新建 文本文档.txt

通过智能车上的CCD摄像头采集道路状况

void filter(void){
  unsigned char = SAMPLELINE-1;
  unsigned char mul = 1;
  unsigned char bot = ImagePar[SAMPLELINE-1];
  
  while(ImageGood[i]==0) {
    i--;  
  }
  bot = ImagePar[i];
  
  while(i>=0) {
    if(ImageGood[i]!=0) {
      if(ImagePar[i]>0) {
        if(ImagePar[i]-bot>30*mul) {
          ImagePar[i] = 0;
          ImageGood[i] = 0;        
        } 
        else if(ImagePar[i]-bot<-30*mul) {
          ImagePar[i] = 0;
          ImageGood[i] = 0;          
        } 
        else {
          bot = ImagePar[i];
          mul = 1;        
        }
      
      }      
    } 
    else {      
      mul++;
      if(mul>3)
        mul = 3;
    }
    i--;
  }  
}