kao yi
wu
Fork of
Boboobooov4
by 
kao yi
Diff: camera_api.cpp
- Revision:
- 15:585df3979be8
- Parent:
- 14:2d90b0066fc6
- Child:
- 16:b78dce5c0e98
--- a/camera_api.cpp Sat Jun 28 12:16:33 2014 +0000
+++ b/camera_api.cpp Sun Jun 29 14:02:25 2014 +0000
@@ -18,322 +18,56 @@
int l_care=10;
int r_care=118;
-
-
- // find center
- // case 1 // | //
- // case 2 / | /
-
- char find_type=0x00;
-
+ int b_start=0;
int b_end=0;
- int b_start=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=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;
- }
-
- }
- if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
- if(f4==false) {
- b2_start=j-1;
- f4=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;
}
-
-
- 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;
-
- }
-
-
+ else{
+ l_f1=false;
+ l_f2=false;
+
+ }
+
+
+ }
+
+
}
-
- 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;
-
-}
-
-
+
+
+
+
-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_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;
-
- }
-
-
- }
-
- 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+padding);
-
-}
+ if(find)
+ return (b_start+b_end)/2;
+ else
+ return -1;
+}