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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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14
app/gl_tracking.c
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@@ -107,20 +107,20 @@ void MidLineTrack()
int aim_idx_near = clip(round(0.09 / RESAMPLEDIST), 0, rptsn_num - 1);
// 计算远锚点偏差值
float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
float dn = sqrt(dx * dx + dy * dy);
float error = -atan2f(dx, dy) * 180 / PI;
float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
float dn = sqrt(dx * dx + dy * dy);
// float error = -atan2f(dx, dy) * 180 / PI32;
// 计算近锚点偏差值
dx_near = rptsn[aim_idx_near][1] - cx;
// float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER;
// float dn_near = sqrt(dx_near * dx_near + dy_near * dy_near);
// float error_near = -atan2f(dx_near, dy_near) * 180 / PI;
// float error_near = -atan2f(dx_near, dy_near) * 180 / PI32;
// //考虑近点
// near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI * 180 ;
// near_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx_near / dn_near / dn_near) / PI32 * 180 ;
// //考虑远点
pure_angle = -atanf(PIXPERMETER * 2 * 0.2 * dx/ dn / dn) / PI * 180 ;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
}
}