#pragma region
#include <iostream>
#include <opencv4/opencv2/core/core.hpp>
#include <opencv4/opencv2/highgui.hpp>
#include <opencv4/opencv2/opencv.hpp>
#include <opencv4/opencv2/imgproc/types_c.h>
#include "pigpio.h"
#include <thread>
#include <cmath>
#include <chrono>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <assert.h>
#include <termios.h>
#include <string.h>
#include <sys/time.h>
#include <time.h>
#include <sys/types.h>
#include <errno.h>
#include <signal.h>
using namespace std;
using namespace cv;
#pragma endregion
#define BAUD 9600//串口波特率
#pragma region
int MAX_YU = 140;
int MIN_YU = 60;
// PID 各个数值
float kr = 0.00000001, kl = -0.0000001, lr = 0, ll = 0, br, bl;
bool flag_avoid = false; // 躲避锥桶标志位
bool flag_zhang = false; // 未知
bool flag_voidcount = false; // 未知
bool flag_ren = false; // 人行道判断标志位
bool flag_yellow = false;
double limit_voidtime = 0.17;
bool flag_start; // 判断蓝色挡板标志位
bool flag_count; // 未知
double time_void = 100; // 未知
double angle; // 计算得到的角度
double angle_bi; // 避障角度
double angle_cover; //??????????
double speed_avoid = 10050; //???????
// double speed_delay = 10200;//?????????????????
double heigth;
double kuan;
double low = 0, high = 0;
Mat kernel_3 = Mat::ones
(cv::Size
(3, 3
), CV_8U
);
Mat kernel = getStructuringElement
(MORPH_RECT, Size
(1, 1
));
int shu = 0;
int sum_avoid = 0;
double width, x_r, x_l; //,heigth;
//Mat frame, ca;
static int ret;
static int GPS;
char r_buf[1024];
FILE* fp;
double angle_x = 0; //???????y??
float a[3], w[3], Angle[3], h[3];
int flag_picture, duo_flag;
// Rect list;cd ~
clock_t start_, end_, mid_time;
static void on
(int, void*
);
//double picture
();
void GetROI
(Mat src, Mat& ROI
);
double PID
(double error1
);
vector<Point2f> get_lines_fangcheng
(vector<Vec4i> lines
);
void Set_gpio
();
Rect Obstacles
(Mat img
);
Rect blue
(Mat img
); // 识别蓝色挡板
Rect yellow
(Mat img
); // 识别黄色挡板
string str = "sudo cp /home/pi/.Xauthority /root/";
int flag = system
(str.c_str
());
#pragma endregion
//5G
Mat img, img_HSV, img_HSV_mask, img_combined, img_per, img_clone, warped, frame;
int start_flag = 1, find_blue_card_flag = 0, cross_flag = 0, music_flag = 0, avoid_flag = 0, car_blake_flag = 0;
int LAB_Bmin = 190, LAB_Bmax = 255, HSL_Lmin = 157, HSL_Lmax = 255;
int TIMECOUNT = 0; //定时器延时
int line_error = 0, line_error1 = 0, line_last_error = 0, line_last_error1 = 0;
float center_x = 0, left_x = 0, right_x = 0;
int line_y = 190;
int rail_width_pix = 56;//跑道一半宽度
Point mousePos
(0, 0
);
double kp = 0.28; // 0.155;//0.11?????;//0.16;//0.2;//0.3;//0.1???? 0.3????
double kd = 0.04; // 0.1;//0 ?????
double kp1 = 0.25, kd1 = 0.02;
double min_angle = 30; // 80 90 - 10
double max_angle = 30; // 100
int Angle_Z;
enum class AvoidanceState {
TRACKING, // 正常循迹状态
AVOIDING, // 避障中
RETURNING // 回归跑道中
};
AvoidanceState current_state = AvoidanceState::TRACKING;
chrono::steady_clock::time_point avoidance_start_time;
const int AVOIDANCE_DURATION = 1500; // 避障动作持续时间（毫秒）
void cd
(char* path
)
{
chdir
(path
);
}
bool crossing
(Mat image
)
{
Mat roi, labels, stats, centroids, hui;
GetROI
(image, roi
);
//imshow
("roi", roi
);
cvtColor
(roi, hui, COLOR_BGR2GRAY
);
Mat binaryImage;
threshold
(hui, binaryImage, 180, 255, cv::THRESH_BINARY
);
imshow
("binaryImage", binaryImage
);
int numComponents = cv::connectedComponentsWithStats
(binaryImage, labels, stats, centroids
);
int crossingnum = 0;
for
(int i = 1; i < numComponents; i++
)
{
int area = stats.at<int>
(i, cv::CC_STAT_AREA
);
if
(area > 200
)
{
crossingnum++;
}
// cout<<area<<endl;
}
cout << "CrossingNum:" << crossingnum << endl;
if
(crossingnum >= 4
)
{
cout << "find crossing" << endl;
return true;
}
return false;
}
void gpio_init
(void
)
{
if
(gpioInitialise
() < 0
)
exit
(1
);
gpioSetMode
(13, PI_OUTPUT
);
gpioSetPWMrange
(13, 40000
);
gpioSetPWMfrequency
(13, 200
);
gpioPWM
(13, 12000
);
gpioDelay
(1000000
);
gpioSetMode
(22, PI_OUTPUT
);
gpioSetPWMfrequency
(22, 50
);
gpioSetPWMrange
(22, 1000
);
gpioPWM
(22, 75
); //
gpioSetMode
(23, PI_OUTPUT
);
gpioSetPWMfrequency
(23, 50
);
gpioSetPWMrange
(23, 1000
);
gpioPWM
(23, 70
); //大上下小
gpioSetMode
(12, PI_OUTPUT
); // 设置GPIO12为PWM输出
gpioSetPWMfrequency
(12, 50
); // 50Hz标准频率
gpioSetPWMrange
(12, 30000
); // 设置PWM范围
printf
("GPIO initial successful"
);
}
void steering
(int angle
)
{
double value =
(0.5 +
(2.0 / 180.0
) * angle
) / 20 * 30000; // 100;//20000
gpioPWM
(12, value
);
}
void Start_motor
(void
)
{
cout << "1" << endl;
gpioPWM
(13, 10600
);
//gpioDelay
(1000000
);
/*for
(int x = 12000; x >= 9000; x -= 300
)
{
cout << x << endl;
gpioPWM
(13, x
);
gpioDelay
(500000
);
}*/
// 第二次启动时,可以注释掉 下面部分
//cout << "2" << endl;
//gpioPWM
(13, 12000
);
//gpioDelay
(1000000
);
// 到此为止
//cout << "3" << endl;
//gpioPWM
(13, 11000
);
//gpioDelay
(1000000
);
//cout << "4" << endl;
//gpioPWM
(13, 10300
);
//double value = speed_init; // ???动慢???
//gpioPWM
(13, value
);
}
void Control_stop
(void
)
{
gpioPWM
(13, 12600
); // 刹车
gpioDelay
(50000
);
gpioPWM
(13, 12200
); // 保护
//gpioDelay
(3000000
);
//gpioPWM
(13, speed_mid
); // 冲刺
}
int uart_open
(int fd, const char* pathname
)
{
fd = open
(pathname, O_RDWR | O_NOCTTY
);
if
(-1 == fd
)
{
perror
("Can't Open Serial Port"
);
return
(-1
);
}
else
printf
("open %s success!\n", pathname
);
if
(isatty(STDIN_
FILENO) == 0
)
printf
("standard input is not a terminal device\n"
);
else
printf
("
isatty success!\n"
);
return fd;
}
int uart_set
(int fd, int nSpeed, int nBits, char nEvent, int nStop
)
{
struct termios newtio, oldtio;
if
(tcgetattr
(fd, &oldtio
) != 0
) {
perror
("SetupSerial 1"
);
printf
("tcgetattr
( fd,&oldtio
) -> %d\n", tcgetattr
(fd, &oldtio
));
return -1;
}
bzero
(&newtio, sizeof
(newtio
));
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
switch
(nBits
)
{
case 7:
newtio.c_cflag |= CS7;
break;
case 8:
newtio.c_cflag |= CS8;
break;
}
switch
(nEvent
)
{
case 'o':
case 'O':
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |=
(INPCK | ISTRIP
);
break;
case 'e':
case 'E':
newtio.c_iflag |=
(INPCK | ISTRIP
);
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'n':
case 'N':
newtio.c_cflag &= ~PARENB;
break;
default:
break;
}
/*设置波特率*/
switch
(nSpeed
)
{
case 2400:
cfsetispeed
(&newtio, B2400
);
cfsetospeed
(&newtio, B2400
);
break;
case 4800:
cfsetispeed
(&newtio, B4800
);
cfsetospeed
(&newtio, B4800
);
break;
case 9600:
cfsetispeed
(&newtio, B9600
);
cfsetospeed
(&newtio, B9600
);
break;
case 115200:
cfsetispeed
(&newtio, B115200
);
cfsetospeed
(&newtio, B115200
);
break;
case 460800:
cfsetispeed
(&newtio, B460800
);
cfsetospeed
(&newtio, B460800
);
break;
default:
cfsetispeed
(&newtio, B9600
);
cfsetospeed
(&newtio, B9600
);
break;
}
if
(nStop == 1
)
newtio.c_cflag &= ~CSTOPB;
else if
(nStop == 2
)
newtio.c_cflag |= CSTOPB;
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
tcflush
(fd, TCIFLUSH
);
if
((tcsetattr
(fd, TCSANOW, &newtio
)) != 0
)
{
perror
("com set error"
);
return -1;
}
printf
("set done!\n"
);
return 0;
}
int uart_close
(int fd
)
{
assert
(fd
);
close
(fd
);
return 0;
}
int send_data
(int fd, char* send_buffer, int length
)
{
length = write
(fd, send_buffer, length * sizeof
(unsigned char
));
return length;
}
int recv_data
(int fd, char* recv_buffer, int length
)
{
length = read
(fd, recv_buffer, length
);
return length;
}
void Control_Xun
(void
)
{
int angle = kp * line_error + kd *
(line_error - line_last_error
);
line_last_error = line_error;
angle = 90 - angle;
if
(angle > 90 + max_angle
) // 130
angle = 90 + max_angle;
if
(angle < 90 - min_angle
)
angle = 90 - min_angle;
//cout <<"line_error"<<line_error<<"angle:" << angle << endl;
//cout << "循迹处理完毕" << endl;
steering
(angle
);
}
//void Control_avoid
(void
) {
// const int DEAD_ZONE = 30; // 中心死区阈值（像素）
// const int AVOID_ANGLE_OFFSET = 25; // 避让角度偏移量
//
// // 1. 计算基础转向角度（PD控制）
// // 注意：根据转向特性调整符号（angle越大越左转）
// int angle = 90 +
(kp1 * line_error1 + kd1 *
(line_error1 - line_last_error1
));
// line_last_error1 = line_error1;
// // 2. 中心区域强制避让（关键修正）
// if
(abs
(line_error1
) < DEAD_ZONE
) {
// // 修正避让方向判断逻辑
// // 锥桶在右侧（line_error1 > 0）：需要向左避让（增大角度）
// // 锥桶在左侧（line_error1 < 0）：需要向右避让（减小角度）
// if
(line_error1 > 0
) {
// angle = 90 + AVOID_ANGLE_OFFSET; // 向左避让
// }
// else {
// angle = 90 - AVOID_ANGLE_OFFSET; // 向右避让
// }
// }
//
// // 3. 角度限幅保护（根据转向特性调整）
// // 角度限幅在60-120度范围（90°为直行）
// if
(angle > 98
) angle = 98; // 最大左转限制
// if
(angle < 82
) angle = 82; // 最大右转限制
//
// cout << "avoid_angle:" << angle << endl;
// steering
(angle
);
//}
// 修改Control_avoid函数，添加跑道保持逻辑
void Control_avoid
(void
) {
const int DEAD_ZONE = 30; // 中心死区阈值（像素）
const int AVOID_ANGLE_OFFSET = 25; // 避让角度偏移量
// 1. 获取当前跑道中心线偏差（来自循迹模块）
int track_error = line_error; // 循迹偏差
// 2. 状态机控制
int base_angle = 90;
switch
(current_state
) {
case AvoidanceState::TRACKING:
// 正常循迹控制
base_angle = 90 +
(kp1 * track_error + kd1 *
(track_error - line_last_error
));
line_last_error = track_error;
break;
case AvoidanceState::AVOIDING: {
// 避障控制逻辑
base_angle = 90 +
(kp1 * line_error1 + kd1 *
(line_error1 - line_last_error1
));
line_last_error1 = line_error1;
// 中心区域强制避让
if
(abs
(line_error1
) < DEAD_ZONE
) {
if
(line_error1 > 0
) {
base_angle = 90 + AVOID_ANGLE_OFFSET;
}
else {
base_angle = 90 - AVOID_ANGLE_OFFSET;
}
}
// 检查避障时间是否结束
auto now = chrono::steady_clock::now
();
auto elapsed = chrono::duration_cast<chrono::milliseconds>
(now - avoidance_start_time
).count
();
if
(elapsed > AVOIDANCE_DURATION
) {
current_state = AvoidanceState::RETURNING;
avoidance_start_time = now; // 重置计时器
}
break;
}
case AvoidanceState::RETURNING: {
// 回归跑道逻辑
int return_direction =
(line_error1 > 0
) ? -1 : 1; // 与避让方向相反
base_angle = 90 + return_direction * AVOID_ANGLE_OFFSET;
// 添加循迹误差补偿
base_angle += track_error * 0.3;
// 检查是否应该返回循迹状态
auto now = chrono::steady_clock::now
();
auto elapsed = chrono::duration_cast<chrono::milliseconds>
(now - avoidance_start_time
).count
();
// 条件1：回归时间结束（1秒）
// 条件2：检测到两条跑道线（正常循迹状态）
if
(elapsed > 1000 ||
(abs
(track_error
) < 20
)) {
current_state = AvoidanceState::TRACKING;
}
break;
}
}
// 3. 平滑过渡处理（防止角度突变）
static int last_angle = 90;
const int MAX_CHANGE = 8; // 最大角度变化率
if
(abs
(base_angle - last_angle
) > MAX_CHANGE
) {
base_angle = last_angle +
((base_angle > last_angle
) ? MAX_CHANGE : -MAX_CHANGE
);
}
last_angle = base_angle;
// 4. 角度限幅保护
if
(base_angle > 110
) base_angle = 110; // 最大左转限制
if
(base_angle < 70
) base_angle = 70; // 最大右转限制
// 5. 执行转向
steering
(base_angle
);
// 调试信息
string state_str;
switch
(current_state
) {
case AvoidanceState::TRACKING: state_str = "TRACKING"; break;
case AvoidanceState::AVOIDING: state_str = "AVOIDING"; break;
case AvoidanceState::RETURNING: state_str = "RETURNING"; break;
}
cout << "State: " << state_str << " | Angle: " << base_angle << endl;
}
void GetROI
(Mat src, Mat& ROI
)
{
// 取得源图像的长和宽
int width = src.cols;
int height = src.rows;
Rect rect
(Point
(0,
(height / 20
) * 10
), Point
(width,
(height / 20
) * 17
)); // 按比例截取
ROI = src
(rect
); // 赋值ROI
}
vector<Point2f> get_lines_fangcheng
(vector<Vec4i> lines
)
{
// 遍历概率霍夫变换检测到的直线
float k = 0; // 斜率
float b = 0; // 截距
vector<Point2f> lines_fangcheng;
for
(unsigned int i = 0; i < lines.size
(); i++
)
{
k =
(double
)(lines[i][3] - lines[i][1]
) /
(double
)(lines[i][2] - lines[i][0]
);
b =
(double
)lines[i][1] - k *
(double
)lines[i][0];
lines_fangcheng.push_back
(Point2f
(k, b
));
}
return lines_fangcheng;
}
//Rect blue
(Mat img
)
//{
// Mat HSV, roi;
// GetROI
(img, roi
);
// cvtColor
(roi, HSV, COLOR_BGR2HSV
);
// Scalar Lower
(100, 100, 50
);
// Scalar Upper
(120, 255, 255
);
// Mat mask;
// inRange
(HSV, Lower, Upper, mask
);
// Mat erosion_dilation;
// erode
(mask, erosion_dilation, kernel_3, Point
(-1, -1
), 1, BORDER_CONSTANT, morphologyDefaultBorderValue
());
// dilate
(erosion_dilation, erosion_dilation, kernel_3, Point
(-1, -1
), 1, BORDER_CONSTANT, morphologyDefaultBorderValue
());
// Mat target;
// bitwise_and
(roi, roi, target, erosion_dilation
);
// Mat binary;
// threshold
(erosion_dilation, binary, 127, 255, THRESH_BINARY
);
// imshow
("blue", binary
);
// vector<vector<Point>> contours;
// findContours
(binary, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE
);
// int maxContourIndex = -1;
// double maxContourArea = 0.0;
// for
(int i = 0; i < contours.size
(); i++
)
// {
// double area = cv::contourArea
(contours[i]
);
// if
(area > maxContourArea
)
// {
// maxContourArea = area;
// maxContourIndex = i;
// }
// }
// if
(maxContourIndex != -1
) {
// Rect boundRect = boundingRect
(contours[maxContourIndex]
);
// return boundRect;
// }
// else {
// return Rect
();
// }
//}
//Rect Obstacles
(Mat img
)//识别到锥桶
//{
// Rect obstacle_object = blue
(img
);//识别到的蓝色物体
// if
(obstacle_object.height > 5 && obstacle_object.height < 100
)//对识别到的蓝色物体限幅,
// {
// rectangle
(img, Point
(obstacle_object.x, obstacle_object.y + frame.rows / 2
), Point
(obstacle_object.x + obstacle_object.width, obstacle_object.y + obstacle_object.height + frame.rows / 2
), Scalar
(0, 255, 0
), 3
);
// return obstacle_object;
// }
// return Rect
();
//}
Rect blue
(Mat img
)
{
// 定义有效区域面积阈值
const int MIN_AREA = 0; // 最小面积阈值（像素）
const int MAX_AREA = 5000; // 最大面积阈值（像素）
Mat HSV, roi;
GetROI
(img, roi
);
cvtColor
(roi, HSV, COLOR_BGR2HSV
);
// 改进：使用自适应HSV范围
Scalar Lower
(100, 100, 50
);
Scalar Upper
(120, 255, 255
);
// 改进：计算图像亮度并动态调整阈值
Scalar mean_val = mean
(HSV
);
if
(mean_val[2] > 150
) { // 高亮度环境
Lower.val[1] = 120; // 增加饱和度下限
}
else if
(mean_val[2] < 50
) { // 低亮度环境
Upper.val[2] = 200; // 降低明度上限
}
Mat mask;
inRange
(HSV, Lower, Upper, mask
);
// 改进：增强形态学处理
Mat erosion_dilation;
Mat kernel = getStructuringElement
(MORPH_ELLIPSE, Size
(5, 5
));
erode
(mask, erosion_dilation, kernel, Point
(-1, -1
), 2
);
dilate
(erosion_dilation, erosion_dilation, kernel, Point
(-1, -1
), 2
);
// 改进：添加开运算去除小噪点
morphologyEx
(erosion_dilation, erosion_dilation, MORPH_OPEN, kernel
);
Mat target;
bitwise_and
(roi, roi, target, erosion_dilation
);
Mat binary;
threshold
(erosion_dilation, binary, 127, 255, THRESH_BINARY
);
imshow
("blue", binary
);
vector<vector<Point>> contours;
findContours
(binary, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE
);
int maxContourIndex = -1;
double maxContourArea = 0.0;
// 改进：添加宽高比约束
const float MIN_ASPECT_RATIO = 0.5; // 最小宽高比
const float MAX_ASPECT_RATIO = 2.0; // 最大宽高比
for
(int i = 0; i < contours.size
(); i++
)
{
double area = cv::contourArea
(contours[i]
);
// 跳过不满足面积条件的轮廓
if
(area < MIN_AREA || area > MAX_AREA
)
continue;
// 计算轮廓的边界矩形
Rect boundRect = boundingRect
(contours[i]
);
float aspect_ratio = static_cast<float>
(boundRect.width
) / boundRect.height;
// 跳过不满足宽高比的轮廓
if
(aspect_ratio < MIN_ASPECT_RATIO || aspect_ratio > MAX_ASPECT_RATIO
)
continue;
// 更新最大有效轮廓
if
(area > maxContourArea
)
{
maxContourArea = area;
maxContourIndex = i;
}
}
if
(maxContourIndex != -1
) {
Rect boundRect = boundingRect
(contours[maxContourIndex]
);
// 最终有效性检查（面积+宽高比）
float aspect_ratio = static_cast<float>
(boundRect.width
) / boundRect.height;
if
(boundRect.area
() >= MIN_AREA &&
boundRect.area
() <= MAX_AREA &&
aspect_ratio >= MIN_ASPECT_RATIO &&
aspect_ratio <= MAX_ASPECT_RATIO
)
{
return boundRect;
}
}
return Rect
(); // 返回空矩形表示未找到有效区域
}
Rect Obstacles
(Mat img
)
{
Rect obstacle_object = blue
(img
);
// 检测到有效锥桶
if
(obstacle_object.height > 5 && obstacle_object.height < 100
) {
// 计算在原图中的坐标位置
int roi_offset_y = img.rows / 2; // ROI起始y坐标
Point topLeft
(obstacle_object.x, obstacle_object.y + roi_offset_y
);
Point bottomRight
(obstacle_object.x + obstacle_object.width,
obstacle_object.y + obstacle_object.height + roi_offset_y
);
// 在原图上绘制绿色框
rectangle
(img, topLeft, bottomRight, Scalar
(0, 255, 0
), 3
);
// 更新状态为避障中
if
(current_state == AvoidanceState::TRACKING
) {
current_state = AvoidanceState::AVOIDING;
avoidance_start_time = chrono::steady_clock::now
();
}
return obstacle_object;
}
return Rect
();
}
int car_start
(Mat img
)
{
Rect start_flag = blue
(img
);
// cout << start_flag.width << " " << start_flag.height << endl;
if
(start_flag.width > 50 && start_flag.height > 50
)
{
return 0; // ??????????
}
return 1; // ????????I????
}
void camera
(int angl_x, int angl_y
)
{
gpioPWM
(22, angl_x
);//大左小右
gpioPWM
(23, angl_y
); //大上下小
}
void GPS_init
(void
)
{
char r_buf[1024];
bzero
(r_buf, 1024
);
GPS = uart_open
(GPS, "/dev/ttyUSB0"
);/*串口号/dev/ttySn,USB口号/dev/ttyUSBn */
if
(GPS == -1
)
{
fprintf
(stderr, "GPS error\n"
);
exit
(EXIT_FAILURE
);
}
if
(uart_set
(GPS, BAUD, 8, 'N', 1
) == -1
)
{
fprintf
(stderr, "GPS set failed!\n"
);
exit
(EXIT_FAILURE
);
}
}
void ParseData
(char chr
)
{
static char chrBuf[100];
static unsigned char chrCnt = 0;
signed short sData[4];
unsigned char i;
time_t now;
chrBuf[chrCnt++] = chr;
if
(chrCnt < 11
) return;
if
((chrBuf[0] != 0x55
) ||
((chrBuf[1] & 0x50
) != 0x50
)) { printf
("Error:%x %x\r\n", chrBuf[0], chrBuf[1]
); memcpy
(&chrBuf[0], &chrBuf[1], 10
); chrCnt--; return; }
memcpy
(&sData[0], &chrBuf[2], 8
);
switch
(chrBuf[1]
)
{
case 0x51:
for
(i = 0; i < 3; i++
) a[i] =
(float
)sData[i] / 32768.0 * 16.0;
time
(&now
);
//printf
("\r\nT:%s a:%6.3f %6.3f %6.3f ", asctime
(localtime
(&now
)), a[0], a[1], a[2]
);
break;
case 0x52:
for
(i = 0; i < 3; i++
) w[i] =
(float
)sData[i] / 32768.0 * 2000.0;
//printf
("w:%7.3f %7.3f %7.3f ", w[0], w[1], w[2]
);
break;
case 0x53:
for
(i = 0; i < 3; i++
) Angle[i] =
(float
)sData[i] / 32768.0 * 180.0;
//printf
("A:%7.3f %7.3f %7.3f ", Angle[0], Angle[1], Angle[2]
);
Angle_Z = Angle[2] - 167;
printf
("Z:%d \r\n", Angle_Z
);
break;
case 0x54:
for
(i = 0; i < 3; i++
) h[i] =
(float
)sData[i];
//printf
("h:%4.0f %4.0f %4.0f ", h[0], h[1], h[2]
);
break;
}
chrCnt = 0;
}
void Get_GPS_data
(void
)
{
while
(1
)
{
ret = recv_data
(GPS, r_buf, 44
);
if
(ret == -1
)
{
fprintf
(stderr, "uart read failed!\n"
);
exit
(EXIT_FAILURE
);
}
for
(int i = 0; i < ret; i++
) ParseData
(r_buf[i]
);
usleep
(1000
);
}
//usleep
(1000
);
}
void audio
(void
)
{
system
("omxplayer /home/pi/car435/car.wav"
);
}
Mat HLS_Lthresh
(const cv::Mat& img, int min_thresh = 220, int max_thresh = 255
)
{
Mat hls;
cvtColor
(img, hls, COLOR_BGR2HLS
);
vector<Mat> channels;
split
(hls, channels
);
Mat l_channel = channels[1];
double minVal, maxVal;
minMaxLoc
(l_channel, &minVal, &maxVal
);
l_channel.convertTo
(l_channel, CV_8UC1, 255.0 / maxVal
);
Mat binary_output = Mat::zeros
(l_channel.size
(), CV_8UC1
);
inRange
(l_channel, min_thresh, max_thresh, binary_output
);
return binary_output;
}
Mat LAB_BThreshold
(const Mat& img, int min_thresh = 190, int max_thresh = 255
)
{
Mat lab;
cvtColor
(img, lab, COLOR_BGR2Lab
);
vector<Mat> lab_channels;
split
(lab, lab_channels
);
Mat b_channel = lab_channels[2];
//cout<<b_channel<<endl;
double maxVal;
minMaxLoc
(b_channel, nullptr, &maxVal
);
//cout<<maxVal<<endl;
if
(maxVal > 175
) {
b_channel.convertTo
(b_channel, CV_8UC1, 255.0 / maxVal
);
}
Mat binary_output = Mat::zeros
(b_channel.size
(), CV_8UC1
);
inRange
(b_channel, min_thresh, max_thresh, binary_output
);
return binary_output;
}
Mat combineThresholds
(const Mat& img_LThresh, const Mat& img_BThresh
)
{
Mat combined = Mat::zeros
(img_BThresh.size
(), CV_8UC1
);
bitwise_or
(img_LThresh, img_BThresh, combined
);
return combined;
}
struct LaneData
{
vector<Point> left_points;
vector<Point> right_points;
vector<float> left_fit;
vector<float> right_fit;
vector<float> mid_fit;
vector<Rect> left_windows;
vector<Rect> right_windows;
};
Mat getHistogram
(const Mat& binary_img
) {
Mat hist;
reduce
(binary_img.rowRange
(binary_img.rows / 2, binary_img.rows
),
hist, 0, REDUCE_SUM, CV_32S
);
return hist;
}
pair<int, int> findLaneBases
(const Mat& hist
) {
int midpoint = hist.cols / 2;
int quarter = midpoint / 2;
Point left_base, right_base;
minMaxLoc
(hist.colRange
(quarter, midpoint
), 0, 0, 0, &left_base
);
minMaxLoc
(hist.colRange
(midpoint, midpoint + quarter
), 0, 0, 0, &right_base
);
return { left_base.x + quarter, right_base.x + midpoint };
}
LaneData slidingWindow
(const Mat& binary_img, int nwindows = 9, int margin = 20, int minpix = 10
)
{
LaneData result;
auto [leftx, rightx] = findLaneBases
(getHistogram
(binary_img
));
//cout<<"leftx:"<<leftx<<"rightx:"<<rightx<<endl;
int window_height = binary_img.rows / nwindows;
vector<Point> nonzero;
findNonZero
(binary_img, nonzero
);
for
(int i = 0; i < nwindows; ++i
) {
int win_y_low = binary_img.rows -
(i + 1
) * window_height;
int win_y_high = binary_img.rows - i * window_height;
Rect left_win
(leftx - margin, win_y_low, 2 * margin, window_height
);
Rect right_win
(rightx - margin, win_y_low, 2 * margin, window_height
);
result.left_windows.push_back
(left_win
);
result.right_windows.push_back
(right_win
);
for
(const auto& pt : nonzero
) {
if
(left_win.contains
(pt
)) result.left_points.push_back
(pt
);
if
(right_win.contains
(pt
)) result.right_points.push_back
(pt
);
}
if
(result.left_points.size
() > minpix
)
leftx = mean
(result.left_points
)[0];
if
(result.right_points.size
() > minpix
)
rightx = mean
(result.right_points
)[0];
}
return result;
}
vector<float> polyFit
(const vector<Point>& points, int order = 2
)
{
if
(points.size
() < order + 1
)
{
cout << "data no enough for" << order << "profit" << endl; return {};
}
Mat A
(points.size
(), order + 1, CV_32F
);
Mat B
(points.size
(), 1, CV_32F
);
for
(size_t i = 0; i < points.size
(); ++i
) {
float y = points[i].y;
A.at<float>
(i, 0
) = y * y;
A.at<float>
(i, 1
) = y;
A.at<float>
(i, 2
) = 1.0f;
B.at<float>
(i, 0
) = points[i].x;
}
Mat coeff;
solve
(A, B, coeff, DECOMP_SVD
);
//solve
(A, B, coeff, DECOMP_QR
);
return { coeff.at<float>
(0
), coeff.at<float>
(1
), coeff.at<float>
(2
) };
}
vector<float> calculateCenterLaneCoefficient
(const vector<float>& left_fit, const vector<float>& right_fit
)
{
if
(left_fit.size
() != 3 || right_fit.size
() != 3
) {
cout << "Invalid polynomial coefficients" << endl;
return {};
}
vector<float> center_fit
(3
);
center_fit[0] =
(left_fit[0] + right_fit[0]
) / 2.0f; // A 系数
center_fit[1] =
(left_fit[1] + right_fit[1]
) / 2.0f; // B 系数
center_fit[2] =
(left_fit[2] + right_fit[2]
) / 2.0f; // C 系数
//cout<<center_fit[0]<<center_fit[1]<<center_fit[2]<<endl;
return center_fit;
}
float calculateXFromPolynomial
(const vector<float>& fit, float y
)
{
if
(fit.size
() != 3
) return 0.0f;
return fit[0] * y * y + fit[1] * y + fit[2];
}
void visualize
(Mat& img, const LaneData& data
) {
// 绘制滑动窗口
// for
(const auto& win : data.left_windows
)
// rectangle
(img, win, Scalar
(0,255,0
), 2
);
// for
(const auto& win : data.right_windows
)
// rectangle
(img, win, Scalar
(0,255,0
), 2
);
// 绘制车道线点
for
(const auto& pt : data.left_points
)
circle
(img, pt, 3, Scalar
(255, 0, 0
), -1
);
for
(const auto& pt : data.right_points
)
circle
(img, pt, 3, Scalar
(0, 0, 255
), -1
);
// 绘制拟合曲线
if
(!data.left_fit.empty
())
{
for
(int y = 0; y < img.rows; ++y
)
{
int x = data.left_fit[0] * y * y + data.left_fit[1] * y + data.left_fit[2];
if
(x >= 0 && x < img.cols
)
circle
(img, Point
(x, y
), 2, Scalar
(0, 0, 255
), -1
);
}
}
if
(!data.right_fit.empty
())
{
for
(int y = 0; y < img.rows; ++y
)
{
int x = data.right_fit[0] * y * y + data.right_fit[1] * y + data.right_fit[2];
if
(x >= 0 && x < img.cols
)
circle
(img, Point
(x, y
), 2, Scalar
(0, 0, 255
), -1
);
}
}
circle
(img, Point
(center_x, line_y
), 3, Scalar
(0, 255, 0
), -1
);
}
bool Contour_Area
(vector<Point> contour1, vector<Point> contour2
)
{
return contourArea
(contour1
) > contourArea
(contour2
);
}
Mat customEqualizeHist
(const Mat& inputImage, float alpha
)
{
Mat enhancedImage;
equalizeHist
(inputImage, enhancedImage
);
return alpha * enhancedImage +
(1 - alpha
) * inputImage;
}
void timer
(void
)//定时器中断
{
TIMECOUNT++;
std::cout << "timer:" << TIMECOUNT << std::endl;
}
void reset_timer
(void
)//定时器中断
{
TIMECOUNT = 0;
}
//int PID
(int error
)
//{
// const float Kp = 0.8f;
// int output = static_cast<int>
(Kp * error
);
//
// output = max
(-30, min
(30, output
));
// return output;
//}
int timer_interrupt
(void
)//定时器
{
while
(true
)
{
//timer
();
this_thread::sleep_for
(chrono::milliseconds
(50
));
Control_Xun
();
}
return 0;
}
void onTrackbar
(int, void*
)
{
LAB_Bmin = getTrackbarPos
("LAB_Bmin", "TrackBars"
);
LAB_Bmax = getTrackbarPos
("LAB_Bmax", "TrackBars"
);
HSL_Lmin = getTrackbarPos
("HSL_Lmin", "TrackBars"
);
HSL_Lmax = getTrackbarPos
("HSL_Lmax", "TrackBars"
);
}
void UI_init
(void
)
{
namedWindow
("TrackBars", WINDOW_NORMAL
);
resizeWindow
("TrackBars", 320, 240
);
moveWindow
("TrackBars", 0, 50
); // 设置窗口位置
createTrackbar
("LAB_Bmin", "TrackBars", &LAB_Bmin, 255, onTrackbar
);
setTrackbarPos
("LAB_Bmin", "TrackBars", LAB_Bmin
);
createTrackbar
("LAB_Bmax", "TrackBars", &LAB_Bmax, 255, onTrackbar
);
setTrackbarPos
("LAB_Bmax", "TrackBars", LAB_Bmax
);
createTrackbar
("HSL_Lmin", "TrackBars", &HSL_Lmin, 255, onTrackbar
);
setTrackbarPos
("HSL_Lmin", "TrackBars", HSL_Lmin
);
createTrackbar
("HSL_Lmax", "TrackBars", &HSL_Lmax, 255, onTrackbar
);
setTrackbarPos
("HSL_Lmax", "TrackBars", HSL_Lmax
);
}
void onMouse
(int event, int x, int y, int flags, void* userdata
)
{
mousePos = Point
(x, y
);
}
void test
(void
)
{
while
(1
)
{
line_error = -100;
this_thread::sleep_for
(chrono::milliseconds
(500
));
line_error = 100;
this_thread::sleep_for
(chrono::milliseconds
(500
));
}
}
void find_blue_card
(void
)//检测到蓝色挡板
{
vector<vector<Point>> contours;
vector<Vec4i> hierarcy;
findContours
(img_HSV_mask, contours, hierarcy, RETR_EXTERNAL, CHAIN_APPROX_NONE
);
if
(contours.size
() > 0
)
{
sort
(contours.begin
(), contours.end
(), Contour_Area
);
//cout<<cStart_motorontours.size
()<<endl;
vector<vector<Point>> newContours;
for
(const vector<Point>& contour : contours
)
{
Point2f center;
float radius;
minEnclosingCircle
(contour, center, radius
);
if
(center.y > 90 && center.y < 160
)
{
newContours.push_back
(contour
);
}
}
contours = newContours;
if
(contours.size
() > 0
)
{
if
(contourArea
(contours[0]
) > 500
)
{
cout << "find blue card" << endl;
Point2f center;
float radius;
minEnclosingCircle
(contours[0], center, radius
);
circle
(img, center, static_cast<int>
(radius
), Scalar
(0, 255, 0
), 2
);
find_blue_card_flag = 1;
}
else
{
cout << "not blue card" << endl;
}
}
}
else
{
cout << "not blue card" << endl;
}
}
void find_blue_card_remove
(void
)//蓝色挡板移开
{
cout << "detecting blue card remove" << endl;
vector<vector<Point>> contours;
vector<Vec4i> hierarcy;
findContours
(img_HSV_mask, contours, hierarcy, RETR_EXTERNAL, CHAIN_APPROX_NONE
);
if
(contours.size
() > 0
)
{
sort
(contours.begin
(), contours.end
(), Contour_Area
);
vector<vector<Point>> newContours;
for
(const vector<Point>& contour : contours
)
{
Point2f center;
float radius;
minEnclosingCircle
(contour, center, radius
);
if
(center.y > 90 && center.y < 160
)
{
newContours.push_back
(contour
);
}
}
contours = newContours;
if
(contours.size
() == 0
)
{
start_flag = 0;
cout << "blue card remove" << endl;
//Start_motor
();
//sleep
(2
);
}
}
else
{
start_flag = 0;
cout << "blue card remove" << endl;
//Start_motor
();
//sleep
(2
);
}
}
int crossroad
(void
)//斑马线识别
{
VideoCapture capture;
capture.open
(2
);
if
(!capture.isOpened
())
{
cout << "Can not open camera" << endl;
return -1;
}
else
cout << "camera open successful" << endl;
capture.set
(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc
('M', 'J', 'P', 'G'
));
capture.set
(cv::CAP_PROP_FPS, 30
);
capture.set
(cv::CAP_PROP_FRAME_WIDTH, 320
);
capture.set
(cv::CAP_PROP_FRAME_HEIGHT, 240
);
this_thread::sleep_for
(chrono::milliseconds
(2000
)); //让图像稳定
cout << "Program started" << endl;
Mat img_cross;
Mat blur;
while
(1
)
{
capture >> img_cross;
GaussianBlur
(img_cross, blur, Size
(5, 5
), 0
);
Mat hsv;
cvtColor
(blur, hsv, COLOR_BGR2HSV
);
Scalar lower_white = Scalar
(0, 0, 200
);
Scalar upper_white = Scalar
(180, 40, 255
);
Mat cross_mask;
inRange
(hsv, lower_white, upper_white, cross_mask
);
// Mat edges;
// Canny
(blur, edges, 50, 150
);
// bitwise_or
(cross_mask, edges, cross_mask
);
Mat kernel = getStructuringElement
(MORPH_RECT, Size
(7, 7
));
//dilate
(mask1, mask1, kernel
);
//erode
(mask1, mask1, kernel
);
morphologyEx
(cross_mask, cross_mask, MORPH_CLOSE, kernel
);
//Rect roi
(0,120,320,120
);//shang
Rect roi
(0, 260, 640, 220
);//xia
Mat region = cross_mask
(roi
);
//imshow
("combined_image", region
);
//imshow
("Full Mask", cross_mask
); // 完整图像
//imshow
("ROI Region", region
); // 仅用于调试检测区
//imshow
("combined_image", mask1_roi
);
int stripe_count = 0, transitions = 0;
for
(int i = 0; i < region.rows; i++
)
{
transitions = 0;
for
(int j = 5; j < region.cols - 5; j++
) {
if
(region.at<uchar>
(i, j
) != region.at<uchar>
(i, j - 1
))
transitions++;
}
//cout<<"transitions:"<<transitions<<endl;
if
(transitions >= 6
) stripe_count++;
}
cross_flag =
(stripe_count >= 16
) ? 1 : 0;
cout << "stripe_count" << stripe_count << "cross_flag:" << cross_flag << endl;
if
(cv::waitKey
(1
) == 27
)break;
}
gpioTerminate
();
capture.release
(); // 释放摄像头
destroyAllWindows
(); // 关闭所有窗口
//uart_close
(GPS
);
return 0;
}
Mat per_wt
(Mat& frame
)
{
int img_h, img_w;
img_clone = frame.clone
();
img_h = img_clone.rows; // 图像高度
img_w = img_clone.cols;
vector<cv::Point2f> src = {
Point2f
(125, 198
),
Point2f
(213, 198
),
Point2f
(295, 237
),
Point2f
(55, 237
)
};
vector<cv::Point2f> dst = {
Point2f
(100,0
),
Point2f
(img_w - 100, 0
),
Point2f
(img_w - 100, img_h
),
Point2f
(100, img_h
)
};
// 定义目标坐标（变换后的四个点）
vector<cv::Point> polygon;
for
(const auto& pt : src
)
{
polygon.push_back
(Point
(static_cast<int>
(pt.x
), static_cast<int>
(pt.y
)));
}
polylines
(img_clone, polygon, 1, Scalar
(0, 0, 255
), 3, cv::LINE_AA
);
// 计算透视变换矩阵
Mat M = getPerspectiveTransform
(src, dst
);
Mat Minv = getPerspectiveTransform
(dst, src
);
// 应用透视
warpPerspective
(frame, warped, M, cv::Size
(img_w, img_h
), cv::INTER_LINEAR
);
waitKey
(5
);
return warped;
}
int find_line
(void
) //循迹线程
{
// 初始化程序
//UI_init
();
VideoCapture capture;
capture.open
(0
);
if
(!capture.isOpened
())
{
cout << "Can not open camera" << endl;
return -1;
}
else
cout << "camera open successful" << endl;
capture.set
(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc
('M', 'J', 'P', 'G'
));
capture.set
(cv::CAP_PROP_FPS, 30
);
capture.set
(cv::CAP_PROP_FRAME_WIDTH, 320
);
capture.set
(cv::CAP_PROP_FRAME_HEIGHT, 240
);
this_thread::sleep_for
(chrono::milliseconds
(1000
)); //让图像稳定
cout << "Program started" << endl;
while
(1
)
{
capture >> img;
if
(start_flag == 1
)
{
cvtColor
(img, img_HSV, COLOR_BGR2HSV
);
Scalar HSV_L = Scalar
(100, 43, 46
);
Scalar HSV_H = Scalar
(124, 255, 255
);
inRange
(img_HSV, HSV_L, HSV_H, img_HSV_mask
);
Mat kernel = getStructuringElement
(MORPH_RECT, Size
(5, 5
));
morphologyEx
(img_HSV_mask, img_HSV_mask, MORPH_OPEN, kernel
);
morphologyEx
(img_HSV_mask, img_HSV_mask, MORPH_CLOSE, kernel
);
if
(find_blue_card_flag == 0
)find_blue_card
();
else find_blue_card_remove
();
}
else
{
img_per = per_wt
(img
);
Mat HLS_Lresult = HLS_Lthresh
(img_per, HSL_Lmin, HSL_Lmax
);
Mat LAB_Bresult = LAB_BThreshold
(img_per, LAB_Bmin, LAB_Bmax
);
img_combined = combineThresholds
(HLS_Lresult, LAB_Bresult
);
Mat white_image
(img.size
(), img.type
(), Scalar::all
(255
));
LaneData lanes = slidingWindow
(img_combined
);
lanes.left_fit = polyFit
(lanes.left_points
);
lanes.right_fit = polyFit
(lanes.right_points
);
if
(lanes.left_fit.size
() != 3 || lanes.right_fit.size
() != 3
)
{
if
(lanes.left_fit.size
() != 3
)center_x = lanes.right_fit[0] * line_y * line_y + lanes.right_fit[1] * line_y + lanes.right_fit[2] - rail_width_pix;
if
(lanes.right_fit.size
() != 3
)center_x = lanes.left_fit[0] * line_y * line_y + lanes.left_fit[1] * line_y + lanes.left_fit[2] + rail_width_pix;
cout << center_x << endl;
}
if
(lanes.left_fit.size
() == 3 && lanes.right_fit.size
() == 3
)
{
center_x =
(lanes.right_fit[0] * line_y * line_y + lanes.right_fit[1] * line_y + lanes.right_fit[2] + lanes.left_fit[0] * line_y * line_y + lanes.left_fit[1] * line_y + lanes.left_fit[2]
) / 2;
cout << center_x << endl;
}
line_error = center_x - 160;
//cout << left_x << "," << right_x << "," << center_x << "," << line_error << endl;
visualize
(white_image, lanes
);
//namedWindow
("img", cv::WINDOW_NORMAL
); // 创建可调整大小的窗口
//resizeWindow
("img", 320, 240
); // 设置窗口尺寸
//moveWindow
("img", 320, 50
); // 设置窗口位置
//imshow
("img", img_clone
);
//namedWindow
("combined_image", cv::WINDOW_NORMAL
); // 创建可调整大小的窗口
//resizeWindow
("combined_image", 320, 240
); // 设置窗口尺寸
//moveWindow
("combined_image", 640, 50
); // 设置窗口位置
//imshow
("combined_image", img_combined
);
//namedWindow
("white_image", cv::WINDOW_NORMAL
); // 创建可调整大小的窗口
//resizeWindow
("white_image", 320, 240
); // 设置窗口尺寸
//moveWindow
("white_image", 960, 50
); // 设置窗口位置
//imshow
("white_image", white_image
);
if
(cross_flag == 1
) { Control_stop
(); audio
(); break; }
}
if
(cv::waitKey
(1
) == 27
)break;
//if
(car_blake_flag == 1
) ;//break;//结束代码
}
gpioTerminate
();
capture.release
(); // 释放摄像头
destroyAllWindows
(); // 关闭所有窗口
//uart_close
(GPS
);
return 0;
}
//—————————————————————————
int Blue_cone
(void
)
{
VideoCapture capture;
capture.open
(2
);
if
(!capture.isOpened
()) {
cout << "Error: Camera not available" << endl;
return -1;
}
else
cout << "camera open successful" << endl;
capture.set
(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc
('M', 'J', 'P', 'G'
));
capture.set
(cv::CAP_PROP_FPS, 30
);
capture.set
(cv::CAP_PROP_FRAME_WIDTH, 640
);
capture.set
(cv::CAP_PROP_FRAME_HEIGHT, 480
);
this_thread::sleep_for
(chrono::milliseconds
(1000
)); //让图像稳定
cout << "Program started" << endl;
current_state = AvoidanceState::TRACKING;
while
(1
)
{
capture >> frame;
if
(!capture.read
(frame
)) {
cout << "Frame read error!" << endl;
break;
}
Rect cone = Obstacles
(frame
);
imshow
("blue_cone", frame
);
// 无论是否检测到锥桶都执行控制
Control_avoid
();
if
(waitKey
(1
) == 27
) break;
}
gpioTerminate
();
capture.release
(); // 释放摄像头
destroyAllWindows
(); // 关闭所有窗口
return 0;
}
//————————————————————————--
int main
()
{
gpioTerminate
();
gpio_init
();
GPS_init
();
camera
(72, 86
);
steering
(90
);
thread thread1
(find_line
);//循迹线程
thread thread2
(Get_GPS_data
);//test
thread thread3
(timer_interrupt
);//定时器功能
thread thread4
(crossroad
);
thread thread5
(Blue_cone
);//避障线程
thread1.join
();
thread2.join
();
thread3.join
();
thread4.join
();
thread5.join
();
return 0;//GPS_init
();
}
//取数据调试的main函数
//int main
(void
)
//{
// UI_init
();
// gpioTerminate
();
// gpio_init
();
// camera
(72,86
);
// steering
(90
);
// // Mat img = imread
("C:/Users/wtcat/CLionProjects/untitled7/test_images/225.jpg",IMREAD_COLOR_BGR
);
// // if
(img.empty
())
// // {
// // std::cerr << "Error: Could not load the image" << std::endl;
// // return -1;
// // }
// VideoCapture capture;
// capture.open
(2
);
// if
(!capture.isOpened
())
// {
// cout << "Can not open camera!" << std::endl;
// return -1;
// }
// capture.set
(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc
('M', 'J', 'P', 'G'
));
// capture.set
(cv::CAP_PROP_FPS, 30
);
// capture.set
(cv::CAP_PROP_FRAME_WIDTH, 320
);
// capture.set
(cv::CAP_PROP_FRAME_HEIGHT, 240
);
// this_thread::sleep_for
(chrono::milliseconds
(1000
)); //让图像稳定
// Mat img_per,img_combined;
// string windowName = "XY";
// namedWindow
(windowName, WINDOW_AUTOSIZE
);
// setMouseCallback
(windowName, onMouse, NULL
);
// while
(1
)
// {
// capture>>img;
// img_per=per_wt
(img
);
// string coordText = "X=" + to_string
(mousePos.x
) + " Y=" + to_string
(mousePos.y
);
// putText
(img_clone, coordText, Point
(15, 35
),FONT_HERSHEY_SIMPLEX, 0.7, Scalar
(0, 255, 100
), 2
);
// moveWindow
(windowName, 320, 50
);
// imshow
(windowName, img_clone
);
// Mat HLS_Lresult = HLS_Lthresh
(img_per,HSL_Lmin,HSL_Lmax
);
// Mat LAB_Bresult = LAB_BThreshold
(img_per,LAB_Bmin,LAB_Bmax
);
// img_combined=combineThresholds
(HLS_Lresult, LAB_Bresult
);
// //img_combined=HLS_Lresult;
// Mat white_image
(img.size
(), img.type
(), Scalar::all
(255
));
// LaneData lanes = slidingWindow
(img_combined
);
// lanes.left_fit = polyFit
(lanes.left_points
);
// lanes.right_fit = polyFit
(lanes.right_points
);
// visualize
(white_image, lanes
);
// namedWindow
("combined_image", cv::WINDOW_NORMAL
); // 创建可调整大小的窗口
// resizeWindow
("combined_image", 320, 240
); // 设置窗口尺寸
// moveWindow
("combined_image", 640, 50
); // 设置窗口位置
// imshow
("combined_image", img_combined
);
// namedWindow
("white_image", cv::WINDOW_NORMAL
); // 创建可调整大小的窗口
// resizeWindow
("white_image", 320, 240
); // 设置窗口尺寸
// moveWindow
("white_image", 960,50
); // 设置窗口位置
// imshow
("white_image", white_image
);
// if
(cv::waitKey
(1
) == 27
)
// {
// break;
// }
// //if
(car_blake_flag == 1
) ;//break;//结束代码
// }
// capture.release
(); // 释放摄像头
// destroyAllWindows
(); // 关闭所有窗口
// return 0;
//}现在，在跑道尽头有一块停车区域（将跑道一分为二分左右两侧，并分别贴着AB标识），在停车区域前贴有一块标识（A或B），小车要识别到A或者B，并跑进相应的停车区域停车，停车区域有一条黄线横在跑道上，AB标识均为蓝底白字，黄线和指示牌均贴在地上，是先识别到一个指示牌A或B然后根据他再往前走识别到黄线及黄线后方两块区域AB停进相应的区域。请帮我补程序
本文介绍了isatty()函数的实现原理及其应用场景，该函数用于判断指定的文件描述符是否指向一个终端设备。此外，还解释了标准输入文件描述符STDIN_FILENO的概念及其在POSIX系统中的作用。
扫一扫
2716
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
