Diff: camera_api.cpp

Revision:

10:9f0ce6ba7663

Parent:

8:8e49e21d80a2

--- a/camera_api.cpp	Tue Jun 24 10:06:54 2014 +0000
+++ b/camera_api.cpp	Thu Jun 26 14:29:53 2014 +0000
@@ -13,31 +13,24 @@
 
 }
 
-int BX_camera::black_centerR(void)
-{
+int BX_camera::black_centerR(void){
 
     int l_care=10;
     int r_care=118;
 
-
     // find center
     // case 1      //  |  //
     // case 2       /  |  /
 
     char find_type=0x00;
-
     int b_end=0;
     int b_start=0;
-
     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;
@@ -54,11 +47,7 @@
 
 
     for(int i=64; i<r_care; i++,j--) {
-
-
         switch(find_type) {
-
-
             case 0x01:
 
                 if(f1==false&&sign_line_imageR[i]==' ') {
@@ -90,60 +79,39 @@
                     }
 
                 }
-
-
                 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;
-
         }
-
-
     }
 
     b_w=b_start-b_end;
     b2_w=b2_start-b2_end;
-    
     de_v=b2_start;
     de_v2=b2_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;
 
@@ -298,93 +266,57 @@
 
 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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