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Glz
2024-07-03 16:37:53 +08:00
parent 1166f71883
commit 770247f9b6
1 changed files with 21 additions and 2 deletions
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23
app/gl_get_corners.c
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@@ -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) {