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更改边线偏移量&新加一组角点检测（待测）

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This commit is contained in:
Glz
2024-03-22 21:39:36 +08:00
parent fba4476d35
commit b46f372af4
7 changed files with 39 additions and 10 deletions
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1
app/gl_common.h
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@@ -14,6 +14,7 @@
#define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70.0f)
#define PIXPERMETER_ACROSS (80.0f)
#define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f)
#define ANGLEDIST_barrier (0.06f)

8
app/gl_data.c
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@@ -46,8 +46,12 @@ int32_t mid_right_count;
float angle_new_left[PT_MAXLEN];
float angle_new_right[PT_MAXLEN];
float angle_new_left_barrier[PT_MAXLEN];
float angle_new_right_barrier[PT_MAXLEN];
int angle_new_left_num;
int angle_new_right_num;
int angle_new_left_num_barrier;
int angle_new_right_num_barrier;
float far_angle_new_left[PT_MAXLEN];
float far_angle_new_right[PT_MAXLEN];
int far_angle_new_left_num;
@@ -57,8 +61,12 @@ uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
float angle_left[PT_MAXLEN];
float angle_right[PT_MAXLEN];
float angle_left_barrier[PT_MAXLEN];
float angle_right_barrier[PT_MAXLEN];
int angle_left_num;
int angle_right_num;
int angle_left_barrier_num;
int angle_right_barrier_num;
float far_angle_left[PT_MAXLEN];
float far_angle_right[PT_MAXLEN];
int far_angle_left_num;

8
app/gl_data.h
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@@ -57,8 +57,12 @@ extern int32_t mid_right_count;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern float angle_new_left_barrier[PT_MAXLEN];
extern float angle_new_right_barrier[PT_MAXLEN];
extern int angle_new_left_num;
extern int angle_new_right_num;
extern int angle_new_left_num_barrier;
extern int angle_new_right_num_barrier;
extern float far_angle_new_left[PT_MAXLEN];
extern float far_angle_new_right[PT_MAXLEN];
extern int far_angle_new_left_num;
@@ -68,8 +72,12 @@ extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern float angle_left_barrier[PT_MAXLEN];
extern float angle_right_barrier[PT_MAXLEN];
extern int angle_left_num;
extern int angle_right_num;
extern int angle_left_barrier_num;
extern int angle_right_barrier_num;
extern float far_angle_left[PT_MAXLEN];
extern float far_angle_right[PT_MAXLEN];
extern int far_angle_left_num;

8
app/gl_get_corners.c
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@@ -33,10 +33,10 @@ void get_corners() {
Lpt0_found_barrier = Lpt1_found_barrier = false;
for (int i = 0; i < pts_resample_left_count; i++) {
if (angle_new_left[i] == 0) continue;
if (angle_new_left_barrier[i] == 0) continue;
int im1 = 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[i]) - (fabs(angle_left[im1]) + fabs(angle_left[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
if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
@@ -71,10 +71,10 @@ void get_corners() {
}
for (int i = 0; i < pts_resample_right_count; i++) {
if (angle_new_right[i] == 0) continue;
if (angle_new_right_barrier[i] == 0) continue;
int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {

20
app/gl_img_process.c
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@@ -89,22 +89,34 @@ void img_processing() {
pts_resample_right_count = valid_points_count;
// 边线角度变化率
// 大距离边线角度变化率
local_angle_points(pts_resample_left, pts_resample_left_count, angle_left, (int) round(ANGLEDIST / RESAMPLEDIST));
angle_left_num = pts_resample_left_count;
local_angle_points(pts_resample_right, pts_resample_right_count, angle_right, (int) round(ANGLEDIST / RESAMPLEDIST));
angle_right_num = pts_resample_right_count;
// 角度变化率非极大值抑制
// 小距离边线角度变化率
local_angle_points(pts_resample_left, pts_resample_left_count, angle_left_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST));
angle_left_barrier_num = pts_resample_left_count;
local_angle_points(pts_resample_right, pts_resample_right_count, angle_right_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST));
angle_right_barrier_num = pts_resample_right_count;
// 大距离角度变化率非极大值抑制
nms_angle(angle_left, angle_left_num, angle_new_left, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
angle_new_left_num = angle_left_num;
nms_angle(angle_right, angle_right_num, angle_new_right, (int) round(ANGLEDIST / RESAMPLEDIST) * 2 + 1);
angle_new_right_num = angle_right_num;
// 小距离角度变化率非极大值抑制
nms_angle(angle_left_barrier, angle_left_barrier_num, angle_new_left_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST) * 2 + 1);
angle_new_left_num_barrier = angle_left_barrier_num;
nms_angle(angle_right_barrier, angle_right_barrier_num, angle_new_right_barrier, (int) round(ANGLEDIST_barrier / RESAMPLEDIST) * 2 + 1);
angle_new_right_num_barrier = angle_right_barrier_num;
// 左右中线跟踪
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
mid_left_count = pts_resample_left_count;
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS * ROADWIDTH / 2);
mid_right_count = pts_resample_right_count;

2
app/gl_state.h
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@@ -23,6 +23,6 @@ enum state_type_e {
extern enum state_type_e state_type;
#define CROSS_AIM (0.49f)
#define COMMON_AIM (0.25f)
#define COMMON_AIM (0.35f)
#endif /* STATE_H_ */

2
app/gl_tracking.c
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@@ -25,7 +25,7 @@ void tracking()
void aim_distance_select(void)
{
if (cross_type != CROSS_NONE) {
aim_distance = 0.4f;
aim_distance = 0.49f;
} else if (circle_type != CIRCLE_NONE) {
aim_distance = 0.2f;
} else {