spdis/Loongson_2k0300_SmartCar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

模型每类阈值+配置热重载+雷达纯距离触发+速度min不叠加+弯道参数化

Browse Source
This commit is contained in:
spdis
2026-06-21 14:15:53 +08:00
parent 95a46c130d
commit 40d5cb1604
11 changed files with 234 additions and 147 deletions
Download Patch File Download Diff File Expand all files Collapse all files
main/main.cpp
-16
View File
@@ -20,22 +20,6 @@ int main(void)
cfg_load_all();
double avoid_gain_val = readDoubleFromFile(cone_avoid_gain_file);
int avoid_range_val = (int)readDoubleFromFile(cone_avoid_range_file);
int hold_frames_val = (int)readDoubleFromFile(cone_hold_frames_file);
if (avoid_gain_val > 0) g_cfg.cone_avoid_gain = avoid_gain_val;
if (avoid_range_val > 0) g_cfg.cone_avoid_range = avoid_range_val;
if (hold_frames_val > 0) g_cfg.cone_hold_frames = hold_frames_val;
double lidar_gain_val = readDoubleFromFile(lidar_avoid_gain_file);
int lidar_range_val = (int)readDoubleFromFile(lidar_avoid_range_file);
int lidar_hold_val = (int)readDoubleFromFile(lidar_hold_frames_file);
int lidar_thresh_val = (int)readDoubleFromFile(lidar_thresh_file);
if (lidar_gain_val > 0) g_cfg.lidar_avoid_gain = lidar_gain_val;
if (lidar_range_val > 0) g_cfg.lidar_avoid_range = lidar_range_val;
if (lidar_hold_val > 0) g_cfg.lidar_hold_frames = lidar_hold_val;
if (lidar_thresh_val > 0) g_cfg.lidar_thresh = lidar_thresh_val;
if (CameraInit(0) < 0) {
std::cerr << "CameraInit failed" << std::endl;
return -1;