feat(lane_detection): 视频模式快速搜索优化#7374
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按仓库约定合并为单一 main.py 入口，删除多余脚本与 homework 草稿目录； 在 docs/lane_detection 中展示步骤效果图并更新 mkdocs 导航。 Co-authored-by: Cursor <cursoragent@cursor.com>
新增 lane_advanced.py，实现基于鸟瞰图的高级车道线检测： - 透视变换（IPM）将前视图转为鸟瞰图 - HSV + Sobel 梯度联合二值化提取车道线像素 - 直方图定位车道线基点 + 滑动窗口搜索像素 - 二次多项式拟合弯道曲线（替代线性回归） - 反透视变换将检测结果叠加回原图
新增 lane_video.py，支持视频文件输入与逐帧车道线检测： - 重构 lane_advanced.py，抽取 process_frame() 供图片/视频共用 - 视频模式逐帧执行高级流水线 - 多项式系数 EMA 平滑，消除帧间抖动 - 支持 --alpha 参数控制平滑强度 - 实时显示 + 输出视频保存
基于二次多项式拟合系数，新增车道曲率半径与车辆偏移计算功能： - 曲率半径公式 R = (1 + (2Ay+B)²)^(3/2) / |2A|，像素坐标转米制 - 车辆相对车道中心的横向偏移，判断偏左/偏右/居中 - draw_metrics_overlay() 在结果图左上角叠加半透明信息面板 - 颜色编码：绿色=安全，黄色=弯道，红色=偏移过大 - 新增 --no-metrics 参数控制信息显示/隐藏 - 视频模式下每帧实时显示曲率与偏移数据
基于曲率半径和车辆偏移量，新增三级驾驶风险预警：
- lane_warning.py：compute_warning_level() 判定安全/注意/危险
- 车道区域填充色随预警级别动态变化（绿/黄/红）
- 半透明信息面板置顶显示 STATUS 标签
- 预警条件：偏移 > 0.40m 或 曲率 < 200m → 危险
偏移 > 0.15m 或 曲率 < 500m → 注意
车道线丢失 → 危险
- 新增 --no-warning 参数控制预警开关
新增快速搜索模式（band search），视频模式下首帧用滑动窗口， 后续帧在上一帧多项式曲线 ±50px 范围内搜索车道像素： - lane_advanced.py: 新增 extract_lane_pixels_fast() 带搜索函数 - lane_video.py: 集成快速搜索 + 丢失回退 + 连续回退校准机制 - 修复 process_frame 重复定义 bug - 视觉指示：视频左下角显示 BAND/SW 搜索状态 - --no-fast 参数关闭快速搜索，回退纯滑动窗口
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概述
视频模式下，首帧使用滑动窗口搜索，后续帧在上一帧多项式曲线 ±margin 范围内搜索车道像素（带搜索），大幅减少计算量。检测丢失时自动回退到滑动窗口，连续回退超限时重新校准。
变更内容
新增函数
extract_lane_pixels_fast()修改文件
extract_lane_pixels_fast()；修复process_frame重复定义 buguse_fast_search、fast_search_margin、fast_search_min_pixels、fast_max_consecutive_fallback--no-fast参数搜索策略
运行方式
测试结果