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];

(4)

(5)    //First point is to the left of the right point

(6)    if ((* it) [0] <= (* it) [2])

(7)    {

(8)       polyPoints [0] = cvPoint ((* it) [0], 0);

(9)       polyPoints [1] = cvPoint ((* it) [2], 0);

(10)          polyPoints [2] = cvPoint ((* it) [2], (* it) [3]);

(11)          polyPoints [3] = cvPoint ((* it) [0], (* it) [1]);

(12)     }

(13)     else //First point is to the right of the right point

(14)     {

(15)        polyPoints [0] = cvPoint ((* it) [2], 0);

(16)        polyPoints [1] = cvPoint ((* it) [0], 0);

(17)        polyPoints [2] = cvPoint ((* it) [0], (* it) [1]);

(18)        polyPoints [3] = cvPoint ((* it) [2], (* it) [3]);

(19)     }

(20)

(21)     cv Fill ConvexPoly (inImage, &polyPoints [0], 4, cvScalar (0, 0, 0));

(22) }