1

app/src/main/assets/labels.txt

@@ -1,4 +1,2 @@
 pheasant
-hare
-dove
-fish
+cover

app/src/main/java/com/example/observer/detection/TFLiteDetector.kt

@@ -32,7 +32,7 @@ class TFLiteDetector private constructor(
         ByteBuffer.allocateDirect(1 * INPUT_SIZE * INPUT_SIZE * 3 * 4)
             .order(ByteOrder.nativeOrder())
 
-    private val outputFloats = FloatArray((4 + NUM_CLASSES) * NUM_ANCHORS)
+    private val outputFloats = FloatArray((4 + labels.size) * NUM_ANCHORS)
 
     override fun detect(bitmap: Bitmap): List<DetectionResult> {
         preprocess(bitmap)
@@ -68,7 +68,7 @@ class TFLiteDetector private constructor(
             val h = outputFloats[3 * NUM_ANCHORS + a]
             var bestCls = 0
             var bestScore = 0f
-            for (c in 0 until NUM_CLASSES) {
+            for (c in 0 until labels.size) {
                 val s = outputFloats[(4 + c) * NUM_ANCHORS + a]
                 if (s > bestScore) {
                     bestScore = s
@@ -96,7 +96,6 @@ class TFLiteDetector private constructor(
 
         /** 动物类最低保留分数：低于此分不输出（低分候选由运动检测提升显示） */
         const val MIN_SCORE = 0.20f
-        private const val NUM_CLASSES = 4
         private const val NUM_ANCHORS = 8400
         private const val IOU_THRESHOLD = 0.45f
         private const val MAX_DETECTIONS = 20

app/src/main/java/com/example/observer/distance/DistanceEstimator.kt

@@ -4,10 +4,11 @@ import android.content.Context
 import android.hardware.camera2.CameraCharacteristics
 import android.hardware.camera2.CameraManager
 import kotlin.math.roundToInt
+import kotlin.math.tan
 
 /**
  * 单目距离估计（针孔模型）：距离 = 焦距px × 参考体型 / 框高px。
- * 误差预期 ±30%（5~50m）；鱼类目标受折射影响、生境区域按植被高度估算，均仅供参考。
+ * 误差预期 ±30%（5~50m）；生境区域按植被高度估算，均仅供参考。
  */
 class DistanceEstimator(context: Context) {
 
@@ -19,27 +20,24 @@ class DistanceEstimator(context: Context) {
     // 参考体型（米）
     private val speciesSizeM = mapOf(
         "pheasant" to 0.45f, // 身高
-        "hare" to 0.45f,     // 身长
-        "dove" to 0.30f,     // 体长
-        "fish" to 1.00f,     // 典型可见体长（误差大）
-        "cover" to 0.50f,    // 植被高度（水面区域误差大）
+        "cover" to 0.50f,    // 植被高度（误差大）
     )
 
     fun estimate(
         label: String,
         boxHeightNorm: Float,
-        imageHeightPx: Int,
+        visibleHeightPx: Int,
         cameraId: String?,
     ): Float? {
         val realH = speciesSizeM[label] ?: return null
-        val boxH = boxHeightNorm * imageHeightPx
+        val boxH = boxHeightNorm * visibleHeightPx
         if (boxH < 8f) return null // 过小目标不估算
-        val focalPx = focalPx(imageHeightPx, cameraId)
+        val focalPx = focalPx(visibleHeightPx, cameraId)
         if (focalPx <= 0f) return null
         return (focalPx * realH / boxH).roundToInt().toFloat()
     }
 
-    /** focal_px = focal_mm × (imageHeightPx / sensorHeightMm) */
+    /** focal_px = focal_mm × (imageHeightPx / sensorHeightMm)；内参缺失时用视场角推算 */
     private fun focalPx(imageHeightPx: Int, cameraId: String?): Float {
         val key = "$cameraId:$imageHeightPx"
         focalPxCache[key]?.let { return it }
@@ -52,7 +50,7 @@ class DistanceEstimator(context: Context) {
             if (focalMm != null && sensor != null) {
                 focalMm * imageHeightPx / sensor.height
             } else {
-                -1f
+                fovFallback(imageHeightPx, c)
             }
         } catch (e: Exception) {
             -1f
@@ -60,4 +58,11 @@ class DistanceEstimator(context: Context) {
         focalPxCache[key] = value
         return value
     }
+
+    /** focal_px = imageHeightPx / (2·tan(fovV/2)) */
+    private fun fovFallback(imageHeightPx: Int, c: CameraCharacteristics): Float {
+        val fovV = c.get(CameraCharacteristics.LENS_INFO_AVAILABLE_VERTICAL_VIEW_ANGLES)
+            ?.firstOrNull() ?: return -1f
+        return (imageHeightPx / (2.0 * tan(Math.toRadians(fovV / 2.0)))).toFloat()
+    }
 }

app/src/main/java/com/example/observer/overlay/DetectionOverlay.kt

@@ -18,17 +18,11 @@ import kotlin.math.roundToInt
 
 private val speciesColors = mapOf(
     "pheasant" to Color(0xFFE53935),
-    "hare" to Color(0xFF1E88E5),
-    "dove" to Color(0xFF8E24AA),
-    "fish" to Color(0xFF00ACC1),
     "cover" to Color(0xFFFDD835),
 )
 
 private val speciesLabels = mapOf(
     "pheasant" to "野鸡",
-    "hare" to "野兔",
-    "dove" to "斑鸠",
-    "fish" to "鱼",
     "cover" to "疑似区域",
 )
 

app/src/main/java/com/example/observer/ui/camera/CameraViewModel.kt

@@ -108,7 +108,10 @@ class CameraViewModel(
                     val boosted = r.score < confThreshold &&
                         motionRegions.any { MotionAggregator.centerInRegion(r, it) }
                     val distance = if (showDistance) {
-                        distanceEstimator.estimate(r.label, r.height, imageHeightPx, cameraId)
+                        // 模型 CENTER_CROP 到方形输入, 归一化框高对应原图较短边(最大内接正方形)
+                        distanceEstimator.estimate(
+                            r.label, r.height, minOf(imageWidthPx, imageHeightPx), cameraId,
+                        )
                     } else {
                         null
                     }