opencv循迹完成版实际小车循迹验证可行

利用OpenCV开源视觉库来获取通过硬件解码的RGB图像，避免了通过调用Android Camera得到图像再转码为RGB格式，提高了系统的实时性。然后对采集的图像进行高斯滤波和形态学变换。最后对预处理后的图像进行Canny取边缘操作，利用Hough变换取得道路边缘直线组，在摄像头相对道路的偏转角度在一定范围的条件下，将边缘直线分为左右两组，之后对两组直线利用最小二乘法拟合得到两条道路边缘性，然后得到道路中心线及其位置，该信息可以通过串口\wifi\蓝牙等输出到控制器，以便控制器对小车或飞机的飞行姿态进行调整。

/** Automatically generated file. DO NOT MODIFY */
package com.graduation.autotracking2;

public final class BuildConfig {
    public final static boolean DEBUG = true;
}

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2015-12-30 06:01  AutoTracking-master\
     文件         466  2015-12-30 06:01  AutoTracking-master\.classpath
     文件         816  2015-12-30 06:01  AutoTracking-master\.project
     目录           0  2015-12-30 06:01  AutoTracking-master\.settings\
     文件         173  2015-12-30 06:01  AutoTracking-master\.settings\org.eclipse.jdt.core.prefs
     文件        2007  2015-12-30 06:01  AutoTracking-master\AndroidManifest.xml
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\
     文件        2007  2015-12-30 06:01  AutoTracking-master\bin\AndroidManifest.xml
     文件      398691  2015-12-30 06:01  AutoTracking-master\bin\AutoTracking2.apk
     文件     1284984  2015-12-30 06:01  AutoTracking-master\bin\classes.dex
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\classes\
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\classes\com\
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\
     文件         365  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\BuildConfig.class
     文件        1182  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\MainActivity$1.class
     文件        2433  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\MainActivity.class
     文件         455  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$attr.class
     文件         491  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$dimen.class
     文件         437  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$drawable.class
     文件         544  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$id.class
     文件         433  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$layout.class
     文件         418  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$menu.class
     文件         502  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$string.class
     文件         461  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$style.class
     文件         654  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R$styleable.class
     文件         839  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\R.class
     目录           0  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\utils\
     文件         723  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\utils\Line.class
     文件        5145  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\utils\MathUtils.class
     文件         885  2015-12-30 06:01  AutoTracking-master\bin\classes\com\graduation\autotracking2\utils\SortedPoint.class
............此处省略75个文件信息