譯文 張
/
7_7Boboobooo
123
Fork of Boboobooo by
camera_api.cpp
- Committer:
- backman
- Date:
- 2014-06-05
- Revision:
- 5:e32b091aa1fb
- Parent:
- 4:05b21dbca0c7
- Child:
- 6:b046d6ff3745
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'; } } }