btl143/QDAC-firmware
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Merge branch 'master' of https://git.brisky.space/btl143/QDAC-firmware

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Glz
2024-07-03 16:37:57 +08:00
parent 770247f9b6 61a92c8620
commit 7facae7a1a
4 changed files with 97 additions and 100 deletions
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app/gl_get_corners.c
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@@ -59,7 +59,7 @@ void get_corners()
float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
// L 角点阈值
if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
if (Lpt0_found_barrier == false && (40. / 180. * PI32) < conf && conf < (160. / 180. * PI32) && i < 0.6 / RESAMPLEDIST) {
Lpt0_rpts0s_id_barrier = i;
if (pts_resample_left[i][1] <= pts_resample_left[clip(i + 2, 0, pts_resample_left_count - 1)][1])
{
@@ -127,7 +127,7 @@ void get_corners()
int ip1 = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
if (Lpt1_found_barrier == false && (40. / 180. * PI32) < conf && conf < 160. / 180. * PI32 && i < 0.6 / RESAMPLEDIST) {
Lpt1_rpts1s_id_barrier = i;
if (pts_resample_right[i][1] >= pts_resample_right[clip(i + 2, 0, pts_resample_left_count - 1)][1])