提取中线，请大家给点意见 - 智能车制作

void Black_Extract(void)
{
volatile int get_black_cnt,
get_black_cnt1,
base_point_flag;
volatile byte i=0,j=0,left_temp=0,right_temp=0;
volatile int k,m,n,o;
volatile byte start_flag1=0,start_flag2=0;
volatile word left_line=0,right_line=0,left_line1=0,right_line1=0;
volatile word left_edge=0,right_edge=0;
volatile char ins_black_center=0;
black_lost_cnt=0;
get_black_cnt =0;
black_lost_cnt1 =0;
black_lost_cnt=0;
base_point_flag=0;
Flag_Lost=0;
SER_NUM=6;//搜索范围赋初值
//Line_Center[0] = Line_Center[IMAGE_ROW-1];//每场的末尾给新的一场的开始，让图像连续，这句很重要
//后10行两边都查找，取中间点
start_flag1=0;start_flag2=0;
left_edge=0;right_edge=0; //左右跳变清零
//###########################二十行搜索##########################
erzhihua(135);
for(i=0;i<20;i++)
{
for(j=43;j>3;j--)
{
if(ImageSample_Buffer[i][j-1]==1&&ImageSample_Buffer[i][j-2]==1&&ImageSample_Buffer[i][j-3]==1&&ImageSample_Buffer[i][j]==0&&ImageSample_Buffer[i][j+1]==0&&ImageSample_Buffer[i][j+2]==0)
{
start_flag1=1;
left_edge=j; //记录左跳变沿位置
left_line=left_edge;
}
}//左边搜索结束
for(j=43;j<IMAGE_COL-3;j++)
{
if(ImageSample_Buffer[i][j+1]==1&&ImageSample_Buffer[i][j+2]==1&&ImageSample_Buffer[i][j+3]==1&&ImageSample_Buffer[i][j]==0&&ImageSample_Buffer[i][j-1]==0&&ImageSample_Buffer[i][j-2]==0)
{
start_flag2=1;
right_edge=j; //记录右跳变沿位置
right_line=right_edge;
}
}//右边搜索结束,找到左右跳变沿
//一行搜索结束
if(start_flag1==1 && start_flag2==1) //1.有左右跳变沿
{
SCI_Write('11') ;
if((right_line - left_line >= WHITE_LINE_MIN0)&&(right_line - left_line <= WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{ //@@@@@@@@@过滤过宽的白线和过细的白线
Line_Center_Temp=(byte)((right_line+left_line+1)>>1); //取中心,考虑到了每行的搜索到的最后一个点
Line_Center[i]=Line_Center_Temp;
get_black_cnt++;//找到有效行，加1
}
else
{
black_lost_cnt++; //丢失行加1
get_black_cnt=0; //继续从头再找
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
}
}
else if(start_flag1==0 && start_flag2==1) //2.只有右跳变沿，黑线向左弯
{
SCI_Write('22') ;
if((right_line >= WHITE_LINE_MIN0) && (right_line <=WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{
Line_Center_Temp=(byte)(right_line>>1);
Line_Center[i]=Line_Center_Temp;
get_black_cnt++;
}
else
{
black_lost_cnt++; //丢失行加1
get_black_cnt=0; //继续从头再找
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
}
}
else if(start_flag1==1 && start_flag2==0) //3.只有左跳变沿，黑线向右弯
{
SCI_Write('33') ;
if((IMAGE_COL - left_line >= WHITE_LINE_MIN0) && (IMAGE_COL - left_line <= WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{
Line_Center_Temp=(byte)((left_line+IMAGE_COL)>>1);
Line_Center[i]=Line_Center_Temp;
get_black_cnt++;//找到有效行，加1
}
else
{
black_lost_cnt++; //丢失行加1
get_black_cnt=0; //继续从头再找
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
}
}
else if(start_flag1==0 && start_flag2==0) //4.无左右跳变沿，这行舍弃，计数加1
{
SCI_Write('44') ;
black_lost_cnt++; //丢失行加1
get_black_cnt=0; //继续从头再找
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
}
/*******判断是否为基准行**************/
if(get_black_cnt>=4)//找到有效行，跳到下一个循环
{
if(fabs(Line_Center[i]-Line_Center[i+1]) <COM_NUM &&
fabs(Line_Center[i+1]-Line_Center[i+2])<COM_NUM &&
fabs(Line_Center[i+2]-Line_Center[i+3])<COM_NUM )
{ //若4点连续，认为找到基准线了
base_point_flag=1; //表示基准点已经找到
Down_Limit=i+1; //最近有效行
Down_Limit1=Down_Limit;
break; //跳出for循环
}
else //若不连续，继续全行搜索
{
get_black_cnt=0;
}
}
if(black_lost_cnt>=15) //前20行未找到基准行
{
duoji_kongzhi=duoji_kongzhi1;
break; //跳出for循环
}
}
//是否返回继续找基准行
if(base_point_flag==0)
{
return;
}
//##########################继续往前搜索##########################
for(i=Down_Limit1;i<IMAGE_ROW;i++)
{
start_flag1=0;
start_flag2=0; //左右标志位置0
left_line1=left_line;
right_line1=right_line;
k=left_line-SER_NUM; //SER_NUM为搜索范围
if(k<0) k=0;
m=left_line+SER_NUM;
if(m>IMAGE_COL) m=IMAGE_COL;
n=right_line-SER_NUM;
if(n<0) n=0;
o=right_line+SER_NUM;
if(o>IMAGE_COL)o=IMAGE_COL; //确定左右搜索范围
for(k;k<m;k++) //搜索左边
{
if(ImageSample_Buffer[i][k+1]==0&&ImageSample_Buffer[i][k+2]==0&&ImageSample_Buffer[i][k+3]==0&&ImageSample_Buffer[i][k]==1&&ImageSample_Buffer[i][k-1]==1&&ImageSample_Buffer[i][k-2]==1)
{
start_flag1=1;
left_edge=k; //记录左跳变沿位置
left_line=left_edge;
}
} //左边搜索结束
for(n;n<o;n++)
{
if(ImageSample_Buffer[i][n+1]==1&&ImageSample_Buffer[i][n+2]==1&&ImageSample_Buffer[i][n+3]==1&&ImageSample_Buffer[i][n]==0&&ImageSample_Buffer[i][n-1]==0&&ImageSample_Buffer[i][n-2]==0)
{
start_flag2=1;
right_edge=n; //记录右跳变沿位置
right_line=right_edge;
}
} //右边搜索结束
//按照基准行做相同判断
if(start_flag1==1 && start_flag2==1) //1.有左右跳变沿
{
SCI_Write('55') ;
if((right_line - left_line >= WHITE_LINE_MIN0)&&(right_line - left_line <= WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{ //@@@@@@@@@过滤过宽的白线和过细的白线
Line_Center_Temp=(byte)((right_line+left_line+1)>>1); //取中心,考虑到了每行的搜索到的最后一个点
Line_Center[i]=Line_Center_Temp;
get_black_cnt1++;//找到有效行，加1
}
else
{
black_lost_cnt1++; //丢失行加1
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
left_line=left_line1; //使用上一行的双线标志
right_line=right_line1;
SER_NUM++;//扩大搜索范围
}
}
else if(start_flag1==0 && start_flag2==1) //2.只有右跳变沿，黑线向左弯
{
SCI_Write('66') ;
if((right_line >= WHITE_LINE_MIN0) && (right_line <=WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{
Line_Center_Temp=(byte)(right_line>>1);
Line_Center[i]=Line_Center_Temp;
get_black_cnt1++;
}
else
{
black_lost_cnt1++; //丢失行加1
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
left_line=left_line1; //使用上一行的双线标志
right_line=right_line1;
SER_NUM++;//扩大搜索范围
}
}
else if(start_flag1==1 && start_flag2==0) //3.只有左跳变沿，黑线向右弯
{
SCI_Write('77') ;
if((IMAGE_COL - left_line >= WHITE_LINE_MIN0) && (IMAGE_COL - left_line <= WHITE_LINE_MAX0)) //黑线宽度在规定范围内
{
Line_Center_Temp=(byte)((left_line+IMAGE_COL)>>1);
Line_Center[i]=Line_Center_Temp;
get_black_cnt1++;//找到有效行，加1
}
else
{
black_lost_cnt1++; //丢失行加1
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
left_line=left_line1; //使用上一行的双线标志
right_line=right_line1;
SER_NUM++;//扩大搜索范围
}
}
else if(start_flag1==0 && start_flag2==0) //4.无左右跳变沿，这行舍弃，计数加1
{
SCI_Write('88') ;
black_lost_cnt1++; //丢失行加1
Line_Center[i]=Line_Center[i-1]; //赋值上一行,不赋值则为上一场的值
left_line=left_line1; //使用上一行的双线标志
right_line=right_line1;
SER_NUM++;//扩大搜索范围
}
if(black_lost_cnt1>=15) //后25行丢线行数过多,采用上一场值,并跳出
{
duoji_kongzhi=duoji_kongzhi1;
break; //跳出for循环
}
}
}

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