharpness_score:.2f}, 边缘像素数={edge_pixel_count}, 是否清晰={is_sharp}, 阈值={threshold}")
+        
+        return is_sharp, sharpness_score
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] 清晰度检测失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        # 出错时返回 False，避免使用模糊图像
+        return False, 0.0
+
+def save_calibration_image(frame, laser_pos, photo_dir=None):
+    """
+    保存激光校准图像（带标注）
+    在找到的激光点位置绘制圆圈，便于检查算法是否正确
+    
+    Args:
+        frame: 原始图像帧
+        laser_pos: 找到的激光点坐标 (x, y)
+        photo_dir: 照片存储目录，如果为None则使用 config.PHOTO_DIR
+    
+    Returns:
+        str: 保存的文件路径，如果保存失败则返回 None
+    """
+    # 检查是否启用图像保存
+    if not config.SAVE_IMAGE_ENABLED:
+        return None
+    
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    
+    try:
+        # 确保照片目录存在
+        try:
+            if photo_dir not in os.listdir("/root"):
+                os.mkdir(photo_dir)
+        except:
+            pass
+        
+        # 生成文件名
+        try:
+            all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+            img_count = len(all_images)
+        except:
+            img_count = 0
+        
+        x, y = laser_pos
+        filename = f"{photo_dir}/calibration_{int(x)}_{int(y)}_{img_count:04d}.bmp"
+        
+        logger = logger_manager.logger
+        if logger:
+            logger.info(f"保存校准图像: {filename}, 激光点: ({x}, {y})")
+        
+        # 转换图像为 OpenCV 格式以便绘制
+        img_cv = image.image2cv(frame, False, False)
+        
+        # 绘制激光点圆圈（用绿色圆圈标出找到的激光点）
+        cv2.circle(img_cv, (int(x), int(y)), 10, (0, 255, 0), 2)  # 外圈：绿色，半径10
+        cv2.circle(img_cv, (int(x), int(y)), 5, (0, 255, 0), 2)  # 中圈：绿色，半径5
+        cv2.circle(img_cv, (int(x), int(y)), 2, (0, 255, 0), -1)  # 中心点：绿色实心
+        
+        # 可选：绘制十字线帮助定位
+        cv2.line(img_cv, 
+                (int(x - 20), int(y)), 
+                (int(x + 20), int(y)), 
+                (0, 255, 0), 1)  # 水平线
+        cv2.line(img_cv, 
+                (int(x), int(y - 20)), 
+                (int(x), int(y + 20)), 
+                (0, 255, 0), 1)  # 垂直线
+        
+        # 转换回 MaixPy 图像格式并保存
+        result_img = image.cv2image(img_cv, False, False)
+        result_img.save(filename)
+        
+        if logger:
+            logger.debug(f"校准图像已保存: {filename}")
+        
+        return filename
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"保存校准图像失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return None
+
+# def detect_circle_v3(frame, laser_point=None):
+#     """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+#     增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+#     如果提供 laser_point，会选择最接近激光点的目标
+    
+#     Args:
+#         frame: 图像帧
+#         laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+    
+#     Returns:
+#         (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+#     """
+#     img_cv = image.image2cv(frame, False, False)
+    
+#     best_center = best_radius = best_radius1 = method = None
+#     ellipse_params = None
+    
+#     # HSV 黄色掩码检测（模糊靶心）
+#     hsv = cv2.cvtColor(img_cv, cv2.COLOR_RGB2HSV)
+#     h, s, v = cv2.split(hsv)
+
+#     # 调整饱和度策略：稍微增强，不要过度
+#     s = np.clip(s * 1.1, 0, 255).astype(np.uint8) 
+
+#     hsv = cv2.merge((h, s, v))
+
+#     # 放宽 HSV 阈值范围（针对模糊图像的关键调整）
+#     lower_yellow = np.array([7, 80, 0])   # 饱和度下限降低，捕捉淡黄色
+#     upper_yellow = np.array([32, 255, 255]) # 亮度上限拉满
+
+#     mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+
+#     # 调整形态学操作
+#     kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+#     mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel) 
+
+#     contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+#     # 存储所有有效的黄色-红色组合
+#     valid_targets = []
+    
+#     if contours_yellow:
+#         for cnt_yellow in contours_yellow:
+#             area = cv2.contourArea(cnt_yellow)
+#             perimeter = cv2.arcLength(cnt_yellow, True)
+
+#             # 计算圆度
+#             if perimeter > 0:
+#                 circularity = (4 * np.pi * area) / (perimeter * perimeter)
+#             else:
+#                 circularity = 0
+
+#             logger = logger_manager.logger
+#             if area > 50 and circularity > 0.7:
+#                 if logger:
+#                     logger.info(f"[target] -> 面积:{area}, 圆度:{circularity:.2f}")
+#                 # 尝试拟合椭圆
+#                 yellow_center = None
+#                 yellow_radius = None
+#                 yellow_ellipse = None
+                
+#                 if len(cnt_yellow) >= 5:
+#                     (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+#                     yellow_ellipse = ((x, y), (width, height), angle)
+#                     axes_minor = min(width, height)
+#                     radius = axes_minor / 2
+#                     yellow_center = (int(x), int(y))
+#                     yellow_radius = int(radius)
+#                 else:
+#                     (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+#                     yellow_center = (int(x), int(y))
+#                     yellow_radius = int(radius)
+#                     yellow_ellipse = None
+
+#                 # 如果检测到黄色圆圈，再检测红色圆圈进行验证
+#                 if yellow_center and yellow_radius:
+#                     # HSV 红色掩码检测（红色在HSV中跨越0度，需要两个范围）
+#                     # 红色范围1: 0-10度（接近0度的红色）
+#                     lower_red1 = np.array([0, 80, 0])
+#                     upper_red1 = np.array([10, 255, 255])
+#                     mask_red1 = cv2.inRange(hsv, lower_red1, upper_red1)
+                    
+#                     # 红色范围2: 170-180度（接近180度的红色）
+#                     lower_red2 = np.array([170, 80, 0])
+#                     upper_red2 = np.array([180, 255, 255])
+#                     mask_red2 = cv2.inRange(hsv, lower_red2, upper_red2)
+                    
+#                     # 合并两个红色掩码
+#                     mask_red = cv2.bitwise_or(mask_red1, mask_red2)
+                    
+#                     # 形态学操作
+#                     kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+#                     mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+                    
+#                     contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+                    
+#                     found_valid_red = False
+                    
+#                     if contours_red:
+#                         # 找到所有符合条件的红色圆圈
+#                         for cnt_red in contours_red:
+#                             area_red = cv2.contourArea(cnt_red)
+#                             perimeter_red = cv2.arcLength(cnt_red, True)
+                            
+#                             if perimeter_red > 0:
+#                                 circularity_red = (4 * np.pi * area_red) / (perimeter_red * perimeter_red)
+#                             else:
+#                                 circularity_red = 0
+                            
+#                             # 红色圆圈也应该有一定的圆度
+#                             if area_red > 50 and circularity_red > 0.6:
+#                                 # 计算红色圆圈的中心和半径
+#                                 if len(cnt_red) >= 5:
+#                                     (x_red, y_red), (w_red, h_red), angle_red = cv2.fitEllipse(cnt_red)
+#                                     radius_red = min(w_red, h_red) / 2
+#                                     red_center = (int(x_red), int(y_red))
+#                                     red_radius = int(radius_red)
+#                                 else:
+#                                     (x_red, y_red), radius_red = cv2.minEnclosingCircle(cnt_red)
+#                                     red_center = (int(x_red), int(y_red))
+#                                     red_radius = int(radius_red)
+                                
+#                                 # 计算黄色和红色圆心的距离
+#                                 if red_center:
+#                                     dx = yellow_center[0] - red_center[0]
+#                                     dy = yellow_center[1] - red_center[1]
+#                                     distance = np.sqrt(dx*dx + dy*dy)
+                                    
+#                                     # 圆心距离阈值：应该小于黄色半径的某个倍数（比如1.5倍）
+#                                     max_distance = yellow_radius * 1.5
+                                    
+#                                     # 红色圆圈应该比黄色圆圈大（外圈）
+#                                     if distance < max_distance and red_radius > yellow_radius * 0.8:
+#                                         found_valid_red = True
+#                                         logger = logger_manager.logger
+#                                         if logger:
+#                                             logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), 红心({red_center}), 距离:{distance:.1f}, 黄半径:{yellow_radius}, 红半径:{red_radius}")
+                                        
+#                                         # 记录这个有效目标
+#                                         valid_targets.append({
+#                                             'center': yellow_center,
+#                                             'radius': yellow_radius,
+#                                             'ellipse': yellow_ellipse,
+#                                             'area': area
+#                                         })
+#                                         break
+                    
+#                     if not found_valid_red:
+#                         logger = logger_manager.logger
+#                         if logger:
+#                             logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+    
+#     # 从所有有效目标中选择最佳目标
+#     if valid_targets:
+#         if laser_point:
+#             # 如果有激光点，选择最接近激光点的目标
+#             best_target = None
+#             min_distance = float('inf')
+#             for target in valid_targets:
+#                 dx = target['center'][0] - laser_point[0]
+#                 dy = target['center'][1] - laser_point[1]
+#                 distance = np.sqrt(dx*dx + dy*dy)
+#                 if distance < min_distance:
+#                     min_distance = distance
+#                     best_target = target
+#             if best_target:
+#                 best_center = best_target['center']
+#                 best_radius = best_target['radius']
+#                 ellipse_params = best_target['ellipse']
+#                 method = "v3_ellipse_red_validated_laser_selected"
+#                 best_radius1 = best_radius * 5
+#         else:
+#             # 如果没有激光点，选择面积最大的目标
+#             best_target = max(valid_targets, key=lambda t: t['area'])
+#             best_center = best_target['center']
+#             best_radius = best_target['radius']
+#             ellipse_params = best_target['ellipse']
+#             method = "v3_ellipse_red_validated"
+#             best_radius1 = best_radius * 5
+
+#     result_img = image.cv2image(img_cv, False, False)
+#     return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+def detect_circle_v3(frame, laser_point=None, img_cv=None):
+    """检测图像中的靶心（优先清晰轮廓，其次黄色区域）- 返回椭圆参数版本
+    增加红色圆圈检测，验证黄色圆圈是否为真正的靶心
+    如果提供 laser_point，会选择最接近激光点的目标
+    优化：
+      1. 缩图到 MAX_DET_DIM 后再做 HSV/形态学，最长边 640->320 可获得 ~4x 加速
+      2. 红色掩码在黄色轮廓循环外只计算一次，避免 N 次重复计算
+      3. img_cv 可由外部传入（与其他线程共享转换结果），为 None 时自动转换
+    Args:
+        frame: 图像帧（img_cv 为 None 时使用）
+        laser_point: 激光点坐标 (x, y)，用于多目标场景下的目标选择
+        img_cv: 已转换的 numpy BGR/RGB 图像；不为 None 时跳过 image2cv 转换
+    Returns:
+        (result_img, best_center, best_radius, method, best_radius1, ellipse_params)
+    """
+    if img_cv is None:
+        img_cv = image.image2cv(frame, False, False)
+    logger = logger_manager.logger
+    from datetime import datetime
+    logger.debug(f"[detect_circle_v3] begin {datetime.now()}")
+    # -- 1. 缩图加速（与三角形路径保持一致）
+    h_orig, w_orig = img_cv.shape[:2]
+    MAX_DET_DIM = 320
+    long_side = max(h_orig, w_orig)
+    if long_side > MAX_DET_DIM:
+        det_scale = MAX_DET_DIM / long_side
+        img_det = cv2.resize(img_cv, (int(w_orig * det_scale), int(h_orig * det_scale)),
+                             interpolation=cv2.INTER_LINEAR)
+        inv_scale = 1.0 / det_scale   # 检测坐标 -> 原始坐标的倍率
+    else:
+        img_det = img_cv
+        inv_scale = 1.0
+
+    # 激光点映射到检测分辨率
+    lp_det = None
+    if laser_point is not None:
+        lp_det = (laser_point[0] / inv_scale, laser_point[1] / inv_scale)
+    best_center = best_radius = best_radius1 = method = None
+    ellipse_params = None
+    
+    logger.debug(f"[detect_circle_v3] step 1 fin {datetime.now()}")
+
+    # -- 2. HSV + 黄色掩码
+    hsv = cv2.cvtColor(img_det, cv2.COLOR_RGB2HSV)
+    h, s, v = cv2.split(hsv)
+    s = np.clip(s * 1.1, 0, 255).astype(np.uint8)
+    hsv = cv2.merge((h, s, v))
+    lower_yellow = np.array([7, 80, 0])
+    upper_yellow = np.array([32, 255, 255])
+    mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
+    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask_yellow = cv2.morphologyEx(mask_yellow, cv2.MORPH_CLOSE, kernel)
+
+    logger.debug(f"[detect_circle_v3] step 2 fin {datetime.now()}")
+
+    # -- 3. 红色掩码：在循环外只算一次
+    mask_red = cv2.bitwise_or(
+        cv2.inRange(hsv, np.array([0, 80, 0]),   np.array([10,  255, 255])),
+        cv2.inRange(hsv, np.array([170, 80, 0]), np.array([180, 255, 255])),
+    )
+    kernel_red = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
+    mask_red = cv2.morphologyEx(mask_red, cv2.MORPH_CLOSE, kernel_red)
+    contours_red, _ = cv2.findContours(mask_red, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    # 预先把红色轮廓筛选成 (center, radius) 列表，后续直接查表
+    red_candidates = []
+    for cnt_r in contours_red:
+        ar = cv2.contourArea(cnt_r)
+        if ar <= 50:
+            continue
+        pr = cv2.arcLength(cnt_r, True)
+        if pr <= 0 or (4 * np.pi * ar) / (pr * pr) <= 0.6:
+            continue
+        if len(cnt_r) >= 5:
+            (xr, yr), (wr, hr), _ = cv2.fitEllipse(cnt_r)
+            red_candidates.append({"center": (int(xr), int(yr)), "radius": int(min(wr, hr) / 2)})
+        else:
+            (xr, yr), rr = cv2.minEnclosingCircle(cnt_r)
+            red_candidates.append({"center": (int(xr), int(yr)), "radius": int(rr)})
+
+    logger.debug(f"[detect_circle_v3] step 3 fin {datetime.now()}")
+
+    # -- 4. 黄色轮廓循环（复用上面的红色候选列表）
+    contours_yellow, _ = cv2.findContours(mask_yellow, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    valid_targets = []
+    for cnt_yellow in contours_yellow:
+        area = cv2.contourArea(cnt_yellow)
+        if area <= 50:
+            continue
+        perimeter = cv2.arcLength(cnt_yellow, True)
+        if perimeter <= 0:
+            continue
+        circularity = (4 * np.pi * area) / (perimeter * perimeter)
+        if circularity <= 0.7:
+            continue
+        if logger:
+            logger.info(f"[target] -> 面积:{area:.1f}, 圆度:{circularity:.2f}")
+        if len(cnt_yellow) >= 5:
+            (x, y), (width, height), angle = cv2.fitEllipse(cnt_yellow)
+            yellow_ellipse = ((x, y), (width, height), angle)
+            yellow_center = (int(x), int(y))
+            yellow_radius = int(min(width, height) / 2)
+        else:
+            (x, y), radius = cv2.minEnclosingCircle(cnt_yellow)
+            yellow_center = (int(x), int(y))
+            yellow_radius = int(radius)
+            yellow_ellipse = None
+        # 在预筛好的红色候选中匹配
+        matched = False
+        for rc in red_candidates:
+            ddx = yellow_center[0] - rc["center"][0]
+            ddy = yellow_center[1] - rc["center"][1]
+            dist_centers = math.hypot(ddx, ddy)
+            if dist_centers < yellow_radius * 1.5 and rc["radius"] > yellow_radius * 0.8:
+                if logger:
+                    logger.info(f"[target] -> 找到匹配的红圈: 黄心({yellow_center}), "
+                                f"红心({rc['center']}), 距离:{dist_centers:.1f}, "
+                                f"黄半径:{yellow_radius}, 红半径:{rc['radius']}")
+                valid_targets.append({
+                    "center": yellow_center,
+                    "radius": yellow_radius,
+                    "ellipse": yellow_ellipse,
+                    "area": area,
+                })
+                matched = True
+                break
+        if not matched and logger:
+            logger.debug("Debug -> 未找到匹配的红色圆圈，可能是误识别")
+
+    logger.debug(f"[detect_circle_v3] step 4 fin {datetime.now()}")
+
+    # -- 5. 选最佳目标，坐标还原到原始分辨率
+    if valid_targets:
+        if lp_det:
+            best_target = min(valid_targets,
+                              key=lambda t: (t["center"][0] - lp_det[0]) ** 2
+                                            + (t["center"][1] - lp_det[1]) ** 2)
+            method = "v3_ellipse_red_validated_laser_selected"
+        else:
+            best_target = max(valid_targets, key=lambda t: t["area"])
+            method = "v3_ellipse_red_validated"
+        bc = best_target["center"]
+        br = best_target["radius"]
+        be = best_target["ellipse"]
+        if inv_scale != 1.0:
+            best_center = (int(bc[0] * inv_scale), int(bc[1] * inv_scale))
+            best_radius = int(br * inv_scale)
+            if be is not None:
+                (ex, ey), (ew, eh), ea = be
+                be = ((ex * inv_scale, ey * inv_scale),
+                      (ew * inv_scale, eh * inv_scale), ea)
+        else:
+            best_center = bc
+            best_radius = br
+        ellipse_params = be
+        best_radius1 = best_radius * 5
+    result_img = image.cv2image(img_cv, False, False)
+    logger.debug(f"[detect_circle_v3] step 5 fin {datetime.now()}")
+    return result_img, best_center, best_radius, method, best_radius1, ellipse_params
+
+def estimate_distance(pixel_radius):
+    """根据像素半径估算实际距离（单位：米）"""
+    if not pixel_radius:
+        return 0.0
+    return (config.REAL_RADIUS_CM * config.FOCAL_LENGTH_PIX) / pixel_radius / 100.0
+
+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
+    
+    Args:
+        physical_distance_cm: 物理世界中的距离（厘米），例如激光与摄像头的距离
+        target_distance_m: 目标距离（米），例如到靶心的距离
+    
+    Returns:
+        float: 对应的像素偏移
+    """
+    if not target_distance_m or target_distance_m <= 0:
+        return 0.0
+    # 公式：像素偏移 = (物理距离_米) * 焦距_像素 / 目标距离_米
+    return (physical_distance_cm / 100.0) * config.FOCAL_LENGTH_PIX / 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):
+    """
+    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。
+    """
+    if not config.SAVE_IMAGE_ENABLED:
+        return None
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    try:
+        try:
+            if photo_dir not in os.listdir("/root"):
+                os.mkdir(photo_dir)
+        except Exception:
+            pass
+
+        x, y = laser_point
+        if shot_id:
+            # 之前是用 center/radius 判定 no_target；但三角形路径会返回 center=None（正常）
+            # 这里改为：只要 method 有值，就按 method 命名；否则才回退 no_target
+            method_str = (method or "").strip()
+            if method_str:
+                filename = f"{photo_dir}/shot_{shot_id}_{method_str}.bmp"
+            else:
+                filename = f"{photo_dir}/shot_{shot_id}_no_target.bmp"
+        else:
+            try:
+                all_images = [f for f in os.listdir(photo_dir) if f.endswith(('.bmp', '.jpg', '.jpeg'))]
+                img_count = len(all_images)
+            except Exception:
+                img_count = 0
+            if center is None or radius is None:
+                method_str = "no_target"
+                distance_str = "000"
+            else:
+                method_str = method or "unknown"
+                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}.bmp"
+
+        logger = logger_manager.logger
+        if logger:
+            if shot_id:
+                logger.info(f"[VISION] 保存射箭图像，ID: {shot_id}, 文件名: {filename}")
+            if center and radius:
+                logger.info(f"结果 -> 圆心: {center}, 半径: {radius}, 方法: {method}")
+                if ellipse_params:
+                    (ec, (ew, eh), ea) = ellipse_params
+                    logger.info(f"椭圆 -> 中心: ({ec[0]:.1f}, {ec[1]:.1f}), 长轴: {max(ew, eh):.1f}, 短轴: {min(ew, eh):.1f}, 角度: {ea:.1f}°")
+            else:
+                logger.info(f"结果 -> 未检测到靶心，保存原始图像（激光点: ({x}, {y})）")
+
+        # laser_color = (config.LASER_COLOR[0], config.LASER_COLOR[1], config.LASER_COLOR[2])
+        # cross_thickness = int(max(getattr(config, "LASER_THICKNESS", 1), 1))
+        # cross_length = int(max(getattr(config, "LASER_LENGTH", 10), 10))
+        # cv2.line(img_cv, (int(x - cross_length), int(y)), (int(x + cross_length), int(y)), laser_color, cross_thickness)
+        # cv2.line(img_cv, (int(x), int(y - cross_length)), (int(x), int(y + cross_length)), laser_color, cross_thickness)
+        # cv2.circle(img_cv, (int(x), int(y)), 1, laser_color, cross_thickness)
+        # ring_thickness = 1
+        # cv2.circle(img_cv, (int(x), int(y)), 10, laser_color, ring_thickness)
+        # cv2.circle(img_cv, (int(x), int(y)), 5, laser_color, ring_thickness)
+        # cv2.circle(img_cv, (int(x), int(y)), 2, laser_color, -1)
+
+        if center and radius:
+            cx, cy = center
+            if ellipse_params:
+                (ell_center, (width, height), angle) = ellipse_params
+                cx_ell, cy_ell = int(ell_center[0]), int(ell_center[1])
+                cv2.ellipse(img_cv, (cx_ell, cy_ell), (int(width / 2), int(height / 2)), angle, 0, 360, (0, 255, 0), 2)
+                cv2.circle(img_cv, (cx_ell, cy_ell), 3, (255, 0, 0), -1)
+                minor_length = min(width, height) / 2
+                minor_angle = angle + 90 if width >= height else angle
+                minor_angle_rad = math.radians(minor_angle)
+                dx_minor = minor_length * math.cos(minor_angle_rad)
+                dy_minor = minor_length * math.sin(minor_angle_rad)
+                pt1 = (int(cx_ell - dx_minor), int(cy_ell - dy_minor))
+                pt2 = (int(cx_ell + dx_minor), int(cy_ell + dy_minor))
+                cv2.line(img_cv, pt1, pt2, (0, 0, 255), 2)
+            else:
+                cv2.circle(img_cv, (cx, cy), radius, (0, 0, 255), 2)
+                cv2.circle(img_cv, (cx, cy), 2, (0, 0, 255), -1)
+            cv2.line(img_cv, (int(x), int(y)), (cx, cy), (255, 255, 0), 1)
+
+        out = image.cv2image(img_cv, False, False)
+        out.save(filename)
+        if logger:
+            if center and radius:
+                logger.debug(f"图像已保存（含靶心标注）: {filename}")
+            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}")
+
+        return filename
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"保存图像失败: {e}")
+            import traceback
+            logger.error(traceback.format_exc())
+        return None
+
+
+def _save_worker_loop():
+    """存图 worker：从队列取任务并调用 _save_shot_image_impl。"""
+    while True:
+        try:
+            item = _save_queue.get()
+            if item is None:
+                break
+            _save_shot_image_impl(*item)
+        except Exception as e:
+            logger = logger_manager.logger
+            if logger:
+                logger.error(f"[VISION] 存图 worker 异常: {e}")
+                import traceback
+                logger.error(traceback.format_exc())
+        finally:
+            try:
+                _save_queue.task_done()
+            except Exception:
+                pass
+
+
+def start_save_shot_worker():
+    """启动存图 worker 线程（应在程序初始化时调用一次）。"""
+    global _save_worker_started
+    with _save_worker_lock:
+        if _save_worker_started:
+            return
+        _save_worker_started = True
+    t = threading.Thread(target=_save_worker_loop, daemon=True)
+    t.start()
+    logger = logger_manager.logger
+    if logger:
+        logger.info("[VISION] 存图 worker 线程已启动")
+
+
+def enqueue_save_shot(result_img, center, radius, method, ellipse_params,
+                      laser_point, distance_m, shot_id=None, photo_dir=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。
+    """
+    if not config.SAVE_IMAGE_ENABLED:
+        return
+    if photo_dir is None:
+        photo_dir = config.PHOTO_DIR
+    try:
+        img_cv = image.image2cv(result_img, False, False)
+        img_copy = np.copy(img_cv)
+    except Exception as e:
+        logger = logger_manager.logger
+        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)
+    try:
+        _save_queue.put_nowait(task)
+    except queue.Full:
+        logger = logger_manager.logger
+        if logger:
+            logger.warning("[VISION] 存图队列已满，跳过本次保存")
+
+
+def save_shot_image(result_img, center, radius, method, ellipse_params,
+                    laser_point, distance_m, shot_id=None, photo_dir=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。
+    """
+    if not config.SAVE_IMAGE_ENABLED:
+        return None
+    if photo_dir is None:
+        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)
+    except Exception as e:
+        logger = logger_manager.logger
+        if logger:
+            logger.error(f"[VISION] save_shot_image 转换图像失败: {e}")
+        return None
+
+
+def detect_target(frame, laser_point=None):
+    """
+    统一的靶心检测接口，根据配置自动选择检测方法
+    
+    Args:
+        frame: MaixPy图像帧
+        laser_point: 激光点坐标（可选）
+        
+    Returns:
+        (result_img, center, radius, method, best_radius1, ellipse_params)
+        与detect_circle_v3保持相同的返回格式
+    """
+    logger = logger_manager.logger
+    
+    if config.USE_ARUCO:
+        # 使用ArUco检测
+        if logger:
+            logger.debug("[VISION] 使用ArUco标记检测靶心")
+        
+        # 延迟导入以避免循环依赖
+        from aruco_detector import detect_target_with_aruco
+        return detect_target_with_aruco(frame, laser_point)
+    else:
+        # 使用传统黄色靶心检测
+        if logger:
+            logger.debug("[VISION] 使用传统黄色靶心检测")
+        return detect_circle_v3(frame, laser_point)
+