From 770247f9b6087059a28e230b5fb8751f7933a054 Mon Sep 17 00:00:00 2001
From: Glz <354338225@qq.com>
Date: Wed, 3 Jul 2024 16:37:53 +0800
Subject: [PATCH] =?UTF-8?q?=E6=97=A5=E5=B8=B8?=
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---
 app/gl_get_corners.c | 23 +++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c
index 7414e17..4f68421 100644
--- a/app/gl_get_corners.c
+++ b/app/gl_get_corners.c
@@ -61,7 +61,15 @@ void get_corners()
         // L 角点阈值
         if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
             Lpt0_rpts0s_id_barrier = i;
-            Lpt0_found_barrier     = true;
+            if (pts_resample_left[i][1] <= pts_resample_left[clip(i + 2, 0, pts_resample_left_count - 1)][1])
+            {
+                Lpt0_found_barrier     = true;
+            }
+            else{
+                Lpt0_found_barrier     = false;
+            }
+            
+            //Lpt0_found_barrier     = true;
         }
     }
     if (Lpt0_found_barrier) {
@@ -73,6 +81,9 @@ 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);
@@ -118,7 +129,15 @@ void get_corners()
 
         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;
+
+            if (pts_resample_right[i][1] >= pts_resample_right[clip(i + 2, 0, pts_resample_left_count - 1)][1])
+            {
+                Lpt1_found_barrier     = true;
+            }
+            else{
+                Lpt1_found_barrier     = false;
+            }
+            //Lpt1_found_barrier     = true;
         }
     }
     if (Lpt1_found_barrier) {