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pref: 格式优化

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bmy
2024-03-10 19:47:21 +08:00
parent 0ab683ba60
commit c1e2b75aa5
6 changed files with 40 additions and 43 deletions
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8
app/gl_get_corners.c
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@@ -16,13 +16,13 @@ void get_corners() {
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值
if (Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.5 / RESAMPLEDIST) {
if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id = i;
Lpt0_found = true;
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. * PI) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
if (Lpt0_found == true && is_straight0 == false) break;
}
// if(Lpt0_found){
@@ -53,13 +53,13 @@ void get_corners() {
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
if (Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.5 / RESAMPLEDIST) {
if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id = i;
Lpt1_found = true;
transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
}
if (conf > (7. / 180. * PI) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
if (Lpt1_found == true && is_straight1 == false) break;
}
// if(Lpt1_found){