btl143/QDAC-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

增加直道,弯道判断,识别车库

Browse Source
This commit is contained in:
Glz
2024-03-29 10:50:37 +08:00
parent 902d639475
commit 28636012f6
9 changed files with 145 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

73
app/gl_garage.c
View File

@@ -40,28 +40,69 @@ float calculate_vector_angle(float x1, float y1, float x2, float y2)
void CheckGarage()
{
int change_num = 0;
int check_garage_h = 60;
for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++) {
if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
(GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) {
change_num++;
//变量标志位
int banmaxian_hangshu = 0;//斑马线行数
//从下往上扫描
for (int y = BEGINH_L - 6; y >= BEGINH_L - 9; y--)
{
int banmaxian_kuandu=0;
//int banmaxian_hangshu=0;
int banmaxian_geshu=0;
//从右往左扫描
for (int x =130; x >=20; x--)
{
int baidian_heng=0;
//扫描到黑色，就进判断
if (GET_PIX_1C(mt9v03x_image_copy[0], y, x + 2) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], y, x + 1) > FIX_BINTHRESHOLD
&& GET_PIX_1C(mt9v03x_image_copy[0], y, x) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], y, x - 1) < FIX_BINTHRESHOLD)
{
for (int a = x; a > x - 30; a--)//从黑色点向左侧扫描
{
//找到白色点
if(GET_PIX_1C(mt9v03x_image_copy[0], y, a) > FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], y, a - 1) > FIX_BINTHRESHOLD)
{
//记录白色点的位置，跳出循环
baidian_heng=a;
break;
}
}//斑马线宽度等于黑白点的差
banmaxian_kuandu=x-baidian_heng;
}
else
{ //斑马线的宽度在4~8之间认为它成立为斑马线黑色块
if (banmaxian_kuandu >= 2 && banmaxian_kuandu <= 6)
{
//斑马线黑色块++
banmaxian_geshu++;
//斑马线色块宽度清零，进行下一个黑色块的扫描计算
banmaxian_kuandu = 0;
}
else
{
//如果不满足对黑色块的认为要求就直接清零，去计算下一个黑色块
banmaxian_kuandu = 0;
}
}
}
//如果色块的个数在6~9之间则认为这一行的斑马线满足要求，在去扫下一行
if (banmaxian_geshu >= 2 ){banmaxian_hangshu++;}
}
}
if (change_num > 14) {
garage_type = GARAGE_FOUND;
// printf("跳变点的数量为：%d\r\n", change_num);
}
change_num = 0;
//如果有大于等于4行的有效斑马线
if(banmaxian_hangshu>=2)
{
//斑马线标准位置1
garage_type = GARAGE_FOUND;
}
else{garage_type = GARAGE_NONE;}
}
void RunGarage()
{
if (garage_type == GARAGE_FOUND) {
printf("识别到车库\r\n");
garage_type = GARAGE_NONE; // TFIXME 原来是 garage_type == GARAGE_NONE，确认更改后无问题
//garage_type = GARAGE_NONE; // TFIXME 原来是 garage_type == GARAGE_NONE，确认更改后无问题
}
}