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摄像头循迹——中线测试版本

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Glz
2024-01-08 20:13:20 +08:00
parent 83994bbbc2
commit 83f4b5e8d2
7 changed files with 279 additions and 28 deletions
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11
app/gl_img_process.c
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@@ -11,6 +11,7 @@
void img_processing() {
int w1 = IMAGE_W / 2 - BEGINW_R, h1 = BEGINH_L;
pts_left_count = sizeof(pts_left) / sizeof(pts_left[0]);
for (; w1 > 0; w1--) {
@@ -37,16 +38,16 @@ void img_processing() {
//透视变换
for (int i = 0; i < pts_left_count; i++) {
pts_inv_l[i][1] = fclip(UndistInverseMapW[pts_left[i][0]][pts_left[i][1]],0,IMAGE_W);
pts_inv_l[i][0] = fclip(UndistInverseMapH[pts_left[i][0]][pts_left[i][1]],0,IMAGE_H);
pts_inv_l[i][1] = fclip(InverseMapW[pts_left[i][0]][pts_left[i][1]],0,IMAGE_W);
pts_inv_l[i][0] = fclip(InverseMapH[pts_left[i][0]][pts_left[i][1]],0,IMAGE_H);
}
pts_inv_l_count = pts_left_count;
for (int i = 0; i < pts_right_count; i++) {
pts_inv_r[i][1] = fclip(UndistInverseMapW[pts_right[i][0]][pts_right[i][1]],0,IMAGE_W);
pts_inv_r[i][0] = fclip(UndistInverseMapH[pts_right[i][0]][pts_right[i][1]],0,IMAGE_H);
pts_inv_r[i][1] = fclip(InverseMapW[pts_right[i][0]][pts_right[i][1]],0,IMAGE_W);
pts_inv_r[i][0] = fclip(InverseMapH[pts_right[i][0]][pts_right[i][1]],0,IMAGE_H);
}
pts_inv_r_count = pts_right_count;\
pts_inv_r_count = pts_right_count;
// 边线滤波
GetLinesFilter(pts_inv_l, pts_inv_l_count, pts_filter_l, (int) round(FILTER_KERNELSIZE));