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修改弯道判断

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井明江
2024-03-26 22:40:44 +08:00
parent f5654ba679
commit 05a2a18804
2 changed files with 45 additions and 58 deletions
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31
app/gl_get_corners.c
View File

@@ -2,13 +2,13 @@
#include "math.h"
#include "gl_headfile.h"
void get_corners() {
void get_corners()
{
Lpt0_found = Lpt1_found = false;
Lpt_in0_found = Lpt_in1_found = false;
is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
is_straight1 = pts_resample_right_count > 1.0 / RESAMPLEDIST;
is_turn0 = is_turn1 = 0;
for (int i = 0; i < pts_resample_left_count; i++) {
if (angle_new_left[i] == 0) continue;
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
@@ -22,20 +22,19 @@ void get_corners() {
// transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删
}
// 长直道阈值
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) {
is_straight0 = false;
}
if (Lpt0_found == true && is_straight0 == false) break;
}
if (is_straight0) {
state_type = STRAIGHT_STATE;
}
if (is_straight0 == false && Lpt0_found == false)
{
if (is_straight0 == false && Lpt0_found == false) {
is_turn0 = is_curve(angle_left, clip(angle_left_num - 10, 0, angle_left_num), 0.05);
}
Lpt0_found_barrier = Lpt1_found_barrier = false;
Lpt0_found_barrier_in = Lpt1_found_barrier_in = false;
for (int i = 0; i < pts_resample_left_count; i++) {
@@ -59,16 +58,12 @@ void get_corners() {
}
}
for (int i = 0; i < pts_resample_right_count; i++) {
if (angle_new_right[i] == 0) continue;
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i;
Lpt1_found = true;
@@ -82,8 +77,7 @@ void get_corners() {
if (is_straight1) {
state_type = STRAIGHT_STATE;
}
if (is_straight1 == false && Lpt1_found == false)
{
if (is_straight1 == false && Lpt1_found == false) {
is_turn1 = is_curve(angle_right, clip(angle_right_num - 10, 0, angle_right_num), 0.05);
}
@@ -93,7 +87,6 @@ void get_corners() {
int ip1 = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id_barrier = i;
Lpt1_found_barrier = true;
@@ -108,13 +101,7 @@ void get_corners() {
}
}
if (is_turn0 && is_turn1)
{
if (is_turn0 && is_turn1) {
state_type = TURN_STATE;
}
}

10
app/page/page_rtcam.c
View File

@@ -28,8 +28,8 @@ static void Setup()
ips200_show_string(5, 165, "pts_l:");
ips200_show_string(5, 185, "pts_r:");
ips200_show_string(5, 205, "con_l:");
ips200_show_string(5, 224, "con_r:");
ips200_show_string(5, 205, "str_l:");
ips200_show_string(5, 224, "str_r:");
ips200_show_string(100, 165, "lpt0: ");
ips200_show_string(100, 185, "lpt1: ");
ips200_show_string(100, 205, "lptin0: ");
@@ -55,14 +55,14 @@ static void Loop()
Show_Marked_Image();
ips200_show_uint(60, 165, pts_inv_l_count, 3);
ips200_show_uint(60, 185, pts_inv_r_count, 3);
ips200_show_uint(60, 205, Lpt0_found, 3);
ips200_show_uint(60, 224, Lpt1_found, 3);
ips200_show_uint(60, 205, is_straight0, 3);
ips200_show_uint(60, 224, is_straight1, 3);
ips200_show_uint(160, 165, Lpt0_found_barrier, 3);
ips200_show_uint(160, 185, Lpt1_found_barrier, 3);
ips200_show_uint(160, 205, Lpt0_found_barrier_in, 3);
ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
ips200_show_uint(200, 165, barrier_type, 3);
ips200_show_uint(200, 185, time_barrier, 5);
ips200_show_uint(200, 185, state_type, 5);
}
/**