中文说明： 是路径规划的实用方法，包括面积、周长、矩形度、伸长度，基于互功率谱的时延估计，包括最后计算压缩图像的峰值信噪比和压缩效果的源码,验证可用，有详细的注释。
English Description：
Is a practical method of path planning, including area, perimeter, rectangularity, stretch length, time delay estimation based on cross power spectrum, including the final calculation of compressed image peak signal-to-noise ratio and compression effect source code, verification available, with detailed notes.