getline.c

通过智能车上的CCD摄像头采集道路状况

unsigned char GetLine(void){
  unsigned char i;
  unsigned char sum = 0;
  
  for(i=0;i<SAMPLELINE;i++){
    if(ImagePar[i]>0)
      ImageGood[i] = 1;
    else 
      ImageGood[i] = 0;  
  }
  
  filter();
  
  i = SAMPLELINE-1;
  
  while(!(ImagePar[i]>0&&ImagePar[i-1]>0)&&i>0){
    i--;
  }
  
  if(i==0)
    return 0;   

  i = SAMPLELINE-3;
  
  while(!(ImagePar[i+1]>0&&ImagePar[i+2]>0)) {
    i--;  
  }
    
  while(i>0&&ImagePar[i]<VIDEO_RIGHT) {
    if(ImagePar[i]==0){
    
    
    } 
    else
      ImagePar[i] = ImagePar[i-1]*2-ImagePar[i-2];
    i--;
  }
  
  top = i;     
   
  if(ImagePar[top]<VIDEO_LEFT)
    ImagePar[top] = 0;
  if(ImagePar[top]>VIDEO_RIGHT)
    ImagePar[top] = VIDEO_RIGHT;
  
  errTop = VIDEO_CENTER-ImagePar[top];
  
  find_Cur();   
  
  LastErr = err;
  
  for(i=0;i<6;i++) {
    sum = sum+ImagePar[top+i];      
  }
  err = sum/6;
  
  return 1;
  
  
}