robocars/robocar-steering
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feat: object filter on car parts

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This commit is contained in:
Cyrille Nofficial 2024-01-16 21:06:11 +01:00
parent 67dc92e476
commit 8e6b7edec9
1 changed files with 11 additions and 0 deletions
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11
pkg/steering/corrector.go
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@ -140,6 +140,7 @@ AdjustFromObjectPosition modify steering value according object positions
*/ */
func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, objs []*events.Object) float64 { func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, objs []*events.Object) float64 {
objects := c.filter_big_objects(objs, c.imgWidth, c.imgHeight, c.sizeThreshold) objects := c.filter_big_objects(objs, c.imgWidth, c.imgHeight, c.sizeThreshold)
objects = c.filter_bottom_images(objects)
zap.S().Debugf("%v objects to avoid", len(objects)) zap.S().Debugf("%v objects to avoid", len(objects))
if len(objects) == 0 { if len(objects) == 0 {
@ -234,6 +235,16 @@ func (c *GridCorrector) filter_big_objects(objts []*events.Object, imgWidth int,
return objectFiltred return objectFiltred
} }
func (c *GridCorrector) filter_bottom_images(objts []*events.Object) []*events.Object {
objectFiltred := make([]*events.Object, 0, len(objts))
for _, o := range objts {
if o.Top > 0.90 {
objectFiltred = append(objectFiltred, o)
}
}
return objectFiltred
}
func NewGridMapFromJson(fileName string) (*GridMap, error) { func NewGridMapFromJson(fileName string) (*GridMap, error) {
content, err := os.ReadFile(fileName) content, err := os.ReadFile(fileName)
if err != nil { if err != nil {