Research Article
Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions
Listing 3
Edge Segmentation. The code implementing the Edge Segmentation algorithm.
(1) for (auto it = Filtered Lines. Begin (); it != Filtered Lines. end (); ++it) | (2) { | (3) CvPoint poly Points ; | (4) | (5) //First point is to the left of the right point | (6) if ((* it) (* it) ) | (7) { | (8) polyPoints = cvPoint ((* it) , 0); | (9) polyPoints = cvPoint ((* it) , 0); | (10) polyPoints = cvPoint ((* it) , (* it) ); | (11) polyPoints = cvPoint ((* it) , (* it) ); | (12) } | (13) else //First point is to the right of the right point | (14) { | (15) polyPoints = cvPoint ((* it) , 0); | (16) polyPoints = cvPoint ((* it) , 0); | (17) polyPoints = cvPoint ((* it) , (* it) ); | (18) polyPoints = cvPoint ((* it) , (* it) ); | (19) } | (20) | (21) cv Fill ConvexPoly (inImage, &polyPoints , 4, cvScalar (0, 0, 0)); | (22) } |
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