前言
这篇文章主要讲述智能车竞赛中如何在判断三叉路口前进行一些辅助条件准备。
一、函数主体
void threeroadfuzhu()
{
//三叉先行找一下拐点
/*
具体函数的使用大家到三叉判断里面查看思路
*/
*/
threeleftdownflag = 0;
threerightdownflag = 0;
// threerightoutflag = 0;
//threeleftoutflag = 0;
findthreerightdown(3, 35);
findthreeleftdown(4, 35);
// findthreerightout(3, 40);
// findthreeleftout(3, 40);
bigup = 0;
minup = 2;
if (threerightdownflag == 1 && threeleftdownflag == 1)
{
if (threeleftdown[0] >= threerightdown[0])
{
bigup = threeleftdown[0];
minup = threerightdown[0];
}
if (threeleftdown[0] < threerightdown[0])
{
bigup = threerightdown[0];
minup = threeleftdown[0];
}
}
middle = L_black[minup] / 2 + R_black[minup] / 2;
int i;
endmidddle = 0;
middle = 0;
if (middle != 0)
{
if (middle >= 185) middle = 185;
if (middle <= 0) middle = 0;
for (i = 0; i < 60; i++)
{
if (Pixels[i][middle] == 0)
{
endmidddle = i;
break;
}
}
}
if (middle == 0)
{
for (i = 0; i < 60; i++)
{
if (Pixels[i][ 93] == 0)
{
endmidddle = i;
break;
}
}
}
}
//三叉辅助结束
二、辅助函数
void findthreerightdown(int start_point, int end_point)
{
int j;
for (j = start_point; j <= end_point; j++)
{
if ((My_Abs(R_black[j - 1], R_black[j - 2]) <= 2) && My_Abs(R_black[j], R_black[j - 1]) <= 2 && R_black[j + 1] - R_black[j] <= 0 &&
((R_black[j + 3] - R_black[j] <= -3|| (R_black[j + 3] - R_black[j] <= -1&&R_black[j + 3]<=10))||( My_Abs(R_black[j], R_black[j +1]) ==0 && My_Abs(R_black[j], R_black[j + 2]) == 0
&& My_Abs(R_black[j], R_black[j + 3]) == 0 ))
&& rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1 && (R_black[j] >= 5||threemode==9||threemode==3)) //样本为4行，图变差据
{
threerightdown[0] = (int)(j);//数组里面没有第0行
threerightdown[1] = R_black[j];
threerightdownflag = 1;
// SetText("找到三叉右下拐点： " + threerightdown[0] + " " + threerightdown[1]);
break;
}
}
}
void findthreeleftdown(int start_point, int end_point)
{
int j;
for (j = start_point; j <= end_point; j++)
{
if (L_black[j ]-L_black[j - 1] <= 0 && L_black[j] - L_black[j - 2] <= 0 && L_black[j] - L_black[j +1] <= 0 && L_black[j] - L_black[j + 2] <= 0 && (L_black[j] - L_black[j - 2] <= -1|| L_black[j] - L_black[j - 3] <= -1||L_black[j] - L_black[j - 4] <= -1 )
&& (L_black[j] - L_black[j + 1] <= -1||L_black[j] - L_black[j +2] <= -2 || L_black[j] - L_black[j + 3] <= -2|| L_black[j] - L_black[j + 4] <= -2)
&& leftflag[j - 2] == 1 && leftflag[j - 1] == 1 && leftflag[j] == 1&& (L_black[j] <=183 || threemode == 9 || threemode == 3)) //找到突变点 My_Abs(L_black[j], L_black[j - 1]) <= 2 && L_black[j + 1] - L_black[j] >= 0 &&(L_black[j + 2] - L_black[j] >= 4||(L_black[j + 2] - L_black[j] >= 1&& L_black[j + 2]>=181))
{
threeleftdown[0] = (int)(j);//数组里面没有第0行
threeleftdown[1] = L_black[j]; //记住行与列
threeleftdownflag = 1;
break;
}
}
}
void findthreerightout(int start_point, int end_point)
{
int j;
for (j = start_point; j <= end_point; j++)
{
if (R_black[j ] -R_black[j-1]>= 0 && R_black[j] - R_black[j + 1] >= 0 && R_black[j] - R_black[j + 2] >= 0 && R_black[j] - R_black[j -2] >= 0 && R_black[j] - R_black[j + 1] <= 5
&& R_black[j] - R_black[j- 1] <= 5&& R_black[j] - R_black[j - 3] >= 1
&& rightflag[j - 2] == 1 && rightflag[j - 1] == 1 && rightflag[j] == 1 && rightflag[j+1] == 1 && rightflag[j +2] == 1) //样本为4行，图变差据
{
threerightout[0] = (int)(j);//数组里面没有第0行
threerightout[1] = R_black[j];
threerightoutflag = 1;
break;
}
}
}
void findthreeleftout(int start_point, int end_point)
{
int j;
for (j = start_point; j <= end_point; j++)
{
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 + 1] >=- 5
&& L_black[j] - L_black[j - 1] >= -5 && L_black[j] - L_black[j - 3] <= -1
&& leftflag[j - 2] == 1 && leftflag[j - 1] == 1 && leftflag[j] == 1 && leftflag[j + 1] == 1 && leftflag[j + 2] == 1) //样本为4行，图变差据
{
threeleftout[0] = (int)(j);//数组里面没有第0行
threeleftout[1] = L_black[j];
threeleftoutflag = 1;
//SetText("找到三叉左出拐点： " + threeleftout[0] + " " + threeleftout[1]);
break;
}
}
}
总结
1.配合上辅助函数，就是完整的三叉路口判断代码，如有不懂请留言哦。