Tony Lin
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Diff: camera_api.cpp
- Revision:
- 20:4ed21397e775
- Parent:
- 19:eb0552a0ddae
--- a/camera_api.cpp Sun Jun 29 14:02:37 2014 +0000
+++ b/camera_api.cpp Sun Jun 29 16:20:22 2014 +0000
@@ -1,367 +1,167 @@
#include "mbed.h"
#include "camera_api.h"
+
#define clk 2 //ms
-
-BX_camera::BX_camera(void)
+
+BX_camera::BX_camera(int p)
{
-
+
line_CamR = new FastAnalogIn(PTD5);
line_CamL= new FastAnalogIn(PTD6,0);
cam_clk=new DigitalOut(PTE1);
si=new DigitalOut(PTD7);
-
+ padding = p;
}
-
+
int BX_camera::black_centerR(void)
{
-
- int r_care=10;
- int l_care=118;
-
-
- // find center
- // case 1 // | //
- // case 2 / | /
-
- char find_type=0x00;
-
- int b_end=64;
- int b_start=64;
- int b_w=0;
- int b_center=64;
- int b2_end=64;
- int b2_start=64;
- int b2_center=64;
- int b2_w=0;
- int center=30;
- int j=64,i;
- int offset=64;
- bool f1=false;
- bool f2=false;
- bool f3=false;
- bool f4=false;
- bool count=false;
- int same_chars=0;
- int w_thr_up=32;
- int w_thr_dn=2;
-
- b_start=b_center=b_end=b2_start=b2_center=b2_end=offset;
-
- for(i=l_care-1; i>r_care; i--){
- if(sign_line_imageR[i]==' ' && count==false){
- b_start=i;
- count=true;
- if(last_sign_line_imageR[i]==' ')
- same_chars++;
- }
- else if(sign_line_imageR[i]==' ' && count==true){
- if(last_sign_line_imageR[i]==' ')
- same_chars++;
- }
- else if(sign_line_imageR[i]!=' ' && count==true){
- count=false;
- if(same_chars>5 && same_chars<32){
- b_end=i+1;
- break;
- }
- }
- }
-
- center=(b_end+b_start)/2;
-
- for(i=l_care-1; i>r_care; i--){
- last_sign_line_imageR[i]=sign_line_imageR[i];
- }
-
- return center;
-/*
+
int l_care=10;
int r_care=118;
-
-
- // find center
- // case 1 // | //
- // case 2 / | /
-
- char find_type=0x00;
-
- int b_end=64;
- int b_start=64;
+ int b_start=0;
+ int b_end=0;
+ bool l_f1=false;
+ bool l_f2=false;
+ bool find=false;
+ int b_thr_up=32;
+ int b_thr_dn=5;
int b_w=0;
- int b_center=64;
- int b2_end=64;
- int b2_start=64;
- int b2_center=64;
- int b2_w=0;
- int center=30;
- int j=64;
- int offset=64;
- bool f1=false;
- bool f2=false;
- bool f3=false;
- bool f4=false;
- int w_thr_up=32;
- int w_thr_dn=2;
-
- b_start=b_center=b_end=b2_start=b2_center=b2_end=offset;
-
- if(sign_line_imageR[64]==' ')
- find_type=0x02;
- else
- find_type=0x01;
-
-
- for(int i=64; i<r_care; i++,j--) {
-
- switch(find_type) {
- case 0x01:
- if(f1==false && sign_line_imageR[i]==' ') {
- b_start=i;
- f1=true;
- }
- if(f1== true && f2==false && sign_line_imageR[i]=='O') {
- b_end=i-1;
- f2=true;
- }
- if(f3==false && sign_line_imageR[j]==' ') {
- b2_start=j;
- f3=true;
- }
- if(f3==true && f4==false && sign_line_imageR[j]=='O') {
- b2_end=j+1;
- f4=true;
- }
- break;
-
- case 0x02:
- if(sign_line_imageR[i]=='O') {
- if(f1==false) {
- b_end=i-1;
- f1=true;
- }
- }
- if(sign_line_imageR[j]=='O') {
- if(f2==false) {
- b_start=j+1;
- f2=true;
- }
- }
- break;
- }
- }
-
- b_w=b_end-b_start+1;
- b2_w=b2_start-b2_end+1;
-
- de_v=b_start;
- de_v2=b_end;
-
- switch(find_type) {
- case 0x01:
- b_center=(b_end+b_start)/2;
- b2_center=(b2_end+b2_start)/2;
-
- if(w_thr_up>b_w && w_thr_dn<b_w && (b_center!=offset) && (b_center-offset)<(offset-b2_center))
- center=b_center;
- else if(w_thr_up>b2_w && w_thr_dn<b2_w && (b2_center!=offset))
- center=b2_center;
- else
- center=offset;
- break;
-
- case 0x02:
- center=(b_end+b_start)/2;
- break;
- }
- return center;
- */
-}
-
-
-
-int BX_camera::black_centerL(void)
-{
-
- int l_care=10;
- int r_care=118;
- // find center
- // case 1 // | //
- // case 2 / | /
- char find_type=0x00;
- int b_end=118;
- int b_start=118;
- int b_w=0;
- int b_center=0;
- int b2_end=0;
- int b2_start=0;
- int b2_center=0;
- int b2_w=0;
- int center=30;
- int j=64;
- bool f1=false;
- bool f2=false;
- bool f3=false;
- bool f4=false;
- int w_thr_up=32;
- int w_thr_dn=0;
-
- if(sign_line_imageR[64]==' ')
- find_type=0x02;
- else
- find_type=0x01;
-
-
- for(int i=64; i<r_care; i++,j--) {
-
- switch(find_type) {
- case 0x01:
- if(f1==false&&sign_line_imageR[i]==' ') {
- if(f1==false) {
- b_start=i;
- f1=true;
- }
-
- }
- if(f1== true&& f2==false&&sign_line_imageR[i]=='O') {
- if(f2==false) {
- b_end=i-1;
- f2=true;
- }
-
- }
- if(f3==false&&sign_line_imageR[j]==' ') {
- if(f3==false) {
- b2_end=j;
- f3=true;
- }
-
+ for(int i=r_care;i>l_care;i--){
+
+
+ if(l_f1==false&&sign_line_imageR[i]==' '){
+
+ b_start=i;
+ l_f1=true;
+ }
+ if(l_f1==true && sign_line_imageR[i]=='O'){
+ b_end=i-1;
+ l_f2=true;
+ }
+
+ if(l_f1==true && l_f2== true){
+ b_w=b_start-b_end;
+ if( b_thr_up>b_w&&b_w> b_thr_dn){
+
+ find=true;
+ break;
}
- if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
- if(f4==false) {
- b2_start=j-1;
- f4=true;
- }
-
- }
- break;
+ else{
+ l_f1=false;
+ l_f2=false;
+
+ }
- case 0x02:
- if(sign_line_imageR[i]=='O') {
- if(f1==false) {
- b_end=i;
- f1=true;
- }
- }
- if(sign_line_imageR[j]=='O') {
- if(f2==false) {
- b_start=j;
- f2=true;
- }
- }
- break;
- }
+
+ }
+
+
}
-
- b_w=b_start-b_end;
- b2_w=b2_start-b2_end;
-
- de_v=b_start;
- de_v2=b_end;
-
- switch(find_type) {
- case 0x01:
- b_center=(b_end+b_start)/2;
- b2_center=(b2_end+b2_start)/2;
- if(w_thr_up>b_w&&(b_center!=0)&&(b_center-64)<(64-b2_center))
- center=b_center;
- else
- center=b2_center;
- /* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
- center=(b_end+b_start)/2;
-
-
-
- // } else if( ( w_thr_up- (b2_w) )>0 ) {
- center=(b2_end+b2_start)/2;
- // } else {
-
- center=65;
-
- //????????????????
-
- }
-
- */
- break;
-
- case 0x02:
- center=(b_end+b_start)/2;
- break;
- }
- return center;
-}
-
+
+
+
+
+
+ if(find)
+ return (b_start+b_end)/2;
+ else
+ return -1;
+}
+
+
+
+
+
void BX_camera::read(void)
{
-
+
w_f_vL=0x0000;
b_f_vL=0xffff;
+
w_f_vR=0x0000;
b_f_vR=0xffff;
-
+
+
+
+
*si=1;
*cam_clk=1;
-
+
wait_us(30); // tune here
*si=0;
*cam_clk=0;
-
+
+
+
line_CamR->enable();
line_CamL->enable();
-
+
+
//input 128 //both
+
for(int i=0; i<128; i++) {
*cam_clk=1;
wait_us(5);
-
+
+
line_imageR[i]=line_CamR->read_u16();
line_imageL[i]=line_CamL->read_u16();
-
+
// big small
if(line_imageR[i] > w_f_vR)
w_f_vR=line_imageR[i];
else if(line_imageR[i] < b_f_vR )
b_f_vR = line_imageR[i];
-
-
+
+
if(line_imageL[i] > w_f_vL)
w_f_vL=line_imageL[i];
else if(line_imageL[i] < b_f_vL )
b_f_vL = line_imageL[i];
-
+
+
+
+
*cam_clk=0;
wait_us(5);
+
+
}
-
+
+
line_CamR->enable();
line_CamL->enable();
-
+
+
//filter L R //may change
+
for(int i=0; i<128; i++) {
+
+
if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
sign_line_imageR[i]=' ';
else
sign_line_imageR[i]='O';
-
+
+
if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
sign_line_imageL[i]=' ';
else
sign_line_imageL[i]='O';
-
+
+
+
+
+
if(i==0) {
sign_line_imageR[i]='X';
sign_line_imageL[i]='X';
}
+
+
}
+
+
+
}
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