btl143/QDAC-firmware
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feat: 增加内角显示

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bmy
2024-03-23 09:16:52 +08:00
parent b46f372af4
commit 7e56c24e1c
3 changed files with 7 additions and 7 deletions
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2
app/gl_common.h
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@@ -14,7 +14,7 @@
#define FILTER_KERNELSIZE (7) // 滤波核大小 #define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小 #define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70.0f) #define PIXPERMETER (70.0f)
#define PIXPERMETER_ACROSS (80.0f) #define PIXPERMETER_ACROSS (85.0f)
#define RESAMPLEDIST (0.02f) #define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f) #define ANGLEDIST (0.2f)
#define ANGLEDIST_barrier (0.06f) #define ANGLEDIST_barrier (0.06f)

4
app/gl_get_corners.c
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@@ -15,7 +15,7 @@ void get_corners() {
int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1); int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2; float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值 //L 角点阈值
if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) { if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i; Lpt0_rpts0s_id = i;
Lpt0_found = true; Lpt0_found = true;
@@ -38,7 +38,7 @@ void get_corners() {
int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1); int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2; float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
//L角点阈值 //L 角点阈值
if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) { if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id_barrier = i; Lpt0_rpts0s_id_barrier = i;
Lpt0_found_barrier = true; Lpt0_found_barrier = true;

8
app/page/page_rtcam.c
View File

@@ -30,8 +30,8 @@ static void Setup()
ips200_show_string(5, 185, "pts_r:"); ips200_show_string(5, 185, "pts_r:");
ips200_show_string(5, 205, "con_l:"); ips200_show_string(5, 205, "con_l:");
ips200_show_string(5, 224, "con_r:"); ips200_show_string(5, 224, "con_r:");
ips200_show_string(100, 165, "dir_l:"); ips200_show_string(100, 165, "lpt0: ");
ips200_show_string(100, 185, "dir_r:"); ips200_show_string(100, 185, "lpt1: ");
} }
/** /**
@@ -55,8 +55,8 @@ static void Loop()
ips200_show_uint(60, 185, pts_inv_r_count, 3); ips200_show_uint(60, 185, pts_inv_r_count, 3);
ips200_show_uint(60, 205, Lpt0_found, 3); ips200_show_uint(60, 205, Lpt0_found, 3);
ips200_show_uint(60, 224, Lpt1_found, 3); ips200_show_uint(60, 224, Lpt1_found, 3);
ips200_show_uint(160, 165, is_straight0, 3); ips200_show_uint(160, 165, Lpt0_found_barrier, 3);
ips200_show_uint(160, 185, is_straight1, 3); ips200_show_uint(160, 185, Lpt1_found_barrier, 3);
} }
/** /**