diff options
| -rw-r--r-- | detect_road_borders.cpp | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp index 14841f3..af35651 100644 --- a/detect_road_borders.cpp +++ b/detect_road_borders.cpp @@ -428,10 +428,10 @@ int find_bestquality_index(const vector<Point>& contour, double* angle_derivativ *bestquality_width_out = bestquality_width; } -int find_ideal_line(int xlen, int ylen, vector<Point>& contour, int** contour_map, int bestquality_j) +int find_ideal_line(int xlen, int ylen, vector<Point>& contour, Point origin_point, int** contour_map, int bestquality_j) // TODO: this code is crappy, slow, and uses brute force. did i mention it's crappy and slow? { - int intersection = find_intersection_index(xlen/2, ylen-ylen/5, + int intersection = find_intersection_index(origin_point.x, origin_point.y, contour[bestquality_j].x, contour[bestquality_j].y, contour_map); int steering_point=-1; @@ -449,7 +449,7 @@ int find_ideal_line(int xlen, int ylen, vector<Point>& contour, int** contour_ma // rotate the line to the left till it gets better for (; xx>=0; xx--) { - int intersection2 = find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map); + int intersection2 = find_intersection_index(origin_point.x, origin_point.y, xx, contour[bestquality_j].y, contour_map); if (intersection2<0) // won't happen anyway break; @@ -468,7 +468,7 @@ int find_ideal_line(int xlen, int ylen, vector<Point>& contour, int** contour_ma // rotate the line to the right till it gets better for (; xx<xlen; xx++) { - int intersection2 = find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map); + int intersection2 = find_intersection_index(origin_point.x, origin_point.y, xx, contour[bestquality_j].y, contour_map); if (intersection2<0)// won't happen anyway break; @@ -485,7 +485,7 @@ int find_ideal_line(int xlen, int ylen, vector<Point>& contour, int** contour_ma // else // we directly met the bestquality point, i.e. where we wanted to go to. // do nothing - return find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map, false); + return find_intersection_index(origin_point.x,origin_point.y, xx, contour[bestquality_j].y, contour_map, false); } } @@ -547,7 +547,7 @@ void draw_it_all(Mat drawing, vector< vector<Point> >& contours, const vector<Ve #define SMOOTHEN_MIDDLE 10 #define ANG_SMOOTH 9 // return the index of the point to steer to. -int find_steering_point(Mat orig_img, int** contour_map, Mat& drawing) // orig_img is a binary image +int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat& drawing) // orig_img is a binary image { Mat img; orig_img.copyTo(img); // this is needed because findContours destroys its input. @@ -575,10 +575,10 @@ int find_steering_point(Mat orig_img, int** contour_map, Mat& drawing) // orig_i // now we have a naive steering point. the way to it might lead // us offroad, however. - int steering_point=find_ideal_line(img.cols,img.rows, contour, contour_map, bestquality_j); + int steering_point=find_ideal_line(img.cols,img.rows, contour, origin_point, contour_map, bestquality_j); - draw_it_all(drawing, contours, hierarchy, first_nonbottom_idx, contour, angles, angle_derivative,bestquality_j,bestquality_width,bestquality,steering_point, Point(img.cols/2, img.rows-img.rows/5)); + draw_it_all(drawing, contours, hierarchy, first_nonbottom_idx, contour, angles, angle_derivative,bestquality_j,bestquality_width,bestquality,steering_point, origin_point); delete [] angle_derivative; delete [] angles; @@ -648,7 +648,7 @@ int main(int argc, char* argv[]) Mat drawing; - find_steering_point(thres, contour_map, drawing); + find_steering_point(thres, Point(thres.cols/2, thres.rows-thres.rows/5), contour_map, drawing); |