From 193d5655ed6bb114f541c0f1e4c89e4fb87adda2 Mon Sep 17 00:00:00 2001
From: waljaewp <waljaewp@hu-berlin.de>
Date: Wed, 12 Sep 2018 17:03:46 +0200
Subject: [PATCH] SETUP HELLA FINAL RACE!!! MI DIO DI FORTUNE POR FAVOR!!!
---
.../car/include/laneDetection/EdgeDetection.hpp | 2 +-
.../src/car/src/laneDetection/EdgeDetection.cpp | 16 ++++++++--------
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/odroid/catkin_ws/src/car/include/laneDetection/EdgeDetection.hpp b/src/odroid/catkin_ws/src/car/include/laneDetection/EdgeDetection.hpp
index 5fd0e46..f39138b 100644
--- a/src/odroid/catkin_ws/src/car/include/laneDetection/EdgeDetection.hpp
+++ b/src/odroid/catkin_ws/src/car/include/laneDetection/EdgeDetection.hpp
@@ -25,7 +25,7 @@ private:
// parameters for canny edge detection
// recommended a upper:lower ratio between 2:1 and 3:1
- int low_threshold = 120; // 100 ->img22, 50 -> img 20 // lower threshold leads to more noises; test_mp4 reveals noise on the track
+ int low_threshold = 130; // 100 ->img22, 50 -> img 20 // lower threshold leads to more noises; test_mp4 reveals noise on the track
double canny_ratio = 3;
int kernel_size = 3;
diff --git a/src/odroid/catkin_ws/src/car/src/laneDetection/EdgeDetection.cpp b/src/odroid/catkin_ws/src/car/src/laneDetection/EdgeDetection.cpp
index d3a0baf..831a04f 100644
--- a/src/odroid/catkin_ws/src/car/src/laneDetection/EdgeDetection.cpp
+++ b/src/odroid/catkin_ws/src/car/src/laneDetection/EdgeDetection.cpp
@@ -419,20 +419,20 @@ void EdgeDetection::calculateSpeedAngle() {
speed = 0.5;
break;
case 5 :
- angle = 17.5;
+ angle = 15.0;
speed = 0.5;
break;
case 6 :
- angle = 20.0;
+ angle = 15.0;
speed = 0.5;
break;
case 7 :
- angle = 23;
+ angle = 15.5;
speed = 0.5;
break;
case 8 :
- angle = 25;
- speed = 0.3;
+ angle = 17.5;
+ speed = 0.5;
break;
// LEFT TURN
@@ -455,11 +455,11 @@ void EdgeDetection::calculateSpeedAngle() {
angle = -23.5;
break;
case -7 :
- angle = -23.5;
+ angle = -15.5;
break;
case -8 :
- angle = -25;
- speed = 0.3;
+ angle = -17.5;
+ speed = 0.5;
break;
default:
--
GitLab