Diff: camera_api.cpp

Revision:

12:418e39749f48

Parent:

11:03d5aa2511c4

Child:

17:af867c7512bb

--- a/camera_api.cpp	Thu Jun 26 09:15:35 2014 +0000
+++ b/camera_api.cpp	Sat Jun 28 05:43:23 2014 +0000
@@ -175,37 +175,47 @@
 
 
 
-
 int BX_camera::black_centerL(void)
 {
 
+    int l_care=10;
+    int r_care=118;
+
+
     // find center
     // case 1      //  |  //
-    //case 2         / |  /
-
+    // case 2       /  |  /
 
     char find_type=0x00;
 
-    int b_end=0;
-    int b_start=0;
+    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 center;
+    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_imageL[64]==' ')
+    if(sign_line_imageR[64]==' ')
         find_type=0x02;
     else
         find_type=0x01;
 
 
-    for(int i=64; i<128; i++,j--) {
+    for(int i=64; i<r_care; i++,j--) {
 
 
         switch(find_type) {
@@ -213,14 +223,14 @@
 
             case 0x01:
 
-                if(f1==false&&sign_line_imageL[i]==' ') {
+                if(f1==false&&sign_line_imageR[i]==' ') {
                     if(f1==false) {
                         b_start=i;
                         f1=true;
                     }
 
                 }
-                if(f1== true&& f2==false&&sign_line_imageL[i]=='O') {
+                if(f1== true&& f2==false&&sign_line_imageR[i]=='O') {
                     if(f2==false) {
                         b_end=i-1;
                         f2=true;
@@ -228,14 +238,14 @@
 
                 }
 
-                if(f3==false&&sign_line_imageL[j]==' ') {
+                if(f3==false&&sign_line_imageR[j]==' ') {
                     if(f3==false) {
                         b2_end=j;
                         f3=true;
                     }
 
                 }
-                if(f3==true&&f4==false&&sign_line_imageL[j]=='O') {
+                if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
                     if(f4==false) {
                         b2_start=j-1;
                         f4=true;
@@ -243,12 +253,13 @@
 
                 }
 
+
                 break;
 
 
             case 0x02:
 
-                if(sign_line_imageL[i]=='O') {
+                if(sign_line_imageR[i]=='O') {
 
                     if(f1==false) {
                         b_end=i;
@@ -256,7 +267,7 @@
                     }
                 }
 
-                if(sign_line_imageL[j]=='O') {
+                if(sign_line_imageR[j]=='O') {
 
                     if(f2==false) {
                         b_start=j;
@@ -270,29 +281,61 @@
 
         }
 
+
     }
 
+    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((b_end-b_start)>(b2_end-b2_start)    )
+
+
+
+
+/*            if( ( w_thr_up- (b_w))>0  &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) )           ) {
                 center=(b_end+b_start)/2;
 
-            else
+
+
+  //          } 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;
+   
+}
 
-}
+