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图像尺寸改变

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元素测试完成，图像改为80，140
This commit is contained in:
Glz
2024-01-13 18:20:39 +08:00
parent a933b59a6c
commit 39ad54586a
16 changed files with 518 additions and 305 deletions
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21
app/gl_tracking.c
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@@ -34,6 +34,13 @@ void ElementJudge() {
CheckCircle();
}
}
if (garage_type != GARAGE_NONE)
{
cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE;
}
}
void ElementRun() {
@@ -53,9 +60,15 @@ void ElementRun() {
void MidLineTrack() {
if (cross_type == CROSS_IN) {
if (track_type == TRACK_LEFT) {
mid_track = mid_left; // 这是为了预先分配内存
GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count = pts_far_resample_left_count - far_Lpt0_rpts0s_id;
} else {
mid_track = mid_right; // 这是为了预先分配内存
GetMidLine_Right(pts_far_resample_right + far_Lpt1_rpts1s_id, pts_far_resample_right_count - far_Lpt1_rpts1s_id, mid_right, (int) round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);
mid_track_count =pts_far_resample_right_count - far_Lpt1_rpts1s_id;
}
}
else {
} else {
if (track_type == TRACK_LEFT) {
mid_track = mid_left;
mid_track_count = mid_left_count;
@@ -66,8 +79,8 @@ void MidLineTrack() {
}
// 车轮对应点 (纯跟踪起始点)
float cx = InverseMapW[(int) (IMAGE_H * 0.85f)][94];
float cy = InverseMapH[(int) (IMAGE_H * 0.85f)][94];
float cx = InverseMapW[(int) (IMAGE_H * 0.75f)][94];
float cy = InverseMapH[(int) (IMAGE_H * 0.75f)][94];
// 找最近点 (起始点中线归一化)
float min_dist = 1e10;