kao yi
running car
camera_api.cpp
- Committer:
- backman
- Date:
- 2014-06-05
- Revision:
- 5:e32b091aa1fb
- Parent:
- 4:05b21dbca0c7
File content as of revision 5:e32b091aa1fb:
#include "mbed.h"
#include "camera_api.h"
#define clk 2 //ms
BX_camera::BX_camera(void){
line_CamR = new FastAnalogIn(PTD5);
line_CamL= new FastAnalogIn(PTD6,0);
cam_clk=new DigitalOut(PTE1);
si=new DigitalOut(PTD7);
}
int BX_camera::black_centerR(void){
// find center
// case 1 // | //
// case 2 / | /
char find_type=0x00;
int b_end=0;
int b_start=0;
int b2_end=0;
int b2_start=0;
int center;
int j=64;
bool f1=false;
bool f2=false;
bool f3=false;
bool f4=false;
if(sign_line_imageR[64]==' ')
find_type=0x02;
else
find_type=0x01;
for(int i=64;i<128; 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;
}
}
if(f3==true&&f4==false&&sign_line_imageR[j]=='O'){
if(f4==false){
b2_start=j-1;
f4=true;
}
}
break;
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;
}
}
switch(find_type){
case 0x01:
if((b_end-b_start)>(b2_end-b2_start) )
center=(b_end+b_start)/2;
else
center=(b2_end+b2_start)/2;
break;
case 0x02:
center=(b_end+b_start)/2;
break;
}
return center;
}
int BX_camera::black_centerL(void){
// find center
// case 1 // | //
//case 2 / | /
char find_type=0x00;
int b_end=0;
int b_start=0;
int b2_end=0;
int b2_start=0;
int center;
int j=64;
bool f1=false;
bool f2=false;
bool f3=false;
bool f4=false;
if(sign_line_imageL[64]==' ')
find_type=0x02;
else
find_type=0x01;
for(int i=64;i<128; i++,j--){
switch(find_type){
case 0x01:
if(f1==false&&sign_line_imageL[i]==' '){
if(f1==false){
b_start=i;
f1=true;
}
}
if(f1== true&& f2==false&&sign_line_imageL[i]=='O'){
if(f2==false){
b_end=i-1;
f2=true;
}
}
if(f3==false&&sign_line_imageL[j]==' '){
if(f3==false){
b2_end=j;
f3=true;
}
}
if(f3==true&&f4==false&&sign_line_imageL[j]=='O'){
if(f4==false){
b2_start=j-1;
f4=true;
}
}
break;
case 0x02:
if(sign_line_imageL[i]=='O'){
if(f1==false){
b_end=i;
f1=true;
}
}
if(sign_line_imageL[j]=='O'){
if(f2==false){
b_start=j;
f2=true;
}
}
break;
}
}
switch(find_type){
case 0x01:
if((b_end-b_start)>(b2_end-b2_start) )
center=(b_end+b_start)/2;
else
center=(b2_end+b2_start)/2;
break;
case 0x02:
center=(b_end+b_start)/2;
break;
}
return center;
}
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';
}
}
}