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This commit is contained in:
井明江
2024-03-27 16:20:49 +08:00
parent 5343e5ac33
commit 902d639475
3 changed files with 15 additions and 14 deletions
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2
app/by_frame.c
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@@ -16,7 +16,7 @@ void by_frame_init(void)
{
lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一
uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN);
uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
// uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
}
void by_frame_send(uint32_t *data_array)

23
app/gl_get_corners.c
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@@ -14,7 +14,7 @@ void get_corners()
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
ips114_show_float(120, 80, conf, 3, 4);
// L 角点阈值
if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i;
@@ -22,20 +22,20 @@ void get_corners()
// transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删
}
// 长直道阈值
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) {
if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) {
is_straight0 = false;
}
if (Lpt0_found == true && is_straight0 == false) break;
}
if (is_straight0 == false && Lpt0_found == false)
if (Lpt0_found == false)
{
is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
}
if (is_turn0)
{
state_type = TURN_LEFT_STATE;
}
//if (is_turn0)
//{
//state_type = TURN_LEFT_STATE;
//}
@@ -67,6 +67,7 @@ void get_corners()
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
ips114_show_float(100, 100, conf, 3, 4);
if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i;
@@ -74,7 +75,7 @@ void get_corners()
// transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
}
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
if (conf > (6. / 180. * PI32) && i < 1.2 / RESAMPLEDIST) is_straight1 = false;
if (Lpt1_found == true && is_straight1 == false) break;
}
@@ -82,7 +83,7 @@ void get_corners()
state_type = STRAIGHT_STATE;
}
if (is_straight1 == false && Lpt1_found == false)
if (Lpt1_found == false)
{
is_turn1 = is_curve(angle_right ,clip(angle_right_num - 10, 0,angle_right_num),0.05);
}
@@ -107,8 +108,8 @@ void get_corners()
}
}
if (is_turn1)
if (is_turn1 && is_turn0)
{
state_type = TURN_RIGHT_STATE;
state_type = TURN_LEFT_STATE;
}
}

4
app/gl_handle_img.c
View File

@@ -228,8 +228,8 @@ void GetMidLine_Right(float pts_right[][2], int32_t pts_right_count, float mid_r
int is_curve(float angle[], int n, float threshold) {
for (int i = 1; i < n - 1; i++) {
float da = fabs(angle[i] - angle[i-1]);
float db = fabs(angle[i+1] - angle[i]);
float da = fabs(angle[i] - angle[i-3]);
float db = fabs(angle[i+3] - angle[i]);
if (da > threshold && db > threshold) {
return 1; // 是弯道
}