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Revert "retour à spam proximity TCP"

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This reverts commit 4226d562e3.
This commit is contained in:
bap-0-1
2024-05-08 19:13:40 +02:00
parent 515497ac55
commit f41125aa7e
1 changed files with 7 additions and 1 deletions
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8
src/localization.cpp
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@@ -319,7 +319,10 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
if((double)nodes[pos].dist_mm_q2/4.0f < PROXIMITY_ALERT_RANGE) {
proximityAlert = true;
if (this->proximityLastRound) {
this->sendProximityAlert((int) ((double) nodes[pos].dist_mm_q2 / 4.0f), Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f));
if(proximityValues.first == -1 || proximityValues.first > (int) ((double) nodes[pos].dist_mm_q2 / 4.0f)){
proximityValues.first = (int) ((double) nodes[pos].dist_mm_q2 / 4.0f);
proximityValues.second = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);;
}
}
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
@@ -339,6 +342,9 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
}
}
}
if(this->proximityLastRound && proximityAlert){
this->sendProximityAlert(proximityValues.first, proximityValues.second);
}
//Get agglomerates without solo points
vector<list<pair<double, double>>> agglomerated_points = Localization::getAgglomerates(points_inside);
//Get most probable agglomerate average position