智能车图像处理9-左环岛状态机与补线

前言

这篇文章主要讲述智能车竞赛中如何判断左环岛并且进行补线操作。

一、函数主体

//左环岛主体开始
void juge_left_succesive_and_if_k_limitforleft()
{
    if (huandaotype!=0&&turepodaoflag == 0 && (countpodao == 0 || countpodao > 1) && rukuflag == 0 && (threemode == 0 || threemode == 6 || threemode == 12) && firstku == 0&&countfirstku==0)
    {
        if (truedoubleleft != 0 || huandao_memoryforleft != 0)
        {
            if (huandao_memory == 0)
            {   //可能是环岛的地带                                                                -0.17
                 leftdown15white = 1;

                int i;
                for (i = 0; i < 15; i++)
                {
                    if (L_black[i] != 186)
                    {
                        leftdown15white = 0;
                        break;
                    }
                }
                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;

                 findhuan_rightdown_point(5, 32, ROUNDISLAND);  ///环岛找拐点开始
                if (huandaotype == 6&& (huandao_memoryforleft==6|| huandao_memoryforleft==7))
                {
                    flag_find_huan_rightdown_point = 0;
                    findhuan100_rightdown_point(5, 32, ROUNDISLAND);
                } ///环岛找拐点开始}
                if (huandao_memoryforleft !=4&&huandaotype!=3&& huandao_memoryforleft != 3)    //左下  非70环岛
                { findhuan_leftdown_point(5, 28, ROUNDISLAND); }

                if ((huandao_memoryforleft == 4|| huandao_memoryforleft==3) && huandaotype != 3)
                { findhuan_leftdown_point(5, 18, ROUNDISLAND); }  //左下

                if (huandao_memoryforleft != 4 && huandaotype == 3&&huandao_memoryforleft != 3  )    //左下  三环到
                {
                        findhuan_leftdown_point(5, 28, ROUNDISLAND);
                }
                if ((huandao_memoryforleft == 4|| huandao_memoryforleft == 3) && huandaotype == 3)
                {
                        findhuan_leftdown_point(5, 20, ROUNDISLAND);

                }  //左下
                if (flag_find_huan_rightdown_point == 1 && (right_turn_down[0] + 1) < 45)//右中 下找到
                { findhuan_rightmiddle_point(right_turn_down[0] + 3, 45); }
                if (flag_find_huan_rightdown_point == 0)
                { findhuan_rightmiddle_point(3, 45); }

                if (flag_find_huan_leftdown_point == 1 && (left_turn_down[0] + 6) < 45&&huandaotype!=3) //左中 下找到  //四的时候中拐点拉近
                {
                    if (huandao_memoryforleft == 4 && left_turn_down[0] + 6 <= 30)
                    { findhuan_leftmiddle_point(left_turn_down[0] + 6, 45); }
                    if(huandao_memoryforleft!=4) findhuan_leftmiddle_point(left_turn_down[0] + 6, 45);
                }
                if (flag_find_huan_leftdown_point == 0&&huandaotype!=3)
                {
                    if (huandao_memoryforleft == 4)
                    { findhuan_leftmiddle_point(3, 25); }
                    if (huandao_memoryforleft != 4)
                    { findhuan_leftmiddle_point(3, 45); }

                }  //左中

                if (flag_find_huan_leftdown_point == 1 && (left_turn_down[0] ++) < 45 && huandaotype == 3) //左中 下找到
                {
                    if (huandao_memoryforleft != 3)
                    {
                        findhuan_leftmiddle_point(left_turn_down[0] + 6, 45);
                    }
                    if (huandao_memoryforleft == 3)
                    {

                       findhuan_leftmiddle_point(left_turn_down[0] + 6, 45);
                    }
                }
                if (flag_find_huan_leftdown_point == 0 && huandaotype == 3)
                {
                    if (huandao_memoryforleft != 3&& huandao_memoryforleft != 4)
                    {
                        findhuan_leftmiddle_point( 3, 45);
                    }
                    if (huandao_memoryforleft == 3 || huandao_memoryforleft == 4)
                    {
                        if (leftdown15white == 1)
                        { findhuan_leftmiddle_point(3, 38); }
                        if (leftdown15white == 0)
                        { findhuan_leftmiddle_point(3, 38); }
                    }
                }  //左中


                if (flag_find_huan_rightmiddle_point == 1 && (right_turn_middle[0] + 2) < 50)
                { findhuan_rightup_point(right_turn_middle[0] + 2, 50, ROUNDISLAND); }
                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)
                { findhuan_leftup_point(left_turn_middle[0] + 2, 50, ROUNDISLAND); }
                if (flag_find_huan_leftmiddle_point == 0)
                { findhuan_leftup_point(25, 50, ROUNDISLAND); }  //环岛找拐点结束
                if (huandao_memoryforleft >= 5) { flag_find_huan_leftmiddle_point = 0; findhuan_leftmiddle_point(3, 40); }

                if ((huandao_memoryforleft == 7|| huandao_memoryforleft == 6) ) { flag_find_huan_rightout_point = 0; findhuan_rightout_point(5, 35, ROUNDISLAND); }


                if (break_hangshu >= 5) lcenter_5 = LCenter[break_hangshu - 4];
                if (break_hangshu <= 5) lcenter_5 = 0;
                int begin = 0;

                for (i = 3; i < 50; i++)
                {
                    if (L_black[i] == 186 && L_black[i + 1] == 186 && L_black[i + 2] != 186)
                    {
                        begin = i + 2;
                        break;
                    }

                }
                if (huandao_memoryforleft == 7 && begin > 3&&huandaotype!=6) { flag_find_huan_leftup_point = 0; findhuan_leftup_point77(3, begin+5, ROUNDISLAND); }
                regression(2, break_hangshu - 14, break_hangshu - 12);


                if (huandao_memoryforleft <= 8)
                {
                    /*******行驶到环岛出口或者在行驶到环岛出口前********/
                    if (huandao_memoryforleft <= 3)
                    {

                        if (huandao_memoryforleft == 1 && left_turn_down[0] <= 22 && left_turn_down[0] > 0 && break_hangshu >= 35 && flag_find_huan_leftdown_point == 1)
                        {
                            huandao_memoryforleft = 2;
                            huandao_flag_R_L = 1;

                        }
                        else if (huandao_memoryforleft == 2)
                        {
                            if ((L_black[5] >= 160)
                            )
                            {
                                // SetText("行驶到环岛出口（没进环岛呢）");
                                huandao_memoryforleft = 3;
                                huandao_flag_R_L = 1;

                            }
                        }

                        else if (huandao_memoryforleft == 0 && left_turn_down[0] > 5 && left_turn_down[0] <= 40 &&
                                flag_find_huan_leftdown_point == 1 &&
                                (calkuan[14] > 105 || calkuan[15] > 105 || calkuan[16] > 105 || calkuan[17] > 105 || calkuan[18] > 105
                                        || calkuan[19] > 105 || calkuan[20] > 105 || calkuan[21] > 105 || calkuan[22] > 105)
                                        && truepianfangflagforleft == 1 && continueright == 1 && huandao_memory == 0
                                         && break_hangshu >= 37)
                        {
                            huandao_memoryforleft = 1;
                            crossrecord = 0;
                            crossderecord = 0;
                            cross31 = 0;
                            huandao_flag_R_L = 1;
                            //SetText("行驶到环岛出口前（没进环岛呢）(远)");

                        }
                        //快一些进入


                        else if ((huandao_memoryforleft == 0 || huandao_memoryforleft == 1) &&( left_turn_middle[0] > 5 && left_turn_middle[0] <= 35 &&
                                flag_find_huan_leftmiddle_point == 1 )&&
                               ((L_black[14] > 182 && R_black[14] > 20) || (L_black[15] > 182 && R_black[15] > 20) || (L_black[16] > 182 && R_black[16] > 20) ||
                                 (L_black[17] > 182 && R_black[17] > 20) || (L_black[18] > 182 && R_black[18] > 20) || (L_black[19] > 182 && R_black[19] > 20) ||
                                  (L_black[20] > 182 && R_black[20] > 20) || (L_black[21] > 182 && R_black[21] > 20)||(calkuan[12]>155&& calkuan[13] > 155 && calkuan[14] > 155 &&
                                  calkuan[15] > 155 && calkuan[16] > 155 && calkuan[17] > 155 ) ) && (truepianfangflagforleft == 1 && continueright == 1 && huandao_memory == 0)
                                       && break_hangshu >= 37&& left_turn_middle[0]<=break_hangshu-5)
                        {

                            huandao_memoryforleft = 3;
                            huandao_flag_R_L = 1;
                            crossrecord = 0;
                            crossderecord = 0;
                            cross31 = 0;

                        }
                        else if (huandao_memoryforleft == 3 && ((left_turn_middle[0] >= 0 && left_turn_middle[0] <= 22&& flag_find_huan_leftmiddle_point==1) || (flag_find_huan_leftup_point==1&&left_turn_up[0]<33)) && huandaotype!=3)
                        {
                            huandao_memoryforleft = 4;
                            huandao_flag_R_L = 1;

                        }

                        else if (huandao_memoryforleft == 3 && ((left_turn_middle[0] >= 0 && left_turn_middle[0] <= 22 && flag_find_huan_leftmiddle_point == 1) ||(flag_find_huan_leftup_point == 1 && left_turn_up[0]<=33) ) && huandaotype == 3)
                        {
                            huandao_memoryforleft = 4;
                            huandao_flag_R_L = 1;

                        }
                    }
                    else if (huandao_memoryforleft == 4 && break_hangshu <= 33 && R_black[10] > 23&&huandaotype!=6)
                    {
                        huandao_memoryforleft = 5;
                        huandao_flag_R_L = 1;
                       // SetText("这里进去的5");
                        // SetText("行驶到环岛入口（没进环岛呢）");
                    }
                    else if (huandao_memoryforleft == 4 && break_hangshu <= 37 && R_black[10] > 23 && huandaotype == 6)
                    {
                        huandao_memoryforleft = 5;
                        huandao_flag_R_L = 1;
                       // SetText("这里进去的5");
                        // SetText("行驶到环岛入口（没进环岛呢）");
                    }
                    else if (huandao_memoryforleft == 5 && break_hangshu <= 33 && R_black[10] > 20 && huandaotype != 6)
                    {
                        huandao_memoryforleft = 6;
                        huandao_flag_R_L = 1;
                    //    SetText("这里进去的6");
                    }
                    else if (huandao_memoryforleft == 5 && break_hangshu <= 37 && R_black[10] > 20 && huandaotype == 6)
                    {
                        huandao_memoryforleft = 6;
                        huandao_flag_R_L = 1;
                       // SetText("这里进去的6");
                    }
                    else if (huandao_memoryforleft == 6 && right_turn_down[0] >= 1 && right_turn_down[0] <= 32 && flag_find_huan_rightdown_point == 1&&huandaotype!=6 )
                    {
                        huandao_memoryforleft = 7;
                        huandao_flag_R_L = 1;
                        //SetText("出环了");
                      //  SetText("这里进去的");
                    }
                    else if (huandao_memoryforleft == 6 && right_turn_down[0] >= 1 && right_turn_down[0] <= 32 && flag_find_huan_rightdown_point == 1 && huandaotype == 6)
                    {
                        huandao_memoryforleft = 7;
                        huandao_flag_R_L = 1;
                        //SetText("出环了");
                     //   SetText("这里进去的");
                    }
                    else if (huandao_memoryforleft == 7 && flag_find_huan_leftup_point == 1 && left_turn_up[1] < 180 && R_black[12] >= 15 && R_black[left_turn_up[0]] < 120
                        && LCenter[10] > 80 && R_black[left_turn_up[0] + 4] > R_black[left_turn_up[0] + 2] && flag_find_huan_rightout_point == 0 && flag_find_huan_rightdown_point == 0)/**/
                    {
                        huandao_memoryforleft = 8;
                        huandao_flag_R_L = 1;

                    }
                    else if (huandao_memoryforleft == 8 && leftflag[13] == 1 && L_black[8] < 185 && L_black[9] < 185 && L_black[10] < 185
                        && leftflag[14] == 1 && leftflag[15] == 1 && leftflag[16] == 1
                             && L_black[13] < 185 && L_black[14] < 185 && L_black[15] < 185
                            && L_black[16] < 185 && L_black[17] < 185 && (continueleft == 1 || (kuleftdownflag == 1 && kuleftupflag == 1) || (kurightupflag == 1 && kurightdownflag == 1)))
                    {
                    advanced_regression(2, 2, 4, 6, 8);
                //    SetText("8右线parameter斜率 " + parameterB);
                    if (parameterB < 2)
                        {
                        huandao_memoryforleft = 0;
                        huandao_flag_R_L = 0;
                        }
                    }
                }
                //SetText("flag_R_L  " + huandao_flag_R_L);
                R_mend_leftline_right_islandforleft((int)huandao_memoryforleft, (int)huandao_flag_R_L);  //int
                R_mend_rightline_right_islandforleft((int)huandao_memoryforleft, (int)huandao_flag_R_L);
                //开启校验
                if ((huandao_memoryforleft == 5 || huandao_memoryforleft == 6)&&huandaotype!=3)
                {
                    advanced_regression(2, 6, 8, 10, 12);

                    if (parameterB == 0)
                    {
                        parameterA = 10;// 10  15
                        parameterB = 5;
                        R_blackfuzhi(parameterA, parameterB, 0, 60);

                        for (i = 0; i <= 60; i++)
                        { L_black[i] = 186; }
                    }
                    //if (LCenter[20] < 120 && R_black[10] < 10)
                    //{
                    //    parameterA = 10;// 10  15
                    //    parameterB = 5;
                    //    R_blackfuzhi(parameterA, parameterB, 0, 60);

                    //    for (i = 0; i <= 60; i++)
                    //    { L_black[i] = 186; }
                    //}
                    //if (LCenter[12] < 110 && R_black[10] < 10)
                    //{
                    //    parameterA = 10;// 10  15
                    //    parameterB = 5;
                    //    R_blackfuzhi(parameterA, parameterB, 0, 60);

                    //    for (i = 0; i <= 60; i++)
                    //    { L_black[i] = 186; }
                    //}
                }
                last_memoryforleft = huandao_memoryforleft;
                int j = 0;
                if (huandao_memoryforleft <= 8 && huandao_memoryforleft != 0)
                {
                    for (j = 0; j < 70; j++)
                    {

                        LCenter[j] = (unsigned char)((L_black[j] + R_black[j]) / 2);
                    }
                }
            }
        }
    }
}


//左环岛主体结束

二、辅助函数

//左环岛左线开始
int leftdown15white = 0;
void R_mend_leftline_right_islandforleft(int type, int flag_R_L)
{
    int i = 0;
    if (flag_R_L == 1)
    {
        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 (left_turn_down[0] >= 5 && left_turn_middle[0] >= 7 && left_turn_middle[0] > left_turn_down[0]&& flag_find_huan_leftmiddle_point==1&& flag_find_huan_leftdown_point==1)
            {
                advanced_regression(1, left_turn_down[0] - 2, left_turn_down[0], left_turn_middle[0] - 1, left_turn_middle[0]);

                for (j = (int)left_turn_down[0]; j <= (int)left_turn_middle[0]; j++)
                {
                    int jicun = (int)(parameterB * j + parameterA);
                    if (jicun >= 185) jicun = 185;
                    else if (jicun <= 0) jicun = 0;
                    L_black[j] = (unsigned char)jicun;

                }
            }
            else
            {
                if (left_turn_down[0] >= 3)
                {
                    advanced_regression(1, left_turn_down[0] - 3, left_turn_down[0]-2, left_turn_down[0] - 1, left_turn_down[0]);

                    for (j = 0; j <= (int)left_turn_middle[0]; j++)
                    {
                        int jicun = (int)(parameterB * j + parameterA);
                        if (jicun >= 185) jicun = 185;
                        else if (jicun <= 0) jicun = 0;
                        L_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;
            if (flag_find_huan_leftmiddle_point == 1)
            {
                int delta = left_turn_middle[0] - 0;
                //if (delta == 0) delta = 1;
                float k = (left_turn_middle[1] - L_black[0]) * 1.0f / delta;
                float b = L_black[0];
                for (j = (int)0; j <= (int)left_turn_middle[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 (flag_find_huan_leftmiddle_point == 0 && flag_find_huan_leftdown_point == 1)
            {
                int delta = left_turn_down[0] - 0;
                //if (delta == 0) delta = 1;
                float k = (left_turn_down[1] - L_black[0]) * 1.0f / delta;
                float b = L_black[0];
                for (j = (int)0; j <= (int)left_turn_down[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 (left_turn_middle[0] >= 5)
                    advanced_regression(1, left_turn_middle[0] - 5, left_turn_middle[0] -4, left_turn_middle[0] - 2, left_turn_middle[0]);

                    for (j = 0; j <= (int)left_turn_middle[0]; j++)
                    {
                        int jicun = (int)(parameterB * j + parameterA);
                        if (jicun >= 185) jicun = 185;
                        else if (jicun <= 0) jicun = 0;
                        L_black[j] = (unsigned char)jicun;

                    }

            }

       }
        else if (type == 8)
        {
            int begin = 1;
            if (huandaotype != 6)
            {
                for (i = 0; i < 50; i++)
                {
                    if (L_black[i] == 186 && L_black[i] == 186 && L_black[i + 2] != 186 && L_black[i + 3] != 186)
                    {
                        begin = i + 2;
                        int j;
                        for (j = begin; j < 50; j++)
                        {

                            if (L_black[j] < 177)
                            {
                                begin = j;
                                break;
                            }
                        }
                        break;
                    }
                }
            }
            if (huandaotype == 6)
            {
                for (i = 0; i < 50; i++)
                {
                    if (Pixels[i][165] == 1 && Pixels[i+1][ 165] == 1 && Pixels[i+2][ 165] != 1 && Pixels[i+3][165] != 1)
                    {
                        begin = i + 2;
                        int j;
                        for (j = begin; j < 50; j++)
                        {

                            if (L_black[j] < 177)
                            {
                                begin = j;
                                break;
                            }
                        }
                        break;
                    }
                }
            }
            if (begin != 1)
            {
                if (L_black[begin + 7] != 0)
                {
                    advanced_regression(1, begin + 3, begin + 5, begin + 6, begin + 7);
                    monileftfuzhi(parameterA, parameterB, 0, 60);
                    if (monileft[2] > R_black[2] && monileft[6] > R_black[6] && monileft[10] > R_black[10] && monileft[14] > R_black[14])
                    { leftlinefuzhi(parameterA, parameterB, 0, begin + 2); }
                }
                else
                {
                    advanced_regression(1, begin + 1, begin + 2, begin + 4, begin + 5);
                    monileftfuzhi(parameterA, parameterB, 0, 60);
                    if (monileft[2] > R_black[2] && monileft[6] > R_black[6] && monileft[10] > R_black[10] && monileft[14] > R_black[14])
                    { leftlinefuzhi(parameterA, parameterB, 0, begin + 2); }
                }
            }
            else
            {
                advanced_regression(1, 28, 29, 30, 31);
                monileftfuzhi(parameterA, parameterB, 0, 60);
                if (monileft[2] > R_black[2] && monileft[6] > R_black[6] && monileft[10] > R_black[10] && monileft[14] > R_black[14])
                { leftlinefuzhi(parameterA, parameterB, 0, 40); }
            }

        }
        else if (type == 4)
        {
            if (huandaotype != 3 || leftdown15white == 0)
            {
                if (left_turn_middle[0] >= 5 && flag_find_huan_leftmiddle_point == 1&& left_turn_middle[0]<30)
                {
                    advanced_regression(1, left_turn_middle[0] - 5, left_turn_middle[0] - 3, left_turn_middle[0] - 2, left_turn_middle[0]);
                    leftlinefuzhi(parameterA, parameterB, 0, (int)(left_turn_middle[0] + 1));

                }
                if (left_turn_down[0] >= 5 && flag_find_huan_leftmiddle_point == 0 && flag_find_huan_leftdown_point == 1)
                {
                    advanced_regression(1, left_turn_down[0] - 5, left_turn_down[0] - 3, left_turn_down[0] - 2, left_turn_down[0]);
                    leftlinefuzhi(parameterA, parameterB, 0, (int)(left_turn_down[0] + 1));

                }
            }
            if ( leftdown15white == 1)
            {

            }
        }
        else if (type == 7)  //状态7拉线
        {
            for (i = 0; i <= 60; i++)
            { L_black[i] = 186; }
        }

    }
}
//左环岛左线结束

//左环岛右线开始

void R_mend_rightline_right_islandforleft(int type, int flag_R_L)  //int
{
    if (flag_R_L == 1)
    {
        // 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 = left_turn_up[0] - 0;
            if (delta == 0) delta = 1;
            float k = (left_turn_up[1] - R_black[0]) * 1.0f / (delta * 1.0f);
            // setText用户自定义("斜率" + k);
            float b = R_black[0];
            for (j = (int)0; j <= (int)left_turn_up[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 == 5) //重新扫线，从左边往右边扫  取消掉一半
        {
        }
        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 (R_black[j - 1] - R_black[j - 2] >= 0 && R_black[j] - R_black[j - 1] <= 0 && (R_black[j + 1] - R_black[j] < 0)
                    && rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1)
                {
                    leftguai_y = (int)(j - 1);
                    leftguai_x = R_black[j - 1];
                    break;
                }
            }
            for (j = 8; j <= 60; j++)
            {
                //右连接处
                if (L_black[j] != 0)
                {
                    youguai_y = j;
                    youguai_x = L_black[j];
                    break;
                }
            }

            if (leftguai_y != 0 && leftguai_x != 0 && youguai_y != 4 && youguai_x != 0)
            {
                if (youguai_y >= leftguai_y + 4)
                {

                    jiansu_flag = 1;
                }
                else jiansu_flag = 0;
                //开始拉线
                int delta = (int)(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;
                        R_black[j] = (unsigned char)jicun;
                    }
                }
            }
        }
        else if (type == 7)  //状态7拉线
        {
            //advanced_regression(2, 5, 7, 9, 11);
            //SetText("parameterA7" + parameterA);
            //SetText("parameterB7" + parameterB);
            //parameterA = 0;// 10  15
            //parameterB = 6;
            //R_blackfuzhi(parameterA, parameterB, 0, 60);
            int begin=3;
            int i;
            for (i = 1; i < 50; i++)
            {
                if (Pixels[i-1][170] == 1&&Pixels[i][ 170] == 1 && Pixels[i+1][ 170] != 1 && Pixels[i +2][170] != 1)
                {
                    begin = i;
                    break;
                }
            }

            if (begin == 3) { begin = 30; }
            if (begin<=20) { begin = 22; }
          //  SetText("begin 77" + begin);
            if (flag_find_huan_rightout_point == 1&& right_turn_out[1]>30)
            {
                R_black[begin] = 186;
                R_black[begin - 1] = 150;
                advanced_regression(2, right_turn_out[0] - 2, right_turn_out[0] , begin - 1, begin);
                R_blackfuzhi(parameterA, parameterB, 0, 60);
            }
            // (flag_find_huan_rightout_point == 0)
            else
            {
                R_black[begin] = 186;
                R_black[begin - 1] = 150;
                advanced_regression(2, 0, 3, begin - 1, begin);
                R_blackfuzhi(parameterA, parameterB, 0, 60);
            }


        }
        else if (type == 8)
        {

            flag_blank_out_huandao = 0;
        }
    }
}

//左环岛右线结束
//计算宽度开始

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;
            }
        }
    }
}
//找环岛拐点结束
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;

    }
}
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);
             }
 }
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代码，如有不懂请留言哦。