智能车图像处理8-右环岛状态机与补线
前言
这篇文章主要讲述智能车竞赛中如何判断右环岛并且进行状态补线。
一、函数主体
/*
注释1:环岛的八个状态
环岛分为八个状态。以右环岛为例，一二三状态都在未入环的直道上，这时候需要把右环岛的
中拐点和下拐点拉起来，补成一条标准的直道。四状态在右环岛的入口那边，需要把右环岛的
上拐点和左边边线上的某一点连线，封住前方的道路，让车模进入圆环。五六状态都在环岛里
面跑，没有什么技巧。其状态就是到出环岛的口了，这时候需要把左下角的点和白色赛道的右
上角的点连起来，让车子右转。八状态车模基本上就已经正了，这个时候需要做的事把右环岛
中拐点和上拐点连起来，让车模跑直线。
*/
/*注释2:
各个变量的含义
huandaotype:环岛的类型，在跑之前先手动输入环岛大小 50 / 60... 来给出不同的判断
turepodaoflag :坡道标志位，即坡道上不判断
countpodao :坡道结束的帧数计数
rukuflag :车库标志位，在判断要进入车库时不判环岛
threemode :三叉模式标志位
firstku、countfirstku:第一次经过车库时标志位(因为我的车要跑两圈)
truedoubleright :找到右边线的双断点时置1
huandao_memory :环岛状态标志位
flag_find_huan_leftdown_point
flag_find_huan_rightdown_point
flag_find_huan_rightmiddle_point
flag_find_huan_leftmiddle_point
flag_find_huan_rightup_point
flag_find_huan_leftup_point :环岛的拐点是否找到的标志
ROUNDISLAND:这个是个常量，大家可以直接忽视
right_turn_down[0]
right_turn_down[1]:诸如此类的是拐点的数组，0存的是行数，1存的是列数
R_black[70]/L_black[70]:左右边线数组
calkuan[i]:第i行的宽度
truepianfangflag [i]:方差是否满足标志位，大家可以看环岛辅助判断的文章，有具体方法
leftk :左边线之前算出的斜率
break_hangshu:左边线的有效行数
huandao_flag ：是否判断到环岛的标志
huandao_flag_R_L:左环还是右环
crossrecord
crossderecord
cross31 :这三个没有用 大家直接忽略
parameterB :斜率
*/
void juge_left_succesive_and_if_k_limit()
{
if (huandaotype!=0&&turepodaoflag == 0 && (countpodao == 0 || countpodao > 1) && rukuflag == 0 && (threemode == 0 || threemode == 6 || threemode == 12) && firstku==0&&countfirstku==0)
{
if (truedoubleright != 0 || huandao_memory != 0)
{
if (huandao_memoryforleft == 0)
{
int i;
float leftk=0;
cakkuandu();
flag_find_huan_leftdown_point = 0;
flag_find_huan_rightdown_point = 0;
flag_find_huan_rightmiddle_point = 0;
flag_find_huan_leftmiddle_point = 0;
flag_find_huan_rightup_point = 0;
flag_find_huan_leftup_point = 0;
if (huandao_memory != 3&& huandao_memory != 4) //环岛找拐点开始 右下
{
if (huandaotype != 1&& huandaotype != 6)
{ findhuan_rightdown_point(3, 28, ROUNDISLAND); }
if (huandaotype == 1)
{ findhuan_rightdown_point(3, 22, ROUNDISLAND); }
if (huandaotype == 6)
{ findhuan_rightdown_point(3, 34, ROUNDISLAND); }
}
if (huandao_memory == 3)
{
if (huandaotype == 1)
{ findhuan_rightdown_point(3, 10, ROUNDISLAND); }
if (huandaotype == 2)
{ findhuan_rightdown_point(3, 10, ROUNDISLAND); }
if (huandaotype == 3)
{ findhuan_rightdown_point(3, 14, ROUNDISLAND); }
if (huandaotype == 6)
{ findhuan_rightdown_point(3, 16, ROUNDISLAND); }
}
if (huandao_memory == 4)
{
findhuan_rightdown_point(3, 18, ROUNDISLAND);
}
findhuan_leftdown_point(5, 32, ROUNDISLAND); //左下
if (flag_find_huan_rightdown_point == 1 && (right_turn_down[0] + 8) < 45&&huandaotype!=3)//右中 下找到
{
if (huandao_memory != 4)
{ findhuan_rightmiddle_point(right_turn_down[0] + 8, 46); }
if (huandao_memory == 4)
{ findhuan_rightmiddle_point(right_turn_down[0] + 8, 40); }
}
if (flag_find_huan_rightdown_point == 0 && huandaotype != 3)
{
if (huandao_memory != 4)
{ findhuan_rightmiddle_point(3, 46);
}
if (huandao_memory == 4)
{
findhuan_rightmiddle_point(3, 46);
}
}
if (flag_find_huan_rightdown_point == 1 && (right_turn_down[0] + 8) < 45 && huandaotype == 3)//右中 下找到
{
if (huandao_memory != 4)
{ findhuan_rightmiddle_point(right_turn_down[0] + 8, 46); }
if (huandao_memory == 4)
{ findhuan_rightmiddle_point(right_turn_down[0] + 8, 40); }
}
if (flag_find_huan_rightdown_point == 0 && huandaotype == 3)
{
if (huandao_memory != 4)
{ findhuan_rightmiddle_point(3, 46); }
if (huandao_memory == 4)
{
findhuan_rightmiddle_point(3, 40);
}
}
if (flag_find_huan_leftdown_point == 1 && (left_turn_down[0] + 3) < 45) //左中 下找到
{ findhuan_leftmiddle_point(left_turn_down[0] + 3, 45); }
if (flag_find_huan_leftdown_point == 0)
{ findhuan_leftmiddle_point(3, 45); }
if (flag_find_huan_rightmiddle_point == 1 && (right_turn_middle[0] + 2) < 50)
{ findhuan_rightup_point(right_turn_middle[0] + 2, 50, ROUNDISLAND); } //右上
if (flag_find_huan_rightmiddle_point == 0)
{ findhuan_rightup_point(25, 50, ROUNDISLAND); }
if (flag_find_huan_leftmiddle_point == 1 && (left_turn_middle[0] + 2) < 50) //左上
{ findhuan_leftup_point(left_turn_middle[0] + 2, 50, ROUNDISLAND); }
if (flag_find_huan_leftmiddle_point == 0)
{ findhuan_leftup_point(25, 50, ROUNDISLAND); }
if (huandao_memory == 4) { flag_find_huan_rightup_point = 0; findhuan_rightup_point44(20, 40, ROUNDISLAND); }//环岛找拐点结束
if (huandao_memory == 7) { flag_find_huan_leftout_point = 0; findhuan_leftout_point(5, 35, ROUNDISLAND); }
int begin = 0;
for (i = 3; i < 50; i++)
{
if (R_black[i] == 0 && R_black[i + 1] == 0 && R_black[i + 2] != 0)
{
begin = i + 2;
break;
}
}
if (huandao_memory == 7 && begin > 3) { flag_find_huan_rightup_point = 0; findhuan_rightup_point77(3, begin+5, ROUNDISLAND); }
for (i = 0; i < 12; i++)
{
if (R_black[i] <= 4)
{
Rhave0 = 1;
break;
}
Rhave0 = 0;
}
if (huandao_memory == 4)
{
if (Rhave0 == 1)
{
flag_find_huan_rightmiddle_point = 0;
findhuan_rightmiddle_point(3, 30);
}
if (Rhave0 == 0)
{
flag_find_huan_rightmiddle_point = 0;
findhuan_rightmiddle_point(3, 20);
}
}
int hang;
int end=0;
for (hang = 1; hang < 69; hang++) //去掉杂点
{
if (LCenter[hang] == 0 && LCenter[hang + 1] == 0)
{
end = hang - 1;
break;
}
if (My_Abs(LCenter[hang], LCenter[hang + 1]) > 20 && hang > 5)
{
end = hang - 1;
break;
}
}
if (end > 10)
{
advanced_regression(1, end - 4, end - 3, end - 2, end);
leftk = parameterB;
}
regression(1, break_hangshu - 9, break_hangshu - 7);
if (huandao_memory <= 8)
{
/*******行驶到环岛出口或者在行驶到环岛出口前********/
if (huandao_memory <= 3)
{ // 30
if (huandao_memory == 2)
{
if ((R_black[10] <= 8)
)
{
// SetText("行驶到环岛出口（没进环岛呢）");
huandao_memory = 3;
huandao_procedure_variable = 1;
}
}
else if (huandao_memory == 0 && right_turn_down[0] > 3 && right_turn_down[0] <= 40 &&
flag_find_huan_rightdown_point == 1 &&
(calkuan[26] > 80 || calkuan[27] > 80 || calkuan[28] > 80 || calkuan[29] > 80 || calkuan[30] > 80
|| calkuan[31] > 80 || calkuan[32] > 80 || calkuan[33] > 80 || calkuan[34] > 80 || calkuan[35] > 80 || calkuan[36] > 80)
&& truepianfangflag == 1 && continueleft == 1 && huandao_memoryforleft == 0
&& leftk >= -5&&break_hangshu>=37)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
huandao_memory = 1;
crossrecord = 0;
crossderecord = 0;
cross31 = 0;
// SetText("行驶到环岛出口前（没进环岛呢）(远)");
}
//快速进入右边环岛3
else if ((huandao_memory == 0 || huandao_memory == 1) && ((right_turn_middle[0] > 3 && right_turn_middle[0] <= 32&&huandaotype!=6&&huandaotype!=1)|| (right_turn_middle[0] > 3 && right_turn_middle[0] <= 39 && huandaotype == 6)||(right_turn_middle[0] > 3 && right_turn_middle[0] <= 35 && huandaotype == 1)) &&
flag_find_huan_rightmiddle_point == 1 && break_hangshu >= 37 && ( continueleft == 1 && huandao_memoryforleft == 0) && (((L_black[6] <= 160 && R_black[6] <= 10 &&
L_black[7] <= 160 && R_black[7] <= 10 && L_black[8] <= 160 && R_black[8] <= 10 && L_black[9] <= 160 && R_black[9] <= 10) || ((L_black[6] - R_black[6] > 165 && L_black[7] - R_black[7] > 165 &&
L_black[8] - R_black[8] > 165 && L_black[9] - R_black[9] > 165)))|| ((L_black[6] <= 150 && R_black[6] <= 1 &&
L_black[7] <= 150 && R_black[7] <= 1 && L_black[8] <= 150 && R_black[8] <= 1 && L_black[9] <= 160 && R_black[9] <= 1) ))
&& truepianfangflag == 1&& right_turn_middle[0]<=break_hangshu-8 )/*&& */
{
huandao_flag = 1;
huandao_flag_R_L = 2;
huandao_memory = 3;
crossrecord = 0;
crossderecord = 0;
cross31 = 0;
// SetText("break_hangshu "+ break_hangshu);
// SetText("right_turn_middle[0] "+ right_turn_middle[0]);
// SetText("快速进入右边环岛3");
}
else if (huandao_memory == 3 && right_turn_middle[0] >= 0 && right_turn_middle[0] <= 20 && flag_find_huan_rightmiddle_point == 1 && huandaotype == 6)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
flag_rukou = 1;
huandao_memory = 4;
// SetText("行驶到环岛出口前（没进环岛呢）(远)11");
}
else if (huandao_memory == 3 && right_turn_middle[0] >= 0 && right_turn_middle[0] <= 20 && flag_find_huan_rightmiddle_point == 1 && huandaotype == 4)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
flag_rukou = 1;
huandao_memory = 4;
//SetText("行驶到环岛出口前（没进环岛呢）(远)22");
}
else if (huandao_memory == 3 && right_turn_middle[0] >= 0 && right_turn_middle[0] <= 20 && flag_find_huan_rightmiddle_point == 1&&huandaotype==3)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
flag_rukou = 1;
huandao_memory = 4;
// SetText("行驶到环岛出口前（没进环岛呢）(远)22");
}
else if (huandao_memory == 3 && right_turn_middle[0] >= 0 && right_turn_middle[0] <= 18 && flag_find_huan_rightmiddle_point == 1 && huandaotype == 2)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
flag_rukou = 1;
huandao_memory = 4;
// SetText("行驶到环岛出口前（没进环岛呢）(远)33");
}
else if (huandao_memory == 3 && right_turn_middle[0] >= 0 && right_turn_middle[0] <= 18 && flag_find_huan_rightmiddle_point == 1 && huandaotype == 1)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
flag_rukou = 1;
huandao_memory = 4;
// SetText("行驶到环岛出口前（没进环岛呢）(远)444");
}
if (huandao_memory == 1 && ((right_turn_down[0] <= 15 && right_turn_down[0] > 0 && flag_find_huan_rightdown_point == 1) ||
(right_turn_middle[0] <= 37 && right_turn_middle[0] > 0 && flag_find_huan_rightmiddle_point == 1 && flag_find_huan_rightdown_point == 0)) && break_hangshu >= 35)
{
huandao_flag = 1;
huandao_flag_R_L = 2;
huandao_memory = 2;
// SetText("行驶到环岛出口前（没进环岛呢）(远)555");
}
}
else if (huandao_memory == 4 && break_hangshu <= 31&&huandaotype!=3&&((L_black[end]-R_black[end]<75&& L_black[end] - R_black[end]!=0) || (L_black[end-1] - R_black[end-1] < 75 && L_black[end-1] - R_black[end-1] != 0) || (L_black[end-2] - R_black[end-2] < 75 && L_black[end-2] - R_black[end-2] != 0) )&&huandaotype!=3 && huandaotype != 6)
{
huandao_flag = 1;
flag_rukou2 = 1;
huandao_memory = 5;
// SetText("行驶到环岛入口（没进环岛呢）");
}
else if (huandao_memory == 4 && break_hangshu <= 31 && huandaotype == 3&& ((L_black[end] - R_black[end] < 75 && L_black[end] - R_black[end] != 0) || (L_black[end - 1] - R_black[end - 1] < 75 && L_black[end - 1] - R_black[end - 1] != 0) || (L_black[end - 2] - R_black[end - 2] < 75 && L_black[end - 2] - R_black[end - 2] != 0)))
{
huandao_flag = 1;
flag_rukou2 = 1;
huandao_memory = 5;
// SetText("行驶到环岛入口（没进环岛呢）");
}
else if (huandao_memory == 4 && break_hangshu <= 35 && huandaotype == 6 && ((L_black[end] - R_black[end] < 75 && L_black[end] - R_black[end] != 0) || (L_black[end - 1] - R_black[end - 1] < 75 && L_black[end - 1] - R_black[end - 1] != 0) || (L_black[end - 2] - R_black[end - 2] < 75 && L_black[end - 2] - R_black[end - 2] != 0)))
{
huandao_flag = 1;
flag_rukou2 = 1;
huandao_memory = 5;
// SetText("行驶到环岛入口（没进环岛呢）");
}
else if (huandao_memory == 5 && break_hangshu <= 31&&huandaotype!=6)
{
huandao_flag = 1;
huandao_memory = 6;
flag_rukou = 3;
}
else if (huandao_memory == 5 && break_hangshu <= 35 && huandaotype == 6)
{
huandao_flag = 1;
huandao_memory = 6;
flag_rukou = 3;
}
else if (huandao_memory == 6 && left_turn_down[0] >= 1 && left_turn_down[0] <= 22 && flag_find_huan_leftdown_point == 1&&left_turn_down[1] >= 20 )
{
huandao_flag = 1;
huandao_memory = 7;
//SetText("出环了");
}
else if (huandao_memory == 7 && flag_find_huan_rightup_point == 1 && parameterB <= 2&&( flag_find_huan_leftout_point==0|| left_turn_out[0] >= 30)&& huandaotype!=6)
{
huandao_flag = 1;
huandao_memory = 8;
}
else if (huandao_memory == 7 && flag_find_huan_rightup_point == 1 && parameterB <= 2 && (flag_find_huan_leftout_point == 0 || left_turn_out[0] >= 30) && huandaotype == 6 && right_turn_down[0] >= 20)
{
huandao_flag = 1;
huandao_memory = 8;
}
else if (huandao_memory == 8 && rightflag[15] == 1 && rightflag[16] == 1 && rightflag[17] == 1 && (continueright == 1 || kuleftdownflag == 1 || kurightdownflag == 1 || kuleftupflag == 1 || kurightupflag == 1)&&R_black[10]!=0&&R_black[11]!=0)
{
huandao_memory = 9;
huandao_memory = 0;
huandao_flag = 0;
huandao_procedure_variable = 0;
}
}
R_mend_leftline_right_island((int)huandao_memory, (int)huandao_flag_R_L);
R_mend_rightline_right_island((int)huandao_memory, (int)huandao_flag_R_L);
if (huandao_memory == 5 || huandao_memory == 6)
{
advanced_regression(1, 6, 8, 10, 12);
if (parameterB == 0)
{
advanced_regression(1, 0, 2, right_turn_up[0], right_turn_up[0] + 1);
leftlinefuzhi(parameterA, parameterB, 0, 60);
}
}
last_memory = huandao_memory;
int j = 0;
if (huandao_memory <= 8 && huandao_memory != 0)
{
for (j = 0; j < 70; j++)
{
LCenter[j] = (unsigned char)((L_black[j] + R_black[j]) / 2);
}
}
}
}
}
}
//右环岛主体结束
二、辅助函数
//右环岛左线开始
void R_mend_leftline_right_island(int type, int flag_R_L)
{
if (flag_R_L == 2)
{
// SetText("TYPE:" + type);
if (type == 4) //状态机4的拉线 封住环岛前方赛道
{
int j;
int delta = right_turn_up[0] - 0;
if (delta == 0) delta = 1;
float k = (right_turn_up[1] - L_black[0]) * 1.0f / (delta * 1.0f);
// setText用户自定义("斜率" + k);
float b = L_black[0];
for (j = (int)0; j <= (int)right_turn_up[0]; j++)
{
int jicun = ((int)(k * j + b));
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
L_black[j] = (unsigned char)jicun;
}
}
else if (type == 5) //重新扫线，从左边往右边扫 取消掉一半
{
int j = 0;
if (right_turn_up[0] >= 4)
{
int delta = right_turn_up[0] - 3;
if (delta == 0) delta = 1;
float k = (right_turn_up[1] - L_black[3]) * 1.0f / (delta * 1.0f);
float b = L_black[3] - k * 3;
if (right_turn_up[0] <= 24)
{
right_turn_up[0] = 24;
for (int ss = 0; ss <= 24; ss++)
{
R_black[ss] = 0;
}
}
for (j = (int)3; j <= (int)right_turn_up[0]; j++)
{
int jicun = ((int)(k * j + b));
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
L_black[j] = (unsigned char)jicun;
}
}
}
else if (type == 6) //状态6正常处理
{
int j = 0;
int youguai_y = 0;
int youguai_x = 0;
int leftguai_y = 0;
int leftguai_x = 0;
/***找左下拐点***********/
for (j = 2; j <= 60; j++)
{
if (L_black[j - 1] - L_black[j - 2] <= 0 && L_black[j] - L_black[j - 1] >= 0 && (L_black[j + 1] - L_black[j] > 0)
&& leftflag[j - 2] == 1 && leftflag[j - 1] == 1 && leftflag[j] == 1)
{
leftguai_y = (int)(j - 1);
leftguai_x = L_black[j - 1];
break;
}
}
for (j = 8; j <= 60; j++)
{
//右连接处
if (R_black[j] != 0)
{
youguai_y = j;
youguai_x = R_black[j];
break;
}
}
if (leftguai_y != 0 && leftguai_x != 0 && youguai_y != 4 && youguai_x != 0)
{
//SetText("找到右上拐点");
//SetText("右上拐点坐标：" + youguai_y + " " + youguai_x);
//SetText("找到左下拐点");
//SetText("左下拐点坐标：" + leftguai_y + " " + leftguai_x);
if (youguai_y >= leftguai_y + 4)
{
jiansu_flag = 1;
}
else jiansu_flag = 0;
//开始拉线
int delta = youguai_y - leftguai_y;
if (delta == 0) delta = 1;
float k = (youguai_x - leftguai_x) * 1.0f / delta;
float b = leftguai_x - k * leftguai_y;
if (youguai_y >= leftguai_y)
{
for (j = (int)leftguai_y; j <= (int)youguai_y; j++)
{
int jicun = ((int)(k * j + b));
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
L_black[j] = (unsigned char)jicun;
}
}
}
}
else if (type == 7) //状态7拉线
{
// parameterA = 140;
// parameterB = -4;
// leftlinefuzhi(parameterA, parameterB, 0, 60);
int begin = 3;
int i;
if (huandaotype != 6)
{
for (i = 1; i < 50; i++)
{
if (Pixels[i - 1][ 10] == 1 && Pixels[i][ 10] == 1 && Pixels[i + 1][ 10] != 1)
{
begin = i;
break;
}
}
}
if (huandaotype == 6)
{
for (i = 1; i < 50; i++)
{
if (Pixels[i - 1][ 20] == 1 && Pixels[i][ 20] == 1 && Pixels[i + 1][ 20] != 1)
{
begin = i;
break;
}
}
}
if (begin == 3) { begin = 30; }
if (flag_find_huan_leftout_point == 1&& left_turn_out[0]<30)
{
L_black[begin] = 0;
L_black[begin - 1] = 10;
advanced_regression(1, left_turn_out[0] - 2, left_turn_out[0], begin - 1, begin);
leftlinefuzhi(parameterA, parameterB, (char)0, 60);
}
else
{
L_black[begin] = 0;
L_black[begin - 1] = 10;
advanced_regression(1, 0, 1, begin - 1, begin);
leftlinefuzhi(parameterA, parameterB, 0, 60);
}
}
else if (type == 8)
{
flag_blank_out_huandao = 0;
}
}
}
//右环岛左线结束
//右环岛右线开始
void R_mend_rightline_right_island(int type, int flag_R_L)
{
int i = 0;
flag_R_L = 2;
if (flag_R_L == 2)
{
if (type == 1 || type == 2)//状态机1和2操作从下拐点开始往上拉，拉到上拐点下五行 type右线赋值操作
{
int j = 0;
if (right_turn_down[0] >= 3 && right_turn_middle[0] >= 2 && right_turn_middle[0] >= right_turn_down[0])
{
advanced_regression(2, right_turn_down[0] - 2, right_turn_down[0], right_turn_middle[0] - 1, right_turn_middle[0]);
for (j = (int)right_turn_down[0]; j <= (int)right_turn_middle[0]; j++)
{
int jicun = (int)(parameterB * j + parameterA);
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
R_black[j] = (unsigned char)jicun;
}
}
else
{
advanced_regression(2, 6, 8, 10, 12);
for (j = 0; j <= right_turn_down[0] + 10; j++)
{
int jicun = (int)(parameterB * j + parameterA);
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
R_black[j] = (unsigned char)jicun;
}
}
}
else if (type == 3) //状态机三操作---仍旧拉底下的线
{
int j = 0;
int delta = right_turn_middle[0] - 0;
if (delta == 0) delta = 1;
float k = (right_turn_middle[1] - R_black[0]) * 1.0f / delta;
float b = R_black[0];
for (j = (int)0; j <= (int)right_turn_middle[0]; j++)
{
int jicun = ((int)(k * j + b));
if (jicun >= 185) jicun = 185;
else if (jicun <= 0) jicun = 0;
R_black[j] = (unsigned char)jicun;
}
}
else if (type == 8)
{
int begin = 1;
for (i = 0; i < 50; i++)
{
if (R_black[i] == 0 && R_black[i + 1] == 0 && R_black[i + 2] != 0)
{
begin = i + 2;
break;
}
}
if (begin != 1)
{
if (R_black[begin + 7] != 0)
{
if (begin <= 27)
{ advanced_regression(2, begin + 5, begin + 6, begin + 7, begin + 8);
}
if (begin >=28)
{ regression(2, begin+3 , begin + 5);
}
monirightfuzhi(parameterA, parameterB, 0, 60);
if (moniright[2] < L_black[2] && moniright[6] < L_black[6] && moniright[10] < L_black[10] && moniright[14] < L_black[14])
{ R_blackfuzhi(parameterA, parameterB, 0, begin + 2); }
}
else
{
if (begin <= 27)
{ advanced_regression(2, begin + 5, begin + 6, begin + 7, begin + 8);
}
if (begin >= 28)
{ regression(2, begin + 3, begin + 5);
}
monirightfuzhi(parameterA, parameterB, 0, 60);
if (moniright[2] < L_black[2] && moniright[6] < L_black[6] && moniright[10] < L_black[10] && moniright[14] < L_black[14])
{ R_blackfuzhi(parameterA, parameterB, 0, begin + 2); }
}
}
else
{
advanced_regression(2, 27, 28, 29, 30);
monirightfuzhi(parameterA, parameterB, 0, 60);
if (moniright[2] < L_black[2] && moniright[6] < L_black[6] && moniright[10] < L_black[10] && moniright[14] < L_black[14])
{ R_blackfuzhi(parameterA, parameterB, 0, 60); }
}
}
else if (type == 4)
{
if (flag_find_huan_rightmiddle_point == 1&& right_turn_middle[0]<=33)
{
regression(2, right_turn_middle[0], right_turn_middle[0] + 1);
R_blackfuzhi(parameterA, parameterB, 0, (int)(right_turn_middle[0] + 1));
}
}
else if (type == 7) //状态7拉线
{
for (i = 0; i <= 60; i++)
{ R_black[i] = 0; }
}
}
}
//右环岛右线结束
void cakkuandu()
{
int i;
for (i = 0; i <= 69; i++)
{
calkuan[i] = 0;
}
for (i = 0; i <= break_hangshu; i++)
{
calkuan[i] = L_black[i] - R_black[i];
}
for (i = 0; i <= break_hangshu; i++)
{
//SetText("行数+宽度" + " " + i + " " + calkuan[i]);
}
}
//计算宽度结束
//找环岛拐点开始
int flag_find_huan_leftout_point;
int left_turn_out [2];
void findhuan_leftout_point(int start_point, int end_point, int RoadName) //找换到左下拐点 为左环岛而修改
{
int j;
if (RoadName == ROUNDISLAND)
{
//setText用户自定义("l_start"+ l_start);
for (j = start_point; j <= end_point; j++)
{
//找左边突变(下拐点)；连续且是存在的点（）
if (L_black[j]-L_black[j -1]<=0 && L_black[j] - L_black[j + 1] <= 0 && L_black[j] - L_black[j + 2] <= 0 && L_black[j] - L_black[j - 2] <= 0
&&( L_black[j] - L_black[j + 3] <= -1 && L_black[j] - L_black[j - 3] <= -1)
&& leftflag[j] == 1 && leftflag[j-1] == 1 && leftflag[j-2] == 1 && leftflag[j-3] == 1
&& leftflag[j + 1] == 1 && leftflag[j + 2] == 1 && leftflag[j + 3] == 1)
{
int record = 0;
int i;
if (L_black[j - 1] == L_black[j - 2] && L_black[j - 2] == L_black[j - 3]) j = j - 1;
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;
}
left_turn_out[0] = (int)(record);//数组里面没有第0行
left_turn_out[1] = L_black[record];
flag_find_huan_leftout_point = 1;
break;
}
}
}
}
int flag_find_huan_rightout_point;
int right_turn_out [2];
void findhuan_rightout_point(int start_point, int end_point, int RoadName) //找环岛右下拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//找右边突变(下拐点)
if (R_black[j - 1]-R_black[j - 2]>=0 &&R_black[j-1]-R_black[j - 3]>=0 && R_black[j - 1] - R_black[j] >= 0 && R_black[j - 1] - R_black[j+1] >= 0
&& (R_black[j - 1] - R_black[j-4] >= 1&&R_black[j - 1] - R_black[j + 2] >= 1)
&& rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j+1] == 1 && rightflag[j -3] == 1 && rightflag[j -4] == 1 && rightflag[j +2] == 1
&& R_black[j - 1]<130&& R_black[j - 1] >10)
{
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;
}
right_turn_out[0] = (int)(record);//数组里面没有第0行
right_turn_out[1] = R_black[record];
flag_find_huan_rightout_point = 1;
break;
}
}
//如果右下拐点坐标不为空 且 环岛状态不是4 就认定找到环岛的右下拐点
}
}
void findhuan_rightdown_point(int start_point, int end_point, int RoadName) //找环岛右下拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//找右边突变(下拐点)
if (R_black[j]-R_black[j - 1]>= 0 && R_black[j]- R_black[j - 2]>=0 &&R_black[j] - R_black[j+1] >=0&& R_black[j] - R_black[j + 2] >= 0
&&( R_black[j] - R_black[j - 1]<=5 || R_black[j] - R_black[j-2] <= 5)&&j<=break_hangshu-3
&& (R_black[j] - R_black[j - 2] >= 1 || R_black[j] - R_black[j - 3] >= 1 || (j>=4&&R_black[j] - R_black[j - 4] >= 1) || (j >= 5&&R_black[j] - R_black[j - 4] >= 1))
&& (R_black[j] - R_black[j + 2] >= 1 || R_black[j] - R_black[j + 3] >= 1 || R_black[j] - R_black[j + 4] >= 1 || R_black[j] - R_black[j + 5] >= 1 || R_black[j] - R_black[j + 6] >= 1)
&& rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1 && (rightflag[j+1] == 1||R_black[j+1]==0))
{
if (R_black[j] < 175)
{
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;
//}
right_turn_down[0] = (int)(record);//数组里面没有第0行
right_turn_down[1] = R_black[record];
flag_find_huan_rightdown_point = 1;
// SetText("找到环岛右下拐点 找到右下拐点" + right_turn_down[0] + " " + right_turn_down[1]);
break;
}
}
}
//如果右下拐点坐标不为空 且 环岛状态不是4 就认定找到环岛的右下拐点
}
}
void findhuan100_rightdown_point(int start_point, int end_point, int RoadName) //找环岛右下拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//找右边突变(下拐点)
if (R_black[j] - R_black[j - 1] >= 0 && R_black[j] - R_black[j - 2] >= 0 && R_black[j] - R_black[j + 1] >= 0 && R_black[j] - R_black[j + 2] >= 0
&& R_black[j] - R_black[j - 1] <= 5 && R_black[j-1] - R_black[j-2] <= 5
&& (R_black[j] - R_black[j - 2] >= 1 || R_black[j] - R_black[j - 3] >= 1)
&& (R_black[j] - R_black[j + 2] >= 1 || R_black[j] - R_black[j + 3] >= 1 || R_black[j] - R_black[j + 4] >= 1 || R_black[j] - R_black[j + 5] >= 1 || R_black[j] - R_black[j + 6] >= 1)
&& rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j + 1] == 1)
{
if (R_black[j] < 175)
{
int record = 0;
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;
//}
right_turn_down[0] = (int)(record);//数组里面没有第0行
right_turn_down[1] = R_black[record];
flag_find_huan_rightdown_point = 1;
break;
}
}
}
//如果右下拐点坐标不为空 且 环岛状态不是4 就认定找到环岛的右下拐点
}
}
void findhuan_leftdown_point(int start_point, int end_point, int RoadName) //找换到左下拐点 为左环岛而修改
{
int j;
if (RoadName == ROUNDISLAND)
{
//setText用户自定义("l_start"+ l_start);
for (j = start_point; j <= end_point; j++)
{
//找左边突变(下拐点)；连续且是存在的点（）
if (My_Abs(L_black[j - 1], L_black[j - 2]) <=4 && My_Abs(L_black[j], L_black[j - 1]) <= 5 && (L_black[j + 1] - L_black[j] >= 2)&& (L_black[j + 2] - L_black[j] >= 2)
&& leftflag[j - 2] == 1 && leftflag[j - 1] == 1 && leftflag[j] == 1)
{
int record = 0;
int i;
if (L_black[j - 1] == L_black[j - 2] && L_black[j - 2] == L_black[j - 3]) j= j - 1;
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;
}
left_turn_down[0] = (int)(record);//数组里面没有第0行
left_turn_down[1] = L_black[record];
flag_find_huan_leftdown_point = 1;
// SetText("找到环岛左下拐点 找到左下拐点" + left_turn_down[0] + " " + left_turn_down[1]);
break;
}
}
}
}
void findhuan_rightmiddle_point(int start_point, int end_point) //找环岛右中拐点 此函数待调整
{
int i;
if ((huandao_memory == 4 || huandao_memoryforleft == 4) && break_hangshu >= 10) end_point = break_hangshu - 10;
for (i = start_point; i <= end_point; i++)
{
//找you拐点
if (i >= 8 && (R_black[i + 1] - R_black[i] <= 0) && (R_black[i + 2] - R_black[i] <= 0)&&
(R_black[i - 1] - R_black[i] <= 0) && (R_black[i - 2] - R_black[i] <= 0) && (R_black[i - 3] - R_black[i] <= 0) && (R_black[i - 4] - R_black[i] <= 0) && ( (R_black[i - 5] - R_black[i] <= -1) || (R_black[i - 6] - R_black[i] <= -1) || (R_black[i - 7] - R_black[i] <= -1) || (R_black[i - 8] - R_black[i] <= -1))
&& rightflag[i - 2] == 1 && rightflag[i - 1] == 1 && rightflag[i] == 1 && rightflag[i + 1] == 1 && rightflag[i + 2] == 1
)
{
right_turn_middle[0] = (int)(i);
right_turn_middle[1] = R_black[i];
flag_find_huan_rightmiddle_point = 1;
break;
}
}
}
void findhuan_leftmiddle_point(int start_point, int end_point) //找环岛左中拐点
{
int i;
for (i = start_point; i <= end_point; i++)
{
//找左拐点
if (i >= 8 && (L_black[i + 1] - L_black[i] >= 0) && (L_black[i + 2] - L_black[i] >= 0 ) && (L_black[i - 1] - L_black[i] >= 0) && (L_black[i - 2] - L_black[i] >= 0) && (L_black[i - 3] - L_black[i] >= 0) && (L_black[i - 4] - L_black[i] >= 1 || L_black[i - 5] - L_black[i] >= 1)
&& (leftflag[i - 2] == 1 || leftflag[i - 3] == 1) && leftflag[i - 1] == 1 && leftflag[i] == 1 && leftflag[i + 1] == 1 && (leftflag[i + 2] == 1 || leftflag[i + 3] == 1)&&i<=break_hangshu-4)
{
int record = 0;
int j;
record = i;
for (j= i; j >= 1; j--)
{
if (L_black[j] == L_black[j - 1]) record = j - 1;
if (L_black[j] != L_black[j - 1]) break;
}
if (L_black[record] <= 178)
{
left_turn_middle[0] = (int)(record);
left_turn_middle[1] = L_black[record];
flag_find_huan_leftmiddle_point = 1;
break;
}
}
}
}
void findhuan_rightup_point(int start_point, int end_point, int RoadName)// 找环岛右上拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//如果出现了连续的行数超过45行判定为长直道，此时不存在拐点
//if (flag_s >= 47) break;
//右上拐点
if ((R_black[j - 1] - R_black[j - 2]) >= 4 && My_Abs(R_black[j], R_black[j - 1]) <= 4 && My_Abs(R_black[j + 1], R_black[j]) <= 4
&& rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j + 1] == 1 && My_Abs(R_black[j - 1], LCenter[j - 1]) <= 45 && My_Abs(R_black[j], LCenter[j]) <= 45
&& (huandao_memory != 4 || (huandao_memory == 4 && R_black[j - 1] >= 20&&j<break_hangshu-2)))//
{
right_turn_up[0] = (int)(j - 1);
right_turn_up[1] = R_black[j - 1];
flag_find_huan_rightup_point = 1;
// SetText("找到环岛右上拐点 找到右上拐点" + right_turn_up[0] + " " + right_turn_up[1]);
break;
}
}
}
}
void findhuan_leftup_point(int start_point, int end_point, int RoadName) //找环岛左上拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//如果出现了连续的行数超过45行判定为长直道，此时不存在拐点
//if (flag_s >= 47) break;
//左上拐点
if ((L_black[j - 2] - L_black[j - 1]) >= 6 && My_Abs(L_black[j], L_black[j - 1]) <= 3 && My_Abs(L_black[j + 1], L_black[j]) <= 3
&& leftflag[j - 1] == 1 && leftflag[j] == 1 && leftflag[j + 1] == 1 && My_Abs(L_black[j - 1], LCenter[j - 1]) <= 45 && My_Abs(L_black[j], LCenter[j]) <= 45
&&((huandao_memoryforleft!=4|| (huandao_memoryforleft == 4&& L_black[j - 1]<=160&&j<=break_hangshu-2))))
{
left_turn_up[0] = (int)(j - 1);//数组里面没有第0行
left_turn_up[1] = L_black[j - 1];
flag_find_huan_leftup_point = 1;
// SetText("找到环岛左上拐点77 找到左上拐点77 " + left_turn_up[0] + " " + left_turn_up[1]);
break;
}
}
}
}
void findhuan_rightup_point77(int start_point, int end_point, int RoadName)// 找环岛右上拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//如果出现了连续的行数超过45行判定为长直道，此时不存在拐点
//if (flag_s >= 47) break;
//右上拐点
if ((R_black[j - 1] - R_black[j - 2]) >= 4 && My_Abs(R_black[j], R_black[j - 1]) <= 4 && My_Abs(R_black[j + 1], R_black[j]) <= 4
&& rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j + 1] == 1)
{
right_turn_up[0] = (int)(j - 1);
right_turn_up[1] = R_black[j - 1];
flag_find_huan_rightup_point = 1;
// SetText("找到环岛右上拐点77 找到右上拐点77" + right_turn_up[0] + " " + right_turn_up[1]);
break;
}
}
}
}
void findhuan_rightup_point44(int start_point, int end_point, int RoadName)// 找环岛右上拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
if (R_black[j] >= 20)
{ //如果出现了连续的行数超过45行判定为长直道，此时不存在拐点
//if (flag_s >= 47) break;
//右上拐点
if ((R_black[j - 1] - R_black[j - 2]) >= 4 && My_Abs(R_black[j], R_black[j - 1]) <= 4 && My_Abs(R_black[j + 1], R_black[j]) <= 4
&& rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j + 1] == 1 && My_Abs(R_black[j - 1], LCenter[j - 1]) <= 60 && My_Abs(R_black[j], LCenter[j]) <= 60&&(huandao_memory!=4||(huandao_memory==4&&j<=break_hangshu-2)))
{
right_turn_up[0] = (int)(j - 1);
right_turn_up[1] = R_black[j - 1];
flag_find_huan_rightup_point = 1;
// SetText("找到环岛右上拐点 找到右上拐点44" + right_turn_up[0] + " " + right_turn_up[1]);
break;
}
}
}
}
}
void findhuan_leftup_point77(int start_point, int end_point, int RoadName) //找环岛左上拐点
{
int j;
if (RoadName == ROUNDISLAND)
{
for (j = start_point; j <= end_point; j++)
{
//如果出现了连续的行数超过45行判定为长直道，此时不存在拐点
//if (flag_s >= 47) break;
//左上拐点
if ((L_black[j - 2] - L_black[j - 1]) >= 4 && My_Abs(L_black[j], L_black[j - 1]) <= 3 && My_Abs(L_black[j + 1], L_black[j]) <= 3
&& leftflag[j - 1] == 1 && leftflag[j] == 1 && leftflag[j + 1] == 1)
{
left_turn_up[0] = (int)(j - 1);//数组里面没有第0行
left_turn_up[1] = L_black[j - 1];
flag_find_huan_leftup_point = 1;
break;
}
}
}
}
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;
}
}
void regression(int type, int startline, int endline)//最小二乘法拟合曲线，分别拟合中线，左线，右线,type表示拟合哪几条线 xy 颠倒
{
int i = 0;
int sumlines = endline - startline;
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
{
for (i = startline; i < endline; i++)
{
sumX += i;
sumY += LCenter[i];
}
if (sumlines != 0)
{
averageX = (float)(sumX / sumlines); //x的平均值
averageY =(float)( sumY / sumlines); //y的平均值
}
else
{
averageX = 0; //x的平均值
averageY = 0; //y的平均值
}
for (i = startline; i < endline; 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
{
for (i = startline; i < endline; i++)
{
sumX += i;
sumY += L_black[i];
}
if (sumlines == 0) sumlines = 1;
averageX = (float)(sumX / sumlines); //x的平均值
averageY =(float)( sumY / sumlines); //y的平均值
for (i = startline; i < endline; 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
{
for (i = startline; i < endline; i++)
{
sumX += i;
sumY += R_black[i];
}
if (sumlines == 0) sumlines = 1;
averageX = (float)(sumX / sumlines); //x的平均值
averageY =(float)( sumY / sumlines); //y的平均值
for (i = startline; i < endline; 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
//左右线赋值开始
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;
}
}
//左右线赋值结束
//斜入十字赋值工具开始
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);
}
}
void monileftfuzhi(float A, float B, int start_point, int end_point)
{
int m;
for (m = start_point; m <= end_point; m++)
{
if((B * m + A)>=255) monileft[m]=255;
if((B * m + A)<=0) monileft[m]=0;
else if(0<(B * m + A)&&(B * m + A)<255)monileft[m] = (int)(B * m + A);
}
}
void monirightfuzhi(float A, float B, int start_point, int end_point)
{
int m;
for (m = start_point; m <= end_point; m++)
{
if((B * m + A)>=255) moniright[m]=255;
if((B * m + A)<=0) moniright[m]=0;
else if(0<(B * m + A)&&(B * m + A)<255)moniright[m] = (int)(B * m + A);
}
}
void monizhongfuzhi(float A, float B, int start_point, int end_point)
{
int m;
for (m = start_point; m <= end_point; m++)
{
if ((B * m + A) >= 255) monimiddle[m] = 255;
if ((B * m + A) <= 0) monimiddle[m] = 0;
else if (0 < (B * m + A) && (B * m + A) < 255) monimiddle[m] = (int)(B * m + A);
}
}
总结
1.配合上辅助函数，就是完整的可执行代码，如有不懂请留言哦。