abovepolyfit.asv

车道检测中弯道的检测

function st=AbovePolyfit(AboveL,aboveLabel)
for(iLabel=1:aboveLabel)
    [r,c] = find(AboveL==iLabel);
    cNum=numel(c);
    cMax=0;
    cMin=300;
    for(iSort=1:cNum)
       if(c(iSort)>cMax)
           cMax=c(iSort);
       end
       if(c(iSort)<cMin)
           cMin=c(iSort);
       end
    end
    if(cNum<9)%若少于9个像素点，则用直线拟合
        LineStruct(iLabel).fn = polyfit(c,r,1);
        y1=LineStruct(iLabel).fn(1)*cMin + LineStruct(iLabel).fn(2);
        y2=LineStruct(iLabel).fn(1)*cMax + LineStruct(iLabel).fn(2);
        if(y1>y2)
            LineStruct(iLabel).top.y=y2;
            LineStruct(iLabel).top.x=cMax;
            LineStruct(iLabel).low.y=y1;
            LineStruct(iLabel).low.x=cMin;
        else
            LineStruct(iLabel).top.y=y1;
            LineStruct(iLabel).top.x=cMin;
            LineStruct(iLabel).low.y=y2;
            LineStruct(iLabel).low.x=cMax;
        end
        yDelt=LineStruct(iLabel).top.y-LineStruct(iLabel).low.y;
        xDelt=LineStruct(iLabel).top.x-LineStruct(iLabel).low.x;
        LineStruct(iLabel).length = yDelt*yDelt+xDelt*xDelt;
        LineStruct(iLabel).StyleFlag=1;
        LineStruct(iLabel).flag=1;
    else%曲线拟合
        LineStruct(iLabel).fn = polyfit(c,r,2);

        y3=LineStruct(iLabel).fn(1)*cMin*cMin+LineStruct(iLabel).fn(2)*cMin+LineStruct(iLabel).fn(3);
        y4=LineStruct(iLabel).fn(1)*cMax*cMax+LineStruct(iLabel).fn(2)*cMax+LineStruct(iLabel).fn(3);
        if(y3>y4)
            LineStruct(iLabel).top.y=y4;
            LineStruct(iLabel).top.x=cMax;
            LineStruct(iLabel).low.y=y3;
            LineStruct(iLabel).low.x=cMin;
        else
            LineStruct(iLabel).top.y=y3;
            LineStruct(iLabel).top.x=cMin;
            LineStruct(iLabel).low.y=y4;
            LineStruct(iLabel).low.x=cMax;
        end
        yDelt=LineStruct(iLabel).top.y-LineStruct(iLabel).low.y;
        xDelt=LineStruct(iLabel).top.x-LineStruct(iLabel).low.x;
        LineStruct(iLabel).length = yDelt*yDelt+xDelt*xDelt;
        LineStruct(iLabel).StyleFlag=2;
        LineStruct(iLabel).flag=1;
    end
end
        xi=linspace(0,80,40);
        yi=polyval(LineStruct(5).fn,xi);
        plot(xi,yi),axis ij,axis on;
st=LineStruct;