bool check_side(int *ray, int i)
{
if (ray[0] < 60 || ray[31] < 60)
{
if (i <= 15)
back_left();
else
back_right();
}
if (ray[0] < 100)
return (turning_left());
else if (ray[31] < 100)
return (turning_right());
return (false);
}
const QImage& ImageTransformer::
SobelTransform()
{
QImage NewImage(_DataHandled.size(),_DataHandled.format());
int width = NewImage.width();
int height = NewImage.height();
int depth = NewImage.depth();
if(depth == 32)
{
for(int i=1;i<width-1;++i)
{
for(int j=1;j<height-1;++j)
{
/*O O O
*O X O
*O O O
*/
QColor front_left(_DataHandled.pixel(i-1,j-1));
QColor front(_DataHandled.pixel(i,j-1));
QColor front_right(_DataHandled.pixel(i-1,j+1));
QColor left(_DataHandled.pixel(i-1,j));
QColor right(_DataHandled.pixel(i+1,j));
QColor back_left(_DataHandled.pixel(i-1,j+1));
QColor back(_DataHandled.pixel(i,j+1));
QColor back_right(_DataHandled.pixel(i+1,j+1));
int red_x = (front_left.red()+2*front.red()+front_right.red()) -
(back_left.red() +2*back.red() + back_right.red());
int green_x = (front_left.green()+2*front.green()+front_right.green()) -
(back_left.green() +2*back.green() + back_right.green());
int blue_x = (front_left.blue()+2*front.blue()+front_right.blue()) -
(back_left.blue() +2*back.blue() + back_right.blue());
int red_y = (front_left.red()+2*left.red()+back_left.red())-
(front_right.red() +2*right.red()+back_right.red());
int green_y = (front_left.green()+2*left.green()+back_left.green())-
(front_right.green() +2*right.green()+back_right.green());
int blue_y = (front_left.blue()+2*left.blue()+back_left.blue())-
(front_right.blue() +2*right.blue()+back_right.blue());
int red = static_cast<int>(round(sqrt(pow(red_x,2)+pow(red_y,2))));
int green = static_cast<int>(round(sqrt(pow(green_x,2)+pow(green_y,2))));
int blue = static_cast<int>(round(sqrt(pow(blue_x,2)+pow(blue_y,2))));
red = (red > 255)? 255:red;
green = (green > 255)? 255:green;
blue = (blue > 255)? 255:blue;
red = (red < 0)? 0:red;
green = (green < 0)? 0:green;
blue = (blue < 0)? 0:blue;
NewImage.setPixel(i,j,QColor(red,green,blue).rgb());
}
}
_DataHandled = NewImage;
}
return _DataHandled;
}
