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pref: 格式优化

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This commit is contained in:
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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4
app/gl_common.h
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@@ -13,7 +13,7 @@
#define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小 #define SELFADAPT_KERNELSIZE (7) // 巡线区域核大小
#define FILTER_KERNELSIZE (7) // 滤波核大小 #define FILTER_KERNELSIZE (7) // 滤波核大小
#define SELFADAPT_OFFSET (8) // 适应性块大小 #define SELFADAPT_OFFSET (8) // 适应性块大小
#define PIXPERMETER (70) #define PIXPERMETER (70.0f)
#define RESAMPLEDIST (0.02f) #define RESAMPLEDIST (0.02f)
#define ANGLEDIST (0.2f) #define ANGLEDIST (0.2f)
#define ROADWIDTH (0.45f) #define ROADWIDTH (0.45f)
@@ -22,6 +22,8 @@
#define FRAMETORIGHT (5) #define FRAMETORIGHT (5)
#define PIXEL_PER_METER (100) #define PIXEL_PER_METER (100)
#define PI32 (3.1415926535898f)
int32_t limit(int32_t x, int32_t low, int32_t up); int32_t limit(int32_t x, int32_t low, int32_t up);
int clip(int x, int low, int up); int clip(int x, int low, int up);
float fclip(float x, float low, float up); float fclip(float x, float low, float up);

4
app/gl_cross.c
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@@ -195,7 +195,7 @@ void cross_farline(){
float conf = fabs(far_angle_left[i]) - (fabs(far_angle_left[im1]) + fabs(far_angle_left[ip1])) / 2; float conf = fabs(far_angle_left[i]) - (fabs(far_angle_left[im1]) + fabs(far_angle_left[ip1])) / 2;
//L角点阈值 //L角点阈值
if (far_Lpt0_found == false && (66. / 180. * PI) < conf && conf < (140. / 180. * PI) && i < 0.7 / RESAMPLEDIST) { if (far_Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.7 / RESAMPLEDIST) {
far_Lpt0_rpts0s_id = i; far_Lpt0_rpts0s_id = i;
far_Lpt0_found = true; far_Lpt0_found = true;
} }
@@ -209,7 +209,7 @@ void cross_farline(){
float conf = fabs(far_angle_right[i]) - (fabs(far_angle_right[im1]) + fabs(far_angle_right[ip1])) / 2; float conf = fabs(far_angle_right[i]) - (fabs(far_angle_right[im1]) + fabs(far_angle_right[ip1])) / 2;
if (far_Lpt1_found == false && (66. / 180. * PI) < conf && conf < 140. / 180. * PI && i < 0.7 / RESAMPLEDIST) { if (far_Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.7 / RESAMPLEDIST) {
far_Lpt1_rpts1s_id = i; far_Lpt1_rpts1s_id = i;
far_Lpt1_found = true; far_Lpt1_found = true;
} }

31
app/gl_garage.c
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@@ -7,47 +7,42 @@ enum garage_type_e garage_type = GARAGE_NONE;
float (*garage_rpts)[2]; float (*garage_rpts)[2];
int garage_rpts_num; int garage_rpts_num;
float calculate_vector_angle(float x1, float y1, float x2, float y2) { float calculate_vector_angle(float x1, float y1, float x2, float y2)
{
float dx = x2 - x1; float dx = x2 - x1;
float dy = y2 - y1; float dy = y2 - y1;
float vector_length = sqrt(dx*dx + dy*dy); float vector_length = sqrt(dx * dx + dy * dy);
float angle_radians = acos(dx / vector_length); float angle_radians = acos(dx / vector_length);
float angle_degrees = angle_radians * 180 / M_PI; float angle_degrees = angle_radians * 180 / M_PI;
return angle_degrees; return angle_degrees;
} }
void CheckGarage() { void CheckGarage()
{
int change_num = 0; int change_num = 0;
int check_garage_h = 60; int check_garage_h = 60;
for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++) for (int check_garage_w = 50; check_garage_w < IMAGE_W - 50; check_garage_w++) {
{
if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) || if ((GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) < FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) >= FIX_BINTHRESHOLD) ||
(GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) (GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w) >= FIX_BINTHRESHOLD && GET_PIX_1C(mt9v03x_image_copy[0], check_garage_h, check_garage_w + 1) < FIX_BINTHRESHOLD)) {
{
change_num++; change_num++;
} }
} }
if (change_num > 14) {
if (change_num > 14)
{
garage_type = GARAGE_FOUND; garage_type = GARAGE_FOUND;
//printf("跳变点的数量为：%d\r\n", change_num); // printf("跳变点的数量为：%d\r\n", change_num);
} }
change_num = 0; change_num = 0;
} }
void RunGarage(){ void RunGarage()
{
if (garage_type == GARAGE_FOUND) if (garage_type == GARAGE_FOUND) {
{
printf("识别到车库\r\n"); printf("识别到车库\r\n");
garage_type == GARAGE_NONE; garage_type = GARAGE_NONE; // TFIXME 原来是 garage_type == GARAGE_NONE，确认更改后无问题
} }
} }

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; float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值 //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_rpts0s_id = i;
Lpt0_found = true; 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 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 //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 == true && is_straight0 == false) break;
} }
// if(Lpt0_found){ // 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; 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_rpts1s_id = i;
Lpt1_found = true; Lpt1_found = true;
transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]); 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 == true && is_straight1 == false) break;
} }
// if(Lpt1_found){ // if(Lpt1_found){

8
app/gl_tracking.c
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@@ -110,17 +110,17 @@ void MidLineTrack()
float dx = rptsn[aim_idx][1] - cx; float dx = rptsn[aim_idx][1] - cx;
float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER; float dy = cy - rptsn[aim_idx][0] + 0.2 * PIXPERMETER;
float dn = sqrt(dx * dx + dy * dy); float dn = sqrt(dx * dx + dy * dy);
float error = -atan2f(dx, dy) * 180 / PI; // float error = -atan2f(dx, dy) * 180 / PI32;
// 计算近锚点偏差值 // 计算近锚点偏差值
dx_near = rptsn[aim_idx_near][1] - cx; dx_near = rptsn[aim_idx_near][1] - cx;
// float dy_near = cy - rptsn[aim_idx_near][0] + 0.2 * PIXPERMETER; // 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 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 // //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 // //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;
} }
} }

16
app/page/page_ui_widget.c
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@@ -157,15 +157,15 @@ void Show_Marked_Image(void)
uint16_t r_x = START_X + (uint16_t)((float)pts_inv_l[i][1] * horizontal_zoom_rate); uint16_t r_x = START_X + (uint16_t)((float)pts_inv_l[i][1] * horizontal_zoom_rate);
uint16_t r_y = START_Y + (uint16_t)((float)pts_inv_l[i][0] * vertical_zoom_rate); uint16_t r_y = START_Y + (uint16_t)((float)pts_inv_l[i][0] * vertical_zoom_rate);
//寻远线逆透视后边线数组 //寻远线逆透视后边线数组
uint16_t far_l_x = START_X + (uint16_t)((float)pts_far_inv_r[i][1] * horizontal_zoom_rate); // uint16_t far_l_x = START_X + (uint16_t)((float)pts_far_inv_r[i][1] * horizontal_zoom_rate);
uint16_t far_l_y = START_Y + (uint16_t)((float)pts_far_inv_r[i][0] * vertical_zoom_rate); // uint16_t far_l_y = START_Y + (uint16_t)((float)pts_far_inv_r[i][0] * vertical_zoom_rate);
uint16_t far_r_x = START_X + (uint16_t)((float)pts_far_inv_l[i][1] * horizontal_zoom_rate); // uint16_t far_r_x = START_X + (uint16_t)((float)pts_far_inv_l[i][1] * horizontal_zoom_rate);
uint16_t far_r_y = START_Y + (uint16_t)((float)pts_far_inv_l[i][0] * vertical_zoom_rate); // uint16_t far_r_y = START_Y + (uint16_t)((float)pts_far_inv_l[i][0] * vertical_zoom_rate);
//寻近线中线数组 //寻近线中线数组
uint16_t mid_x_l = START_X + (uint16_t)(mid_left[i][1] * horizontal_zoom_rate); // uint16_t mid_x_l = START_X + (uint16_t)(mid_left[i][1] * horizontal_zoom_rate);
uint16_t mix_y_l = START_Y + (uint16_t)(mid_left[i][0] * vertical_zoom_rate); // uint16_t mix_y_l = START_Y + (uint16_t)(mid_left[i][0] * vertical_zoom_rate);
uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate); // uint16_t mid_x_r = START_X + (uint16_t)(mid_right[i][1] * horizontal_zoom_rate);
uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate); // uint16_t mix_y_r = START_Y + (uint16_t)(mid_right[i][0] * vertical_zoom_rate);
uint16_t mid_x = START_X + (uint16_t)(mid_track[i][1] * horizontal_zoom_rate); uint16_t mid_x = START_X + (uint16_t)(mid_track[i][1] * horizontal_zoom_rate);
uint16_t mix_y = START_Y + (uint16_t)(mid_track[i][0] * vertical_zoom_rate); uint16_t mix_y = START_Y + (uint16_t)(mid_track[i][0] * vertical_zoom_rate);