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图像尺寸改变

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元素测试完成，图像改为80，140
This commit is contained in:
Glz
2024-01-13 18:20:39 +08:00
parent a933b59a6c
commit 39ad54586a
16 changed files with 518 additions and 305 deletions
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64
app/gl_get_corners.c
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@@ -5,7 +5,6 @@
void get_corners() {
//
Lpt0_found = Lpt1_found = false;
Lpt_in0_found = Lpt_in1_found = false;
is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
@@ -17,7 +16,7 @@ void get_corners() {
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.7 / RESAMPLEDIST) {
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i;
Lpt0_found = true;
transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]);
@@ -26,20 +25,20 @@ void get_corners() {
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
if (Lpt0_found == true && is_straight0 == false) break;
}
if(Lpt0_found){
float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
if(angle1 < 85.) {
Lpt_in0_found = true;
Lpt0_found = false;
Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
}
}
else{
is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
if(is_turn0){
state_type = TURN_STATE;
}
}
// if(Lpt0_found){
// float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
// if(angle1 < 85.) {
// Lpt_in0_found = true;
// Lpt0_found = false;
// Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
// }
// }
// else{
// is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
// if(is_turn0){
// state_type = TURN_STATE;
// }
// }
if(is_straight0){
state_type = STRAIGHT_STATE;
}
@@ -54,7 +53,7 @@ void get_corners() {
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.7 / RESAMPLEDIST) {
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i;
Lpt1_found = true;
transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
@@ -63,25 +62,24 @@ void get_corners() {
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
if (Lpt1_found == true && is_straight1 == false) break;
}
if(Lpt1_found){
float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
if(angle2 > 100.) {
Lpt_in1_found = true;
Lpt1_found = false;
Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
}
}else{
is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
if(is_turn1){
state_type = TURN_STATE;
}
}
// if(Lpt1_found){
// float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
// if(angle2 > 100.) {
// Lpt_in1_found = true;
// Lpt1_found = false;
// Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
// }
// }
//else{
// is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
// if(is_turn1){
// state_type = TURN_STATE;
// }
//}
if(is_straight1){
state_type = STRAIGHT_STATE;
}
//
}