本工程在DM642平台上将D1格式的图像转换成CIF格式，并成功实现了图像的基于自动选取阈值的图像二值化处理，图像反色变换等处理-Image of this project D1 format in DM642 platform will convert the CIF format, and successfully realized the image anti-color transformation based on automatically selected threshold im

基于飞思卡尔MC9S12XS128处理器的自平衡车代码，有线性CCD的自创的动态自适应阀值算法，模糊PID,自创速度滤波，无线模块，LED小屏显示，等等。稳定性好。-Freescale processor-based MC9S12XS128 self-balancing vehicle code, there are linear CCD dynamic adaptive threshold algorithm homemade, fuzzy PID, homemade speed filter

对特定图片进行canny边缘检测。首先是高斯模糊，然后sobel算子处理，再局部极大值确定，最后阈值判断。(Canny edge detection for a particular picture. The first is the Gauss fuzzy, and then the Sobel operator is processed, and then the local maximum is determined, and finally the threshold is judged