智能车八邻域算法

做智能车比赛的时候学到的八邻域搜线，代码仅供参考学习，不能直接使用

         //八邻域搜线if(left_findflag){L_edge[0].row = jilu_row_l;L_edge[0].col = jilu_col_l;L_edge[0].flag = 1;uint8 curr_row = jilu_row_l;uint8 curr_col = jilu_col_l;dire_left = 0; center_turn_flag = 1;for(int i = 1;i < L_search_amount; i++)   {if(curr_row < L_edge_end_row || curr_row>Image_H-1||curr_row+1<L_edge_end_row)  break;if(curr_col > max_col || curr_col < min_col){if(++L_search_edge_count == 3)break;}elseL_search_edge_count = 0;if(dire_left != 2&&black_(image[curr_row-1][curr_col-1])&&white_(image[curr_row-1][curr_col]))   {curr_row = curr_row -1;curr_col = curr_col -1;L_edge_count = L_edge_count +1;dire_left = 7;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(dire_left!=3&&black_(image[curr_row-1][curr_col+1])&&white_(image[curr_row][curr_col+1]))   {curr_row = curr_row -1;curr_col = curr_col + 1;L_edge_count = L_edge_count + 1;dire_left = 6;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(black_(image[curr_row-1][curr_col])&&white_(image[curr_row-1][curr_col+1]))                  {curr_row = curr_row - 1;L_edge_count = L_edge_count + 1;dire_left = 0;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(dire_left!=5&&black_(image[curr_row][curr_col-1])&&white_(image[curr_row-1][curr_col-1])) {curr_col = curr_col - 1;L_edge_count = L_edge_count +1;dire_left = 4;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(dire_left!=4&&black_(image[curr_row][curr_col+1])&&white_(image[curr_row+1][curr_col+1]))  {curr_col = curr_col + 1;L_edge_count = L_edge_count +1;dire_left = 5;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(dire_left!=6&&black_(image[curr_row+1][curr_col-1])&&white_(image[curr_row][curr_col-1]))   {curr_row = curr_row + 1;curr_col = curr_col -1;L_edge_count = L_edge_count +1;dire_left = 3;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}else if(dire_left!=7&&black_(image[curr_row+1][curr_col+1])&&white_(image[curr_row+1][curr_col]))    {curr_row = curr_row + 1;curr_col = curr_col + 1;L_edge_count = L_edge_count +1;dire_left = 2;L_edge[i].row = curr_row;L_edge[i].col = curr_col;L_edge[i].flag = 1;}elsebreak;}}if(right_findflag){R_edge[0].row = jilu_row_r;R_edge[0].col = jilu_col_r;R_edge[0].flag = 1;uint8 curr_row = jilu_row_r;uint8 curr_col = jilu_col_r;dire_right = 0;for(int i = 1;i<R_search_amount;i++){if(curr_row < L_edge_end_row ||curr_row>Image_H-1||curr_row+1<L_edge_end_row)  break;if(curr_col > max_col || curr_col < min_col){if(++R_search_edge_count == 3)break;}else   R_search_edge_count = 0;if(curr_col<Image_W&&dire_right!=3&&black_(image[curr_row-1][curr_col+1])&&white_(image[curr_row-1][curr_col])) {curr_row = curr_row - 1;curr_col = curr_col + 1;R_edge_count = R_edge_count + 1;dire_right = 6;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(dire_right!=2&&black_(image[curr_row-1][curr_col-1])&&white_(image[curr_row][curr_col-1])) {curr_row = curr_row-1;curr_col = curr_col-1;R_edge_count = R_edge_count + 1;dire_right = 7;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(black_(image[curr_row-1][curr_col])&&white_(image[curr_row-1][curr_col-1]))                  {curr_row = curr_row - 1;R_edge_count = R_edge_count + 1;dire_right = 0;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(dire_right!=5&&black_(image[curr_row][curr_col-1])&&white_(image[curr_row+1][curr_col-1])){curr_col = curr_col-1;R_edge_count = R_edge_count + 1;dire_right = 4;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(dire_right!=4&&black_(image[curr_row][curr_col+1])&&white_(image[curr_row-1][curr_col+1])){curr_col = curr_col + 1;R_edge_count = R_edge_count + 1;dire_right = 5;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(dire_right!=6&&black_(image[curr_row+1][curr_col-1])&&white_(image[curr_row+1][curr_col]))   {curr_row = curr_row + 1;curr_col = curr_col - 1;R_edge_count = R_edge_count + 1;dire_right = 3;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}else if(dire_right!=7&&black_(image[curr_row+1][curr_col+1])&&white_(image[curr_row][curr_col+1]))  {curr_row = curr_row + 1;curr_col = curr_col + 1;R_edge_count = R_edge_count + 1;dire_right = 2;R_edge[i].row = curr_row;R_edge[i].col = curr_col;R_edge[i].flag = 1;}elsebreak;}}if(left_findflag){for(int i= 1;i<L_edge_count -1;i++){L_edge[i].row = (L_edge[i].row + L_edge[i+1].row)/2;L_edge[i].col = (L_edge[i].col + L_edge[i+1].col)/2;}for(int i= L_edge_count-1;i>1;i--){L_edge[i].row = (L_edge[i].row + L_edge[i-1].row)/2;L_edge[i].col = (L_edge[i].col + L_edge[i-1].col)/2;}edge_process_flag = 0; if(L_edge_count >=70){num_cnt = 0;L_count = L_edge_count/2;while(L_count<L_edge_count){if(L_edge[L_count].row == L_edge[L_count+1].row)num_cnt = num_cnt +1;elsenum_cnt = 0;if(num_cnt > 5)break;L_count = L_count +1;}L_edge_count = L_count;}}if(right_findflag){for(int i = 1;i<R_edge_count-1;i++){R_edge[i].row = (R_edge[i].row + R_edge[i+1].row)/2;R_edge[i].col = (R_edge[i].col + R_edge[i-1].col)/2;}for(int i = R_edge_count-1;i>1;i--){R_edge[i].row = (R_edge[i].row + R_edge[i+1].row)/2;R_edge[i].col = (R_edge[i].col + R_edge[i-1].col)/2;}if(R_edge_count>=70)  {num_cnt = 0;R_count = R_edge_count/2;while(R_count < R_edge_count){if(R_edge[R_count].row == R_edge[R_count+1].row)num_cnt = num_cnt + 1;elsenum_cnt = 0;if(num_cnt > 5)break;R_count = R_count + 1;}R_edge_count = R_count;}}if(fabs(L_edge[0].col-L_edge[L_edge_count].col)>Image_W/2&&fabs(L_edge[0].col-L_edge[L_edge_count].col)>Image_W/2)enable_check_l_r_edge_same = 1;if(enable_check_l_r_edge_same){uint8 i_left = L_edge_count - 1;uint8 chongdie_cnt = 0;for(int i = 0;i<R_edge_count;i++){if(fabs(R_edge[i].row-L_edge[i_left].row)<5&&fabs(R_edge[i].col-L_edge[i_left].col)<5){chongdie_cnt = chongdie_cnt + 1;i_left = i_left - 1;if(chongdie_cnt > 3) break;if(i_left<0)   break;}}if(chongdie_cnt>=2){x2 = fabs(L_edge[0].row-R_edge[0].row);if(fabs(L_edge[0].row-R_edge[0].row)>=15){if(L_edge[0].row>R_edge[0].row)  left_findflag = 0;else if(R_edge[0].row>L_edge[0].row)   right_findflag = 0;}else if(fabs(L_edge[0].row-R_edge[0].row)<15){}}}if(L_edge_count <10)left_findflag = 0;if(R_edge_count <10)right_findflag = 0;if(left_findflag && right_findflag){if(jilu_col_l>jilu_col_r){if(jilu_row_l>jilu_row_r)left_findflag = 0;else if(jilu_row_l<jilu_row_r)right_findflag = 0;}}if(L_edge_count-R_edge_count>30&&right_findflag) {right_findflag = 0;R_edge_count = 0;}if(R_edge_count-L_edge_count>30&&left_findflag)   {left_findflag = 0;L_edge_count = 0;}if(left_findflag&&right_findflag){if(jilu_row_r-jilu_row_l>Image_H/2&&L_edge_count-R_edge_count>10){right_findflag = 0;R_edge_count = 0;}else if(jilu_row_l-jilu_row_r>Image_H/2&&R_edge_count-L_edge_count>10){left_findflag = 0;L_edge_count = 0;}}if(L_edge[L_edge_count-1].row - L_edge[1].row>-10) left_findflag = 0;if(R_edge[R_edge_count-1].row - R_edge[1].row>-10)  right_findflag = 0;if(left_findflag || right_findflag)enable_midline = 1;elseenable_midline = 0;if(enable_L_corner) {if(L_edge_count > 9){for(int i = 0; i<L_edge_count-9;i++){if(L_edge[i+4].row>5){if((L_edge[i].col - L_edge[i + 4].col) * (L_edge[i + 8].col - L_edge[i + 4].col) +(L_edge[i].row - L_edge[i + 4].row) * (L_edge[i + 8].row - L_edge[i + 4].row) > 0){L_corner_angle = Get_angle(L_edge[i].row, L_edge[i].col, L_edge[i + 4].row, L_edge[i + 4].col, L_edge[i + 8].row, L_edge[i + 8].col);if(L_edge[i+4].col>L_edge[i+8].col)  {L_corner_flag = 1;L_corner_row = L_edge[i+4].row;L_corner_col = L_edge[i+4].col;break;}}}}}}if(enable_R_corner) {if(R_edge_count > 9){for(int i = 0; i<R_edge_count-9;i++){if(R_edge[i+4].row>5){if((R_edge[i].col - R_edge[i + 4].col) * (R_edge[i + 8].col - R_edge[i + 4].col) +(R_edge[i].row - R_edge[i + 4].row) * (R_edge[i + 8].row - R_edge[i + 4].row) > 0) {R_corner_angle = Get_angle(R_edge[i].row, R_edge[i].col, R_edge[i + 4].row, R_edge[i + 4].col, R_edge[i + 8].row, R_edge[i + 8].col);if(R_edge[i+8].col>R_edge[i+4].col) {R_corner_flag = 1;R_corner_row = R_edge[i+4].row;R_corner_col = R_edge[i+4].col;break;}}}}}}}
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