diff options
| -rw-r--r-- | detect_road_borders.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp index 4ee2fc8..38dabdc 100644 --- a/detect_road_borders.cpp +++ b/detect_road_borders.cpp @@ -351,7 +351,7 @@ double* calc_angle_deriv(double* angles, int first_nonbottom_idx, int size, int -int find_bestquality_index(const vector<Point>& contour, double* angle_derivative, int high_y, int first_nonbottom_idx, Mat& drawing, +int find_bestquality_index(const vector<Point>& contour, double* angle_derivative, int xlen, int ylen, int high_y, int first_nonbottom_idx, Mat& drawing, int* bestquality_j_out, int* bestquality_width_out, int* bestquality_out) { assert(bestquality_out!=NULL); @@ -396,10 +396,10 @@ int find_bestquality_index(const vector<Point>& contour, double* angle_derivativ // 1) the maximum has a high value AND // 2) the corresponding point's y-coordinates are near the top image border AND // 3) the corresponding point's x-coordinates are near the middle of the image, if in doubt - int middle_x = drawing.cols/2; - int distance_from_middle_x = abs(drawing.cols/2 - contour[j].x); + int middle_x = xlen/2; + int distance_from_middle_x = abs(xlen/2 - contour[j].x); double quality = median_of_max_region - * linear( contour[j].y, high_y, 1.0, high_y+ (drawing.rows-high_y)/10, 0.0, true) // excessively punish points far away from the top border + * linear( contour[j].y, high_y, 1.0, high_y+ (ylen-high_y)/10, 0.0, true) // excessively punish points far away from the top border * linear( distance_from_middle_x, 0.8*middle_x, 1.0, middle_x, 0.6, true); // moderately punish point far away from the x-middle. // keep track of the best point @@ -452,7 +452,7 @@ 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(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contour[bestquality_j].y, contour_map); + int intersection2 = find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map); if (intersection2<0) // won't happen anyway break; @@ -469,9 +469,9 @@ int find_ideal_line(int xlen, int ylen, vector<Point>& contour, int** contour_ma else if (intersection > bestquality_j) // too far on the left == intersecting the left border { // rotate the line to the right till it gets better - for (; xx<drawing.cols; xx++) + for (; xx<xlen; xx++) { - int intersection2 = find_intersection_index(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contour[bestquality_j].y, contour_map); + int intersection2 = find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map); if (intersection2<0)// won't happen anyway break; @@ -488,7 +488,7 @@ 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(drawing.cols/2, drawing.rows-drawing.rows/5, xx, contour[bestquality_j].y, contour_map, false); + return find_intersection_index(xlen/2, ylen-ylen/5, xx, contour[bestquality_j].y, contour_map, false); } } @@ -546,7 +546,7 @@ int find_steering_point(Mat orig_img, int** contour_map, Mat& drawing) // orig_i } int bestquality, bestquality_j, bestquality_width; - find_bestquality_index(contour, angle_derivative, high_y, first_nonbottom_idx, drawing, + find_bestquality_index(contour, angle_derivative, img.cols, img.rows, high_y, first_nonbottom_idx, drawing, &bestquality_j, &bestquality_width, &bestquality); // now we have a naive steering point. the way to it might lead @@ -570,7 +570,7 @@ int find_steering_point(Mat orig_img, int** contour_map, Mat& drawing) // orig_i int steering_point=find_ideal_line(img.cols,img.rows, contour, contour_map, bestquality_j, drawing); if (steering_point>=0) // should be always true - line(drawing, contour[steering_point], Point(drawing.cols/2, drawing.rows-drawing.rows/5), Scalar(0,255,255)); + line(drawing, contour[steering_point], Point(img.cols/2, img.rows-img.rows/5), Scalar(0,255,255)); delete [] angle_derivative; |