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feat: 增加动态预瞄点

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Glz
2024-03-22 20:28:49 +08:00
parent 97fc4f9b21
commit fba4476d35
9 changed files with 59 additions and 36 deletions
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63
app/gl_get_corners.c
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@@ -19,31 +19,34 @@ void get_corners() {
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
// 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) is_straight0 = false;
if (Lpt0_found == true && is_straight0 == false) break;
}
// if(Lpt0_found){
// float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],pts_resample_left[Lpt0_rpts0s_id+5][1],pts_resample_left[Lpt0_rpts0s_id+5][0]);
// if(angle1 < 85.) {
// Lpt_in0_found = true;
// Lpt0_found = false;
// Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
// }
// }
// else{
// is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
// if(is_turn0){
// state_type = TURN_STATE;
// }
// }
if(is_straight0){
state_type = STRAIGHT_STATE;
}
Lpt0_found_barrier = Lpt1_found_barrier = false;
for (int i = 0; i < pts_resample_left_count; i++) {
if (angle_new_left[i] == 0) continue;
int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
//L角点阈值
if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
Lpt0_rpts0s_id_barrier = i;
Lpt0_found_barrier = true;
}
}
for (int i = 0; i < pts_resample_right_count; i++) {
@@ -56,29 +59,29 @@ void get_corners() {
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]);
// 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 (Lpt1_found == true && is_straight1 == false) break;
}
// if(Lpt1_found){
// float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],pts_resample_right[Lpt1_rpts1s_id+5][1],pts_resample_right[Lpt1_rpts1s_id+5][0]);
// if(angle2 > 100.) {
// Lpt_in1_found = true;
// Lpt1_found = false;
// Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
// }
// }
//else{
// is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
// if(is_turn1){
// state_type = TURN_STATE;
// }
//}
if(is_straight1){
state_type = STRAIGHT_STATE;
}
for (int i = 0; i < pts_resample_right_count; i++) {
if (angle_new_right[i] == 0) continue;
int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
Lpt1_rpts1s_id_barrier = i;
Lpt1_found_barrier = true;
}
}
}