private void update(String text)
{
this.label1.Text = text;
//Console.WriteLine(++cnt + " " + text);
List <long> l1 = UrgPort.getDis();
List <long> l2 = zeroFilter.getFilterData(l1);
List <long> l3 = kalmFilter.getFilterData(l2);
this.pictureBox1.Image = urgImg.drawRadarImg(l3);
//
drawCnt++;
if (drawCnt == 20)
{
drawCnt = 0;
Smart_Car.Point p = new Smart_Car.Point();
if (drport != null)
{
p = drport.getPoint();
Console.WriteLine(p.x + " " + p.y);
}
ropg.updateMap((int)(p.x * 100), (int)(p.y * 100), p.w, l3);
this.pictureBox2.Image = opgMap.drawOPGMapFast(ropg.PriMap, ropg.BinMap);
}
}
/// <summary>
/// 获取激光雷达实例
/// </summary>
/// <param name="portName"></param>
/// <returns></returns>
public static UrgPort getInstance(string portName)
{
if (urgPort == null)
{
urgPort = new UrgPort(portName);
}
return(urgPort);
}