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feat: 增加真正的内角点显示(大雾)

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bmy
2024-03-23 09:22:39 +08:00
parent 007d3c1f80
commit 200d67b8bd
2 changed files with 20 additions and 16 deletions
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32
app/gl_get_corners.c
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@@ -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;
}
}
}