From 200d67b8bd6977dd5ff14a15762b85cee6e88545 Mon Sep 17 00:00:00 2001 From: bmy <2583236812@qq.com> Date: Sat, 23 Mar 2024 09:22:39 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E7=9C=9F=E6=AD=A3?= =?UTF-8?q?=E7=9A=84=E5=86=85=E8=A7=92=E7=82=B9=E6=98=BE=E7=A4=BA(?= =?UTF-8?q?=E5=A4=A7=E9=9B=BE)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/gl_get_corners.c | 32 ++++++++++++++++---------------- app/page/page_rtcam.c | 4 ++++ 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c index e89c2e1..b19d450 100644 --- a/app/gl_get_corners.c +++ b/app/gl_get_corners.c @@ -44,14 +44,14 @@ void get_corners() { 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; - // } - // } + 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; + } + } @@ -89,14 +89,14 @@ void get_corners() { 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; - // } - // } + 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; + } + } } diff --git a/app/page/page_rtcam.c b/app/page/page_rtcam.c index e47c5f7..5515bc7 100644 --- a/app/page/page_rtcam.c +++ b/app/page/page_rtcam.c @@ -32,6 +32,8 @@ static void Setup() ips200_show_string(5, 224, "con_r:"); ips200_show_string(100, 165, "lpt0: "); ips200_show_string(100, 185, "lpt1: "); + ips200_show_string(100, 205, "lptin0: "); + ips200_show_string(100, 224, "lptin1: "); } /** @@ -57,6 +59,8 @@ static void Loop() ips200_show_uint(60, 224, Lpt1_found, 3); ips200_show_uint(160, 165, Lpt0_found_barrier, 3); ips200_show_uint(160, 185, Lpt1_found_barrier, 3); + ips200_show_uint(160, 205, Lpt0_found_barrier_in, 3); + ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3); } /**