87 lines
3.4 KiB
C
87 lines
3.4 KiB
C
#include "zf_common_headfile.h"
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#include "math.h"
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#include "gl_headfile.h"
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void get_corners() {
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Lpt0_found = Lpt1_found = false;
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Lpt_in0_found = Lpt_in1_found = false;
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is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
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is_straight1 = pts_resample_right_count > 1.0 / RESAMPLEDIST;
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for (int i = 0; i < pts_resample_left_count; i++) {
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if (angle_new_left[i] == 0) continue;
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int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
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int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
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float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
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//L角点阈值
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if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
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Lpt0_rpts0s_id = i;
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Lpt0_found = true;
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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
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}
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//长直道阈值
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if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
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if (Lpt0_found == true && is_straight0 == false) break;
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}
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// if(Lpt0_found){
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// 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]);
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// if(angle1 < 85.) {
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// Lpt_in0_found = true;
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// Lpt0_found = false;
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// Lpt_in0_rpts0s_id = Lpt0_rpts0s_id;
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// }
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// }
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// else{
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// is_turn0 = is_curve(angle_left ,clip(angle_left_num - 10, 0,angle_left_num),0.05);
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// if(is_turn0){
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// state_type = TURN_STATE;
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// }
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// }
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if(is_straight0){
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state_type = STRAIGHT_STATE;
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}
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for (int i = 0; i < pts_resample_right_count; i++) {
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if (angle_new_right[i] == 0) continue;
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int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
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int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
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float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
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if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
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Lpt1_rpts1s_id = i;
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Lpt1_found = true;
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transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
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}
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if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight1 = false;
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if (Lpt1_found == true && is_straight1 == false) break;
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}
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// if(Lpt1_found){
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// 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]);
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// if(angle2 > 100.) {
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// Lpt_in1_found = true;
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// Lpt1_found = false;
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// Lpt_in1_rpts1s_id = Lpt1_rpts1s_id;
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// }
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// }
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//else{
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// is_turn1 = is_curve(angle_right, clip(angle_right_num - 10,0 ,angle_right_num), 0.05);
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// if(is_turn1){
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// state_type = TURN_STATE;
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// }
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//}
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if(is_straight1){
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state_type = STRAIGHT_STATE;
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}
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}
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