前言

这篇文章主要讲述智能车竞赛中如何判断车库。

一、函数主体

/*
车库核心思路讲解:
车库的判别分为两大部分  第一部分是判别元素中存在车库  第二部分是特殊的扫线模式
第一部分讲解: 判别是否存在车库 主要是这种语句
if (Pixels[i][ j] == 0 && Pixels[i][ j + 1] == 0 && Pixels[i][ j + 2] == 1 && Pixels[i][ j + 3] == 1)寻找的是斑马线的黑白跳变，当存在基础的黑白跳变之后 我们要寻找宽度的变化宽度的变化:车库因为有斑马线的存在，所以宽度的体现会是宽-窄-宽 ，其主要语句是(注意这里的big-smal-big)
for (i = 1; i < break_hangshu; i++)
{if (calkuan[i] > 90){kuandubig1 = i;//    SetText("equal第一个 " + i);break;}
}
if (kuandubig1 != 0)
{for (i = kuandubig1; i < break_hangshu; i++){if (calkuan[i] <= 65&&L_black[i]!=186&&R_black[i]!=0){kuandusmall1 = i;//     SetText("equal第二个 " + i);break;}}}
if (kuandusmall1 != 0)
{for (i = kuandusmall1; i < break_hangshu; i++){if (calkuan[i] >= 76&& calkuan[i] <=150){kuandubig2 = i;//   SetText("equal第三个 " + i);break;}}}好的，如果你上面两步都理解完了，下面我们进入车库的特殊扫线模式。
首先要指出的当你出库的时候，你是知道将来库的方向的。比如常规跑法，右边出库，那么将来车库一定是在右边。
当满足上方两个条件(黑白跳变,宽度变化)的时候，假设是右方车库,有下面的操作:
(1)单独去扫右边线，从93往右扫线，扫到第一行的右线之后，以此为基准把右边线都扫出来。(方法是行数增加一行，列数往右退大约5列然后再去向左扫线。)
(2)右边线完整之后，我们通过从右线往左线扫线获得基本完整的左边线。
(3)完整的右线和有空行的左边线都扫出来之后，下面就是找左边线的上下拐点拉线，然后左加右除以二计算中线。如果不入库，就判长直道冲刺。如果入库拉线即可。
(4)关键是将有效的左右线扫出来，下面找拐点拉线的操作我觉得大家都已经写到车库元素了，很容易拿下。
*/
void mynewleftku()
{int i;int j;int kuandubig1 = 0;int kuandusmall1 = 0;int kuandubig2 = 0;kukuanduequal = 0;int leftku1 = 0;int leftku1next = 0;int leftku2 = 0;int leftku2next = 0;int leftku3 = 0;int leftku3next = 0;int leftku4 = 0;int leftku4next = 0;int leftku5 = 0;int leftku5next = 0;
//threemode=12;  //暂时加上  千万注意
for (i = 1; i < break_hangshu; i++)
{if (calkuan[i] > 90){kuandubig1 = i;//    SetText("equal第一个 " + i);break;}
}
if (kuandubig1 != 0)
{for (i = kuandubig1; i < break_hangshu; i++){if (calkuan[i] <= 65&&L_black[i]!=186&&R_black[i]!=0){kuandusmall1 = i;//     SetText("equal第二个 " + i);break;}}}
if (kuandusmall1 != 0)
{for (i = kuandusmall1; i < break_hangshu; i++){if (calkuan[i] >= 76&& calkuan[i] <=150){kuandubig2 = i;//   SetText("equal第三个 " + i);break;}}}if (kuandubig1 != 0 && kuandusmall1 != 0 && kuandubig2 != 0 && turepodaoflag == 0 && ((huandao_memory == 0 && huandao_memoryforleft == 0) || (huandao_memory == 1) || (huandao_memory == 2) || (huandao_memory==3) || (huandao_memoryforleft == 1)|| (huandao_memoryforleft == 2)|| (huandao_memoryforleft == 3))  ){kukuanduequal = 1;}firstku = 0;kurightdownflag = 0;  //初步找一遍kuleftdownflag = 0;kurightupflag = 0;kuleftupflag = 0;find_kurightdown_point(5, 35);find_kuleftdown_point(5, 35);find_kuleftup_point(3, 40);find_kurightup_point(3, 40);if (kukuanduequal == 1 && (kurightdownflag == 1|| kurightupflag==1) && (kuleftdownflag == 1|| kuleftupflag==1)){kumode = 1;// SetText("kumode " + kumode);}if (kukuanduequal == 1 && (kurightdownflag == 1 && kurightupflag == 1)){kumode = 1;// SetText("kumode " + kumode);}if (kukuanduequal == 1 && (kuleftdownflag == 1 && kuleftupflag == 1)){kumode = 1;//SetText("kumode " + kumode);}if ((threemode == 6||threemode==12) && type == 4 && kukuanduequal == 1  &&My_Abs( pianfangright ,pianfangleft )>= 230 && kurightdownflag == 1 && kuleftdownflag == 0&& kuright_turn_down[1]<=150&& turepodaoflag == 0 && huandao_memory == 0 && huandao_memoryforleft == 0 && firstmid == 0 && secondmid == 0&& (continueleft == 0 || continueright == 0) && break_hangshu <= 40){//  wankuflag = 1;//  truewankuflag=1;}if (wankuflag == 1){if (R_black[0] != 0 && R_black[1] != 0 && R_black[2] != 0 && R_black[3] != 0 && R_black[4] != 0 && R_black[5] != 0){advanced_regression(2, 1, 3, 4, 5);R_blackfuzhi(parameterA, parameterB, 0, 50);}else{for (i = 0; i < 50; i++){R_black[i] = 0;}}if(L_black[0]!=186&& L_black[1] != 186 && L_black[2] != 186 && L_black[3] != 186 && L_black[4] != 186 && L_black[5] != 186){advanced_regression(1, 1, 3, 4, 5);leftlinefuzhi(parameterA, parameterB, 0, 50);}else{for (i = 0; i < 50; i++){L_black[i] = 186;}}zhongxianfuzhi(0, 50);kumode = 1;}if ((threemode == 6 || threemode == 12) && type == 3 && kukuanduequal == 1 && My_Abs(pianfangright, pianfangleft) >= 230 && kurightdownflag == 0 && kuleftdownflag == 1 && kuleft_turn_down[1] >=5&& turepodaoflag == 0 && huandao_memory == 0 && huandao_memoryforleft == 0 && firstmid == 0 && secondmid == 0&& (continueleft == 0 || continueright == 0) && break_hangshu <= 40){//  wankuflag = 2;// truewankuflag=1;}if (wankuflag == 2){if (R_black[0] != 0 && R_black[1] != 0 && R_black[2] != 0 && R_black[3] != 0 && R_black[4] != 0 && R_black[5] != 0){advanced_regression(2, 1, 3, 4, 5);R_blackfuzhi(parameterA, parameterB, 0, 50);}else{for (i = 0; i < 50; i++){R_black[i] = 0;}}if (L_black[0] != 186 && L_black[1] != 186 && L_black[2] != 186 && L_black[3] != 186 && L_black[4] != 186 && L_black[5] != 186){advanced_regression(1, 1, 3, 4, 5);leftlinefuzhi(parameterA, parameterB, 0, 50);}else{for (i = 0; i < 50; i++){L_black[i] = 186;}}zhongxianfuzhi(0, 50);kumode = 1;}if (kumode == 1||kumode==2)  //基本模式试着扫斑马线{recordhang = 40;haveleftku = 0;leftkuhang = 0;for (i = 0; i < recordhang; i++){leftku1 = 0;leftku1next = 0;leftku2 = 0;leftku2next = 0;leftku3 = 0;leftku3next = 0;leftku4 = 0;leftku4next = 0;leftku5 = 0;leftku5next = 0;for (j = 30; j < 150; j++){if (Pixels[i][ j] == 0 && Pixels[i][ j + 1] == 0 && Pixels[i][ j + 2] == 1 && Pixels[i][ j + 3] == 1){leftku1 = 1;leftku1next = j + 4;break;}}if (leftku1next != 0){for (j = leftku1next; j < 150; j++){if (Pixels[i][ j] == 0 && Pixels[i][ j + 1] == 0 && Pixels[i][ j + 2] == 1 && Pixels[i][ j + 3] == 1){leftku2 = 1;leftku2next = j + 4;break;}}}if (leftku2next != 0){for (j = leftku2next; j < 150; j++){if (Pixels[i][ j] == 0 && Pixels[i][ j + 1] == 0 && Pixels[i][ j + 2] == 1 && Pixels[i][ j + 3] == 1){leftku3 = 1;leftku3next = j + 4;break;}}}if (leftku3next != 0){for (j = leftku3next; j < 150; j++){if (Pixels[i][ j] == 0 && Pixels[i][ j + 1] == 0 && Pixels[i][j + 2] == 1 && Pixels[i][ j + 3] == 1){leftku4 = 1;leftku4next = j + 4;break;}}}if (leftku4next != 0){for (j = leftku4next; j < 150; j++){if (Pixels[i][j] == 0 && Pixels[i][j + 1] == 0 && Pixels[i][ j + 2] == 1 && Pixels[i][j + 3] == 1){leftku5 = 1;leftku5next = j + 4;break;}}}if (leftku1 == 1 && leftku2 == 1 && leftku3 == 1 && leftku4 == 1 && leftku5 == 1){haveleftku = 1;leftkuhang = i;recordhang = i + 7;break;}}}if (haveleftku == 1 && leftkuhang != 0){kumode = 2;if (huandao_memory != 0) { huandao_memory = 0; huandaojishu = huandaojishu - 1; }if (huandao_memoryforleft != 0) { huandao_memoryforleft = 0; huandaojishu = huandaojishu - 1; }}if (kumode==2){wankuflag = 0;truewankuflag=0;}
//    if (kumode == 2)//   {//       wankuflag = 0;//       truewankuflag=0;//   }if (haveleftku == 0){kumode = 0;}//type = 3;// type = 4;int hang, lie;//重新扫线左出左入开始if (kumode == 2 && type == 3){for (lie = 0; lie <184; lie++){if (lie >= (int)184) lie = 183;if ( Pixels[0][ lie] == 0 && Pixels[0][ lie + 1] == 1 && Pixels[0][ lie + 2] == 1) //黑白{R_black[0] = (unsigned char)(lie + 1);rightold = (int)(lie + 1);rightflag[0] = 1;break;}else{R_black[0] = 0;rightflag[0] = 0;}}for (hang = 1; hang < 50; hang++)  //1-70行扫右线{for (lie = R_black[hang - 1] - 2; lie < 184; lie++){if (lie <= 0) lie = 2;if (lie >= (int)184) lie = 183;if (Pixels[hang][ lie] == 0 && Pixels[hang][ lie + 1] == 1 && Pixels[hang][ lie + 2] == 1) //黑白{R_black[hang] = (unsigned char)(lie + 1);rightold = (int)(lie + 1);rightflag[hang] = 1;break;}else{R_black[hang] = 0;rightflag[hang] = 0;}}}for (hang = 0; hang < 50; hang++)  //1-70行扫右线{for (lie = R_black[hang]; lie < 184; lie++){if (lie >= (int)184) lie = 183;if (Pixels[hang][ lie] == 1 && Pixels[hang][ lie + 1] == 0 && Pixels[hang][ lie + 2] == 0)   //白黑{L_black[hang] = (unsigned char)(lie);leftold = (int16)(lie);leftflag[hang] = 1;break;}else{L_black[hang] = 186;leftflag[hang] = 0;}}}}if (kumode == 2 && type == 3&&threemode==6){firstku = 0;kuleftdownflag = 0;find_kuleftdown_point(5, 35);if (kuleftdownflag == 1){kuleftupflag = 0;if (kuleft_turn_down[0] >= 3 && kuleft_turn_down[0] <= 39){ find_kuleftup_point(kuleft_turn_down[0], 40); }else{find_kuleftup_point(3, 40);}}if (kuleftdownflag == 0){kuleftupflag = 0;find_kuleftup_point(3, 40);}if (kuleftdownflag == 1 && kuleftupflag == 1&& kuleft_turn_down[0]>=5){advanced_regression(1, kuleft_turn_down[0] - 5, kuleft_turn_down[0] - 3, kuleft_turn_up[0] + 2, kuleft_turn_up[0] + 4);leftlinefuzhi(parameterA, parameterB, 0, 50);int rightmax=0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(R_black[i], R_black[i - 1]) >= 5){rightmax = i;break;}}if (rightmax != 0){advanced_regression(2, rightmax+1, rightmax+2, rightmax+4, rightmax+5);R_blackfuzhi(parameterA, parameterB, 0, rightmax + 5);}firstku = 1;zhongxianfuzhi(0, 50);}if (kuleftdownflag == 0 && kuleftupflag == 1){advanced_regression(1, kuleft_turn_up[0]+1, kuleft_turn_up[0]+2, kuleft_turn_up[0] +4, kuleft_turn_up[0] + 5);leftlinefuzhi(parameterA, parameterB, 0, 50);int rightmax = 0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(R_black[i], R_black[i - 1]) >= 5){rightmax = i;break;}}if (rightmax != 0){advanced_regression(2, rightmax + 1, rightmax + 2, rightmax + 4, rightmax + 5);R_blackfuzhi(parameterA, parameterB, 0, rightmax + 5);}firstku = 1;zhongxianfuzhi(0, 50);}}if (kumode == 2 && type == 3&&rukuflag!=3&& threemode == 12){firstku = 0;kuleftdownflag = 0;find_kuleftdown_point(5, 35);if (kuleftdownflag == 1){kuleftupflag = 0;if (kuleft_turn_down[0] >= 3 && kuleft_turn_down[0] <= 39){ find_kuleftup_point(kuleft_turn_down[0], 40); }else{find_kuleftup_point(3, 40);}}if (kuleftdownflag == 0){kuleftupflag = 0;find_kuleftup_point(3, 40);}if (kuleftdownflag == 1 && kuleftupflag == 1 && kuleft_turn_up[0] >= 21&& kuleft_turn_down[0]>=5){advanced_regression(1, kuleft_turn_down[0] - 5, kuleft_turn_down[0] - 3, kuleft_turn_up[0] + 2, kuleft_turn_up[0] + 4);leftlinefuzhi(parameterA, parameterB, 0, 50);int rightmax = 0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(R_black[i], R_black[i - 1]) >= 5){rightmax = i;break;}}if (rightmax != 0){advanced_regression(2, rightmax + 1, rightmax + 2, rightmax + 4, rightmax + 5);R_blackfuzhi(parameterA, parameterB, 0, rightmax + 5);}zhongxianfuzhi(0, 50);if (kuleft_turn_up[0] > 35) rukuflag = 1;if (kuleft_turn_up[0]>=30&& kuleft_turn_up[0]<=35) rukuflag = 2;}if (kuleftdownflag == 0 && kuleftupflag == 1&& kuleft_turn_up[0] >= 21){advanced_regression(1, kuleft_turn_up[0] + 1, kuleft_turn_up[0] + 2, kuleft_turn_up[0] + 4, kuleft_turn_up[0] + 5);leftlinefuzhi(parameterA, parameterB, 0, 50);int rightmax = 0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(R_black[i], R_black[i - 1]) >= 5){rightmax = i;break;}}if (rightmax != 0){advanced_regression(2, rightmax + 1, rightmax + 2, rightmax + 4, rightmax + 5);R_blackfuzhi(parameterA, parameterB, 0, rightmax + 5);}zhongxianfuzhi(0, 50);if (kuleft_turn_up[0] > 35) rukuflag = 1;if (kuleft_turn_up[0] >= 30 && kuleft_turn_up[0] <= 35) rukuflag = 2;}if ((kuleftupflag == 1 && kuleft_turn_up[0] < 21)|| leftkuhang <= 11){for (i = 0; i < 50; i++){L_black[i] = 186;}R_black[kuleft_turn_up[0]] = (unsigned char)kuleft_turn_up[1];R_black[kuleft_turn_up[0]+1] = (unsigned char)(kuleft_turn_up[1]+3);R_black[0] = (unsigned char)0;R_black[2] = (unsigned char)3;advanced_regression(2, 0, 2, kuleft_turn_up[0], kuleft_turn_up[0] + 1);R_blackfuzhi(parameterA, parameterB, 0, 50);zhongxianfuzhi(0, 50);rukuflag = 3;for (i = 0; i < 50; i++){LCenterrecord[i] = LCenter[i];rightrecord[i] = R_black[i];leftrecord[i] = L_black[i];}}}//重新扫线左出左入结束//重新扫线右出右出开始if (kumode == 2 && type == 4){for (lie = 185; lie >=2; lie--){if ( Pixels[0][ lie] == 0 && Pixels[0][ lie - 1] == 1 && Pixels[0][ lie - 2] == 1){L_black[0] = (unsigned char)(lie - 1);leftold = (int)(lie - 1);leftflag[0] = 1;break;}else{L_black[0] = 186;leftflag[0] = 0;}}for (hang = 1; hang < 50; hang++)  //1-70行扫左线{for (lie = L_black[hang-1]+2; lie >=1; lie--)  //扫左线{if (lie <= 1) lie = 1;if (lie >= 184) lie = 184;if (Pixels[hang][ lie + 1] == 0 && Pixels[hang][ lie] == 0 && Pixels[hang][ lie - 1] == 1){L_black[hang] = (unsigned char)(lie - 1);leftold = (int)(lie - 1);leftflag[hang] = 1;break;}else{L_black[hang] = 186;leftflag[hang] = 0;}}}for (hang = 0; hang < 50; hang++)  //扫右线{for (lie = L_black[hang]; lie >= 1; lie--){if (lie >= (int)185) lie = 184;if (Pixels[hang][lie +1] == 1 && Pixels[hang][ lie] == 1 && Pixels[hang][lie - 1] == 0) //黑白{R_black[hang] = (unsigned char)(lie);rightold = (int16)(lie);rightflag[hang] = 1;break;}else{R_black[hang] = 0;rightflag[hang] = 0;}}}}if (kumode == 2 && type == 4 && threemode == 6)//&& threemode == 6{firstku = 0;kurightdownflag = 0;find_kurightdown_point(5, 35);if (kurightdownflag == 1){kurightupflag = 0;if (kuleft_turn_down[0] <= 39&& kuleft_turn_down[0]>=3){ find_kurightup_point(kuleft_turn_down[0], 40); }else{ find_kurightup_point(3, 40); }}if (kurightdownflag == 0){kurightupflag = 0;find_kurightup_point(3, 40);}if (kurightdownflag == 1 && kurightupflag == 1 && kuright_turn_down[0] >= 5) //{advanced_regression(2, kuright_turn_down[0] - 5, kuright_turn_down[0] - 3, kuright_turn_up[0] + 2, kuright_turn_up[0] + 4);R_blackfuzhi(parameterA, parameterB, 0, 50);int leftmax = 0;for (i = kuright_turn_up[0] + 2; i >= 1; i--){if (My_Abs(L_black[i], L_black[i - 1]) >= 5){leftmax = i;break;}}if (leftmax != 0){advanced_regression(1, leftmax + 1, leftmax + 2, leftmax + 4, leftmax + 5);leftlinefuzhi(parameterA, parameterB, 0, leftmax + 5);}zhongxianfuzhi(0, 50);firstku = 1;}if (kurightdownflag == 0 && kurightupflag == 1){advanced_regression(2, kuright_turn_up[0] + 1, kuright_turn_up[0] + 2, kuright_turn_up[0] + 4, kuright_turn_up[0] + 5);R_blackfuzhi(parameterA, parameterB, 0, 50);int leftmax = 0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(L_black[i], L_black[i - 1]) >= 5){leftmax = i;break;}}if (leftmax != 0){advanced_regression(1, leftmax + 1, leftmax + 2, leftmax + 4, leftmax + 5);leftlinefuzhi(parameterA, parameterB, 0, leftmax + 5);}zhongxianfuzhi(0, 50);firstku = 1;}}if (kumode == 2 && type == 4 && rukuflag != 3 && threemode == 12) //{firstku = 0;kurightdownflag = 0;find_kurightdown_point(5, 35);if (kurightdownflag == 1){kurightupflag = 0;if (kuleft_turn_down[0] <= 39&& kuleft_turn_down[0]>=3){ find_kurightup_point(kuleft_turn_down[0], 40); }else{ find_kurightup_point(3, 40); }}if (kurightdownflag == 0){kurightupflag = 0;find_kurightup_point(3, 40);}if (kurightdownflag == 1 && kurightupflag == 1 && kuright_turn_down[0] >= 5 && kuright_turn_up[0] >= 21) //{advanced_regression(2, kuright_turn_down[0] - 5, kuright_turn_down[0] - 3, kuright_turn_up[0] + 2, kuright_turn_up[0] + 4);R_blackfuzhi(parameterA, parameterB, 0, 50);int leftmax = 0;for (i = kuright_turn_up[0] + 2; i >= 1; i--){if (My_Abs(L_black[i], L_black[i - 1]) >= 5){leftmax = i;break;}}if (leftmax != 0){advanced_regression(1, leftmax + 1, leftmax + 2, leftmax + 4, leftmax + 5);leftlinefuzhi(parameterA, parameterB, 0, leftmax + 5);}zhongxianfuzhi(0, 50);if (kuright_turn_up[0] > 35) rukuflag = 1;if (kuright_turn_up[0] >= 30 && kuright_turn_up[0] <= 35) rukuflag = 2;}if (kurightdownflag == 0 && kurightupflag == 1 && kuright_turn_up[0] >= 21){advanced_regression(2, kuright_turn_up[0] + 1, kuright_turn_up[0] + 2, kuright_turn_up[0] + 4, kuright_turn_up[0] + 5);R_blackfuzhi(parameterA, parameterB, 0, 50);int leftmax = 0;for (i = kuleft_turn_up[0] + 2; i >= 1; i--){if (My_Abs(L_black[i], L_black[i - 1]) >= 5){leftmax = i;break;}}if (leftmax != 0){advanced_regression(1, leftmax + 1, leftmax + 2, leftmax + 4, leftmax + 5);leftlinefuzhi(parameterA, parameterB, 0, leftmax + 5);}zhongxianfuzhi(0, 50);if (kuright_turn_up[0] > 35) rukuflag = 1;if (kuright_turn_up[0] >= 30 && kuright_turn_up[0] <= 35) rukuflag = 2;}if ( (kurightupflag == 1 && kuright_turn_up[0]< 21)||leftkuhang<=11){for (i = 0; i < 50; i++){R_black[i] = 0;}L_black[kuright_turn_up[0]] = (unsigned char)kuright_turn_up[1];L_black[kuright_turn_up[0] + 1] = (unsigned char)(kuright_turn_up[1]-3);L_black[0] = (unsigned char)186;L_black[2] = (unsigned char)183;advanced_regression(1, 0, 2, kuright_turn_up[0], kuright_turn_up[0] + 1);leftlinefuzhi(parameterA, parameterB, 0, 50);zhongxianfuzhi(0, 50);rukuflag = 3;for (i = 0; i < 50; i++){LCenterrecord[i] = LCenter[i];rightrecord[i] = R_black[i];leftrecord[i] = L_black[i];}}}//重新扫线右出右入结束if (rukuflag == 3){for (i = 0; i < 50; i++){LCenter[i] = (unsigned char)LCenterrecord[i];R_black[i] = (unsigned char)rightrecord[i];L_black[i] = (unsigned char)leftrecord[i];}}if (countfirstku != 0) countfirstku = countfirstku + 1; //第一次入库保护if (countfirstku == 5) countfirstku = 0;if (firstku == 0 && lastfirstku == 1) countfirstku = 1;lastfirstku = firstku;
}

二、辅助函数

void find_kurightdown_point(int start_point, int end_point)//得到拐点的行与列 int{int j;if (end_point >= break_hangshu) end_point = break_hangshu - 2;for (j = start_point; j <= end_point; j++){if (My_Abs(R_black[j - 3], R_black[j - 2]) <= 3 && My_Abs(R_black[j - 2], R_black[j - 1]) <= 3 && My_Abs(R_black[j - 1], R_black[j]) <= 3 && My_Abs(R_black[j], R_black[j + 1]) >= 6 && ((L_black[j]-R_black[j]>40&&j<25)||j>=25)&&(R_black[j+1]<=10|| R_black[j + 2] <= 10 || R_black[j + 3] <= 10 || R_black[j + 4] <= 10|| (My_Abs(R_black[j], R_black[j+4])>=30&& R_black[j + 4]!=0))&& rightflag[j - 3] == 1 && rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1) //样本为4行，图变差据{int record = 0;int i;record = j;for (i = j; i >= 1; i--){if (R_black[i] == R_black[i - 1]) record = i - 1;if (R_black[i] != R_black[i - 1]) break;}kuright_turn_down[0] = (int)(record);//数组里面没有第0行kuright_turn_down[1] = R_black[record];kurightdownflag = 1;break;                //记住具体的行与列}}}void find_kuleftdown_point(int start_point, int end_point){int j;if (end_point >= break_hangshu) end_point = break_hangshu - 2;for (j = start_point; j <= end_point; j++){if (My_Abs(L_black[j - 3], L_black[j - 2]) <= 3 && My_Abs(L_black[j - 2], L_black[j - 1]) <= 3 && My_Abs(L_black[j - 1], L_black[j]) <= 3 && (My_Abs(L_black[j], L_black[j + 1]) >= 6||(My_Abs(L_black[j], L_black[j + 1]) >= 4 && L_black[j + 1]==186)) && ((L_black[j] - R_black[j] > 40 && j < 25) || j >= 25)&& (L_black[j + 1] >=175 || L_black[j + 2] >= 175 || L_black[j + 3] >= 175 || L_black[j + 4] >= 175 || (My_Abs(L_black[j ], L_black[j+4])>=30&& L_black[j + 4]!=0))&& leftflag[j - 3] == 1 && leftflag[j - 2] == 1 && leftflag[j - 1] == 1 && leftflag[j] == 1&& L_black[j]>=60) //样本为4行，图变差据{int record = 0;int i;record = j;for (i = j; i >= 1; i--){if (L_black[i] == L_black[i - 1]) record = i - 1;if (L_black[i] != L_black[i - 1]) break;}kuleft_turn_down[0] = (int)(record);//数组里面没有第0行kuleft_turn_down[1] = L_black[record]; //记住行与列kuleftdownflag = 1;break; //找到突变点之后就跳出}}}void find_kurightup_point(int start_point, int end_point){int j;//for (j = end_point; j >= start_point; j--)for (j = start_point; j <= end_point; j++){if (My_Abs(R_black[j + 2], R_black[j + 1]) <= 4 && My_Abs(R_black[j + 1], R_black[j]) <= 4 && My_Abs(R_black[j + 3], R_black[j + 2]) <= 4 && My_Abs(R_black[j], R_black[j - 1]) >= 5 && R_black[j] <=93&& rightflag[j] == 1 && rightflag[j + 1] == 1 && rightflag[j + 2] == 1 && rightflag[j + 3] == 1&&R_black[j]>=3) //样本为4行，图变差据{int record = 0;int i;record = j;for (i = j; i >= 1; i--){if (R_black[i] == R_black[i - 1]) record = i - 1;if (R_black[i] != R_black[i - 1]) break;}kuright_turn_up[0] = (int)(record);//数组里面没有第0行kuright_turn_up[1] = R_black[record]; //记住行与列kurightupflag = 1;break; //找到突变点之后就跳出}}}void find_kuleftup_point(int start_point, int end_point){int j;//for (j = end_point; j>= start_point; j--)for (j = start_point; j <= end_point; j++){if (My_Abs(L_black[j+2], L_black[j+1]) <= 4 && My_Abs(L_black[j+1], L_black[j]) <= 4 && My_Abs(L_black[j +3], L_black[j+2]) <= 4 && My_Abs(L_black[j], L_black[j -1]) >= 5&&L_black[j]>=93&& leftflag[j] == 1 && leftflag[j+1] == 1 && leftflag[j+2] == 1 && leftflag[j+3] == 1&&L_black[j]<=183) //样本为4行，图变差据{int record = 0;int i;record = j;for (i = j; i >= 1; i--){if (L_black[i] == L_black[i - 1]) record = i - 1;if (L_black[i] != L_black[i - 1]) break;}kuleft_turn_up[0] = (int)(record);//数组里面没有第0行kuleft_turn_up[1] = L_black[record]; //记住行与列kuleftupflag = 1;break; //找到突变点之后就跳出}}}
void advanced_regression(int type, int startline1, int endline1, int startline2, int endline2)
{int i = 0;int sumlines1 = endline1 - startline1;int sumlines2 = endline2 - startline2;int sumX = 0;int sumY = 0;float averageX = 0;float averageY = 0;float sumUp = 0;float sumDown = 0;if (type == 0)  //拟合中线{/**计算sumX sumY**/for (i = startline1; i < endline1; i++){sumX += i;sumY += LCenter[i];}for (i = startline2; i < endline2; i++){sumX += i;sumY += LCenter[i];}averageX =(float)( sumX / (sumlines1 + sumlines2));     //x的平均值averageY = (float)(sumY / (sumlines1 + sumlines2));     //y的平均值for (i = startline1; i < endline1; i++){sumUp += (LCenter[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}for (i = startline2; i < endline2; i++){sumUp += (LCenter[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}if (sumDown == 0) parameterB = 0;else parameterB = sumUp / sumDown;parameterA = averageY - parameterB * averageX;}else if (type == 1)     //拟合左线{/**计算sumX sumY**/for (i = startline1; i < endline1; i++){sumX += i;sumY += L_black[i];}for (i = startline2; i < endline2; i++){sumX += i;sumY += L_black[i];}averageX =(float)( sumX / (sumlines1 + sumlines2));     //x的平均值averageY = (float)(sumY / (sumlines1 + sumlines2));     //y的平均值for (i = startline1; i < endline1; i++){sumUp += (L_black[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}for (i = startline2; i < endline2; i++){sumUp += (L_black[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}if (sumDown == 0) parameterB = 0;else parameterB = sumUp / sumDown;parameterA = averageY - parameterB * averageX;}else if (type == 2)         //拟合右线{/**计算sumX sumY**/for (i = startline1; i < endline1; i++){sumX += i;sumY += R_black[i];}for (i = startline2; i < endline2; i++){sumX += i;sumY += R_black[i];}averageX =(float)( sumX / (sumlines1 + sumlines2));     //x的平均值averageY = (float)(sumY / (sumlines1 + sumlines2));     //y的平均值for (i = startline1; i < endline1; i++){sumUp += (R_black[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}for (i = startline2; i < endline2; i++){sumUp += (R_black[i] - averageY) * (i - averageX);sumDown += (i - averageX) * (i - averageX);}if (sumDown == 0) parameterB = 0;else parameterB = sumUp / sumDown;parameterA = averageY - parameterB * averageX;}}
//求两数之差绝对值开始
int My_Abs(int a, int b)
{if ((a - b) > 0)return ((int)(a - b));else return ((int)(b - a));
}
//求两数之差绝对值结束void leftlinefuzhi(float A, float B, int8 start_point, int8 end_point)
{int8 m;for (m = start_point; m <= end_point; m++){if((B * m + A)>=255) L_black[m]=255;if((B * m + A)<=0) L_black[m]=0;else if(0<(B * m + A)&&(B * m + A)<255)L_black[m] = (int8)(B * m + A);}
}void R_blackfuzhi(float A, float B, int8 start_point, int8 end_point)
{int8 m;for (m = start_point; m <= end_point; m++){if ((B * m + A) < 0) {R_black[m] = 0; }else if((B * m + A) >=0&&(B * m + A)<=255) R_black[m] = (int8)(B * m + A);if((B * m + A)>=255) R_black[m]=255;}
}void zhongxianfuzhi( int8 start_point, int8 end_point){int8 m;for (m = start_point; m <= end_point; m++){LCenter[m] = (int8)(L_black[m]/2 + R_black[m]/ 2);}}

总结
根据出库不同的

type，进入不同模式

的车库判断。代码运行成功，就可以成功判断车库并且补线。

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智能车图像处理7-车库的判断

前言

一、函数主体

二、辅助函数

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