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内角点实现与常规更改

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This commit is contained in:
Glz
2024-03-23 09:15:53 +08:00
parent b46f372af4
commit 07b5209853
5 changed files with 33 additions and 5 deletions
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8
app/gl_cross.c
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@@ -69,9 +69,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x1 <= 40) if (far_x1 <= 30)
{ {
far_x1 = 40; far_x1 = 30;
} }
for (; h1 > 0; h1--) { for (; h1 > 0; h1--) {
@@ -98,9 +98,9 @@ void cross_farline(){
} }
} }
/*如果一行全为白色没写*/ /*如果一行全为白色没写*/
if (far_x2 >= 140) if (far_x2 >= 120)
{ {
far_x2 = 140; far_x2 = 120;
} }
for (; h2 > 0; h2--) { for (; h2 > 0; h2--) {

4
app/gl_data.c
View File

@@ -80,6 +80,8 @@ bool Lpt0_found;
bool Lpt1_found; bool Lpt1_found;
bool Lpt0_found_barrier; bool Lpt0_found_barrier;
bool Lpt1_found_barrier; bool Lpt1_found_barrier;
bool Lpt0_found_barrier_in;
bool Lpt1_found_barrier_in;
int Lpt1[2]; int Lpt1[2];
int Lpt0[2]; int Lpt0[2];
int far_Lpt1[2]; int far_Lpt1[2];
@@ -91,6 +93,8 @@ bool Lpt_in0_found;
bool Lpt_in1_found; bool Lpt_in1_found;
int Lpt_in1[2]; int Lpt_in1[2];
int Lpt_in0[2]; int Lpt_in0[2];
int Lpt0_found_barrier_in_id;
int Lpt1_found_barrier_in_id;
bool is_straight0; bool is_straight0;
bool is_straight1; bool is_straight1;

4
app/gl_data.h
View File

@@ -107,6 +107,10 @@ extern bool is_straight0;
extern bool is_straight1; extern bool is_straight1;
extern bool is_far_straight0; extern bool is_far_straight0;
extern bool is_far_straight1; extern bool is_far_straight1;
extern bool Lpt0_found_barrier_in;
extern bool Lpt1_found_barrier_in;
extern int Lpt0_found_barrier_in_id;
extern int Lpt1_found_barrier_in_id;
extern bool is_turn0; extern bool is_turn0;
extern bool is_turn1; extern bool is_turn1;

17
app/gl_get_corners.c
View File

@@ -43,8 +43,15 @@ void get_corners() {
Lpt0_rpts0s_id_barrier = i; Lpt0_rpts0s_id_barrier = i;
Lpt0_found_barrier = true; Lpt0_found_barrier = true;
} }
} }
// if(Lpt0_found_barrier){
// float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1],pts_resample_left[Lpt0_rpts0s_id_barrier][0],pts_resample_left[Lpt0_rpts0s_id_barrier+5][1],pts_resample_left[Lpt0_rpts0s_id_barrier+5][0]);
// if(angle1 < 85.) {
// Lpt0_found_barrier_in = true;
// Lpt0_found_barrier = false;
// Lpt0_found_barrier_in_id = Lpt0_rpts0s_id_barrier;
// }
// }
@@ -82,6 +89,14 @@ void get_corners() {
Lpt1_found_barrier = true; Lpt1_found_barrier = true;
} }
} }
// if(Lpt1_found_barrier){
// float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1],pts_resample_right[Lpt1_rpts1s_id_barrier][0],pts_resample_right[Lpt1_rpts1s_id_barrier+5][1],pts_resample_right[Lpt1_rpts1s_id_barrier+5][0]);
// if(angle2 > 100.) {
// Lpt1_found_barrier_in = true;
// Lpt1_found_barrier = false;
// Lpt1_found_barrier_in_id = Lpt1_rpts1s_id_barrier;
// }
// }
} }

5
app/gl_tracking.c
View File

@@ -47,6 +47,11 @@ void ElementJudge()
cross_type = CROSS_NONE; cross_type = CROSS_NONE;
circle_type = CIRCLE_NONE; circle_type = CIRCLE_NONE;
} }
if (cross_type != CROSS_NONE)
{
circle_type = CIRCLE_NONE;
}
} }
void ElementRun() void ElementRun()