C# (CSharp) Lidar.GetSmallestDistanceInRange示例

示例#1

        private int GetUltrasoundDistanceFromLidarData(int mountingAngle, float sensorOffset)
        {
            const int   closeRangeHalfBeam    = 15;
            const float closeRangeMaxDistance = 1.00f;
            const int   longRangeHalfBeam     = 5;

            float closeRangeDistance = _distances.GetSmallestDistanceInRange(mountingAngle - closeRangeHalfBeam, mountingAngle + closeRangeHalfBeam);
            float longRangeDistance  = _distances.GetSmallestDistanceInRange(mountingAngle - longRangeHalfBeam, mountingAngle + longRangeHalfBeam);

            if (float.IsNaN(closeRangeDistance))
            {
                closeRangeDistance = TimeOutDistance;
            }
            if (float.IsNaN(longRangeDistance))
            {
                longRangeDistance = TimeOutDistance;
            }

            float shortestDistanceInCm = (closeRangeDistance > closeRangeMaxDistance) ? longRangeDistance : Math.Min(closeRangeDistance, longRangeDistance) - sensorOffset;

            return((int)(Math.Min(shortestDistanceInCm, MaximumDistance) * 100));
        }