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Glz
2024-07-13 19:00:45 +08:00
parent af031e23d8
commit b88aaf47e5
13 changed files with 171 additions and 89 deletions
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6
app/gl_img_process.c
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@@ -146,5 +146,11 @@ void img_processing() {
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;
// 左右中线跟踪(避障专属)
GetMidLine_Left(pts_resample_left, pts_resample_left_count, mid_left_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_left_barrier_count = pts_resample_left_count;
GetMidLine_Right(pts_resample_right, pts_resample_right_count, mid_right_barrier, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER_ACROSS_BARRIER * ROADWIDTH / 2);
mid_right_barrier_count = pts_resample_right_count;
}