openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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41 lines
1.1 KiB

int get_intersections(double *lines, double *intersections, long long n) {
double D, Dx, Dy;
double x, y;
double *L1, *L2;
int k = 0;
for (int i=0; i < n; i++) {
for (int j=0; j < n; j++) {
L1 = lines + i*3;
L2 = lines + j*3;
D = L1[0] * L2[1] - L1[1] * L2[0];
Dx = L1[2] * L2[1] - L1[1] * L2[2];
Dy = L1[0] * L2[2] - L1[2] * L2[0];
// only intersect lines from different quadrants and only left-right crossing
if ((D != 0) && (L1[0]*L2[0]*L1[1]*L2[1] < 0) && (L1[1]*L2[1] < 0)){
x = Dx / D;
y = Dy / D;
if ((0 < x) &&
(x < W) &&
(0 < y) &&
(y < H)){
intersections[k*2 + 0] = x;
intersections[k*2 + 1] = y;
k++;
}
}
}
}
return k;
}
void increment_grid(double *grid, double *lines, long long n) {
double *intersections = (double*) malloc(n*n*2*sizeof(double));
int y, x, k;
k = get_intersections(lines, intersections, n);
for (int i=0; i < k; i++) {
x = (int) (intersections[i*2 + 0] + 0.5);
y = (int) (intersections[i*2 + 1] + 0.5);
grid[y*(W+1) + x] += 1.;
}
free(intersections);
}