Clark Lin / Mbed 2 deprecated BX-car_s

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Dependencies:   mbed-rtos mbed

Fork of BX-car_s by Tony Lin

camera_api.cpp@18:88b083db7491, 2014-06-29 (annotated)

Committer:
TonyLin
Date:
Sun Jun 29 06:41:21 2014 +0000
Revision:
18:88b083db7491
Parent:
17:af867c7512bb
Child:
19:eb0552a0ddae
6/29

Who changed what in which revision?

UserRevisionLine numberNew contents of line
backman 1:82bc25a7b68b 1 #include "mbed.h"
backman 1:82bc25a7b68b 2 #include "camera_api.h"
backman 1:82bc25a7b68b 3 #define clk 2 //ms
backman 6:5a39bde2e016 4
backman 6:5a39bde2e016 5 BX_camera::BX_camera(void)
backman 6:5a39bde2e016 6 {
backman 6:5a39bde2e016 7
backman 6:5a39bde2e016 8 line_CamR = new FastAnalogIn(PTD5);
backman 6:5a39bde2e016 9 line_CamL= new FastAnalogIn(PTD6,0);
backman 6:5a39bde2e016 10 cam_clk=new DigitalOut(PTE1);
backman 6:5a39bde2e016 11 si=new DigitalOut(PTD7);
backman 6:5a39bde2e016 12
backman 6:5a39bde2e016 13 }
backman 6:5a39bde2e016 14
backman 6:5a39bde2e016 15 int BX_camera::black_centerR(void)
backman 6:5a39bde2e016 16 {
backman 6:5a39bde2e016 17
backman 7:fd976e1ced33 18 int l_care=10;
backman 7:fd976e1ced33 19 int r_care=118;
backman 7:fd976e1ced33 20
backman 7:fd976e1ced33 21
backman 6:5a39bde2e016 22 // find center
backman 6:5a39bde2e016 23 // case 1 // | //
backman 6:5a39bde2e016 24 // case 2 / | /
backman 6:5a39bde2e016 25
backman 6:5a39bde2e016 26 char find_type=0x00;
backman 6:5a39bde2e016 27
TonyLin 17:af867c7512bb 28 int b_end=64;
TonyLin 17:af867c7512bb 29 int b_start=64;
backman 6:5a39bde2e016 30 int b_w=0;
TonyLin 17:af867c7512bb 31 int b_center=64;
TonyLin 17:af867c7512bb 32 int b2_end=64;
TonyLin 17:af867c7512bb 33 int b2_start=64;
TonyLin 17:af867c7512bb 34 int b2_center=64;
backman 6:5a39bde2e016 35 int b2_w=0;
backman 7:fd976e1ced33 36 int center=30;
backman 6:5a39bde2e016 37 int j=64;
TonyLin 17:af867c7512bb 38 int offset=64;
backman 6:5a39bde2e016 39 bool f1=false;
backman 6:5a39bde2e016 40 bool f2=false;
backman 6:5a39bde2e016 41 bool f3=false;
backman 6:5a39bde2e016 42 bool f4=false;
backman 6:5a39bde2e016 43 int w_thr_up=32;
TonyLin 18:88b083db7491 44 int w_thr_dn=2;
backman 6:5a39bde2e016 45
TonyLin 17:af867c7512bb 46 b_start=b_center=b_end=b2_start=b2_center=b2_end=offset;
TonyLin 17:af867c7512bb 47
backman 6:5a39bde2e016 48 if(sign_line_imageR[64]==' ')
backman 6:5a39bde2e016 49 find_type=0x02;
backman 6:5a39bde2e016 50 else
backman 6:5a39bde2e016 51 find_type=0x01;
backman 6:5a39bde2e016 52
backman 6:5a39bde2e016 53
backman 7:fd976e1ced33 54 for(int i=64; i<r_care; i++,j--) {
TonyLin 17:af867c7512bb 55
backman 6:5a39bde2e016 56 switch(find_type) {
backman 6:5a39bde2e016 57 case 0x01:
TonyLin 18:88b083db7491 58 if(f1==false && sign_line_imageR[i]==' ') {
backman 6:5a39bde2e016 59 b_start=i;
backman 6:5a39bde2e016 60 f1=true;
backman 6:5a39bde2e016 61 }
TonyLin 18:88b083db7491 62 if(f1== true && f2==false && sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 63 b_end=i-1;
backman 6:5a39bde2e016 64 f2=true;
backman 6:5a39bde2e016 65 }
TonyLin 18:88b083db7491 66 if(f3==false && sign_line_imageR[j]==' ') {
TonyLin 18:88b083db7491 67 b2_start=j;
backman 6:5a39bde2e016 68 f3=true;
backman 6:5a39bde2e016 69 }
TonyLin 18:88b083db7491 70 if(f3==true && f4==false && sign_line_imageR[j]=='O') {
TonyLin 18:88b083db7491 71 b2_end=j+1;
backman 6:5a39bde2e016 72 f4=true;
backman 6:5a39bde2e016 73 }
backman 6:5a39bde2e016 74 break;
backman 6:5a39bde2e016 75
backman 6:5a39bde2e016 76 case 0x02:
backman 6:5a39bde2e016 77 if(sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 78 if(f1==false) {
TonyLin 18:88b083db7491 79 b_end=i-1;
backman 6:5a39bde2e016 80 f1=true;
backman 6:5a39bde2e016 81 }
backman 6:5a39bde2e016 82 }
backman 6:5a39bde2e016 83 if(sign_line_imageR[j]=='O') {
backman 6:5a39bde2e016 84 if(f2==false) {
TonyLin 18:88b083db7491 85 b_start=j+1;
backman 6:5a39bde2e016 86 f2=true;
backman 6:5a39bde2e016 87 }
backman 6:5a39bde2e016 88 }
backman 6:5a39bde2e016 89 break;
backman 6:5a39bde2e016 90 }
backman 6:5a39bde2e016 91 }
backman 6:5a39bde2e016 92
TonyLin 18:88b083db7491 93 b_w=b_end-b_start+1;
TonyLin 18:88b083db7491 94 b2_w=b2_start-b2_end+1;
TonyLin 17:af867c7512bb 95
backman 11:03d5aa2511c4 96 de_v=b_start;
TonyLin 17:af867c7512bb 97 de_v2=b_end;
backman 6:5a39bde2e016 98
backman 6:5a39bde2e016 99 switch(find_type) {
TonyLin 17:af867c7512bb 100 case 0x01:
TonyLin 17:af867c7512bb 101 b_center=(b_end+b_start)/2;
TonyLin 17:af867c7512bb 102 b2_center=(b2_end+b2_start)/2;
TonyLin 18:88b083db7491 103
TonyLin 18:88b083db7491 104 if(w_thr_up>b_w && w_thr_dn<b_w && (b_center!=offset) && (b_center-offset)<(offset-b2_center))
TonyLin 17:af867c7512bb 105 center=b_center;
TonyLin 18:88b083db7491 106 else if(w_thr_up>b2_w && w_thr_dn<b2_w && (b2_center!=offset))
TonyLin 18:88b083db7491 107 center=b2_center;
TonyLin 17:af867c7512bb 108 else
TonyLin 18:88b083db7491 109 center=offset;
backman 6:5a39bde2e016 110
TonyLin 17:af867c7512bb 111 /* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
TonyLin 17:af867c7512bb 112 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 113
backman 6:5a39bde2e016 114
backman 6:5a39bde2e016 115
TonyLin 17:af867c7512bb 116 // } else if( ( w_thr_up- (b2_w) )>0 ) {
TonyLin 17:af867c7512bb 117 center=(b2_end+b2_start)/2;
TonyLin 17:af867c7512bb 118 // } else {
backman 6:5a39bde2e016 119
TonyLin 17:af867c7512bb 120 center=65;
backman 6:5a39bde2e016 121
TonyLin 17:af867c7512bb 122 //????????????????
backman 6:5a39bde2e016 123
TonyLin 17:af867c7512bb 124 }
backman 6:5a39bde2e016 125
TonyLin 17:af867c7512bb 126 */
backman 6:5a39bde2e016 127 break;
backman 6:5a39bde2e016 128
backman 6:5a39bde2e016 129 case 0x02:
backman 6:5a39bde2e016 130 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 131 break;
backman 3:c5f2281b3ed2 132 }
backman 6:5a39bde2e016 133 return center;
backman 6:5a39bde2e016 134 }
backman 6:5a39bde2e016 135
backman 6:5a39bde2e016 136
backman 3:c5f2281b3ed2 137
backman 6:5a39bde2e016 138 int BX_camera::black_centerL(void)
backman 6:5a39bde2e016 139 {
backman 6:5a39bde2e016 140
backman 12:418e39749f48 141 int l_care=10;
backman 12:418e39749f48 142 int r_care=118;
backman 6:5a39bde2e016 143 // find center
backman 6:5a39bde2e016 144 // case 1 // | //
backman 12:418e39749f48 145 // case 2 / | /
backman 6:5a39bde2e016 146 char find_type=0x00;
backman 12:418e39749f48 147 int b_end=118;
backman 12:418e39749f48 148 int b_start=118;
backman 12:418e39749f48 149 int b_w=0;
backman 12:418e39749f48 150 int b_center=0;
backman 6:5a39bde2e016 151 int b2_end=0;
backman 6:5a39bde2e016 152 int b2_start=0;
backman 12:418e39749f48 153 int b2_center=0;
backman 12:418e39749f48 154 int b2_w=0;
backman 12:418e39749f48 155 int center=30;
backman 6:5a39bde2e016 156 int j=64;
backman 6:5a39bde2e016 157 bool f1=false;
backman 6:5a39bde2e016 158 bool f2=false;
backman 6:5a39bde2e016 159 bool f3=false;
backman 6:5a39bde2e016 160 bool f4=false;
backman 12:418e39749f48 161 int w_thr_up=32;
backman 12:418e39749f48 162 int w_thr_dn=0;
backman 6:5a39bde2e016 163
backman 12:418e39749f48 164 if(sign_line_imageR[64]==' ')
backman 6:5a39bde2e016 165 find_type=0x02;
backman 6:5a39bde2e016 166 else
backman 6:5a39bde2e016 167 find_type=0x01;
backman 6:5a39bde2e016 168
backman 6:5a39bde2e016 169
backman 12:418e39749f48 170 for(int i=64; i<r_care; i++,j--) {
TonyLin 17:af867c7512bb 171
backman 6:5a39bde2e016 172 switch(find_type) {
backman 6:5a39bde2e016 173 case 0x01:
backman 12:418e39749f48 174 if(f1==false&&sign_line_imageR[i]==' ') {
backman 6:5a39bde2e016 175 if(f1==false) {
backman 6:5a39bde2e016 176 b_start=i;
backman 6:5a39bde2e016 177 f1=true;
backman 6:5a39bde2e016 178 }
backman 6:5a39bde2e016 179
backman 6:5a39bde2e016 180 }
backman 12:418e39749f48 181 if(f1== true&& f2==false&&sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 182 if(f2==false) {
backman 6:5a39bde2e016 183 b_end=i-1;
backman 6:5a39bde2e016 184 f2=true;
backman 6:5a39bde2e016 185 }
backman 6:5a39bde2e016 186
backman 6:5a39bde2e016 187 }
backman 12:418e39749f48 188 if(f3==false&&sign_line_imageR[j]==' ') {
backman 6:5a39bde2e016 189 if(f3==false) {
backman 6:5a39bde2e016 190 b2_end=j;
backman 6:5a39bde2e016 191 f3=true;
backman 6:5a39bde2e016 192 }
backman 6:5a39bde2e016 193
backman 6:5a39bde2e016 194 }
backman 12:418e39749f48 195 if(f3==true&&f4==false&&sign_line_imageR[j]=='O') {
backman 6:5a39bde2e016 196 if(f4==false) {
backman 6:5a39bde2e016 197 b2_start=j-1;
backman 6:5a39bde2e016 198 f4=true;
backman 6:5a39bde2e016 199 }
backman 6:5a39bde2e016 200
backman 6:5a39bde2e016 201 }
backman 6:5a39bde2e016 202 break;
TonyLin 17:af867c7512bb 203
backman 6:5a39bde2e016 204 case 0x02:
backman 12:418e39749f48 205 if(sign_line_imageR[i]=='O') {
backman 6:5a39bde2e016 206 if(f1==false) {
backman 6:5a39bde2e016 207 b_end=i;
backman 6:5a39bde2e016 208 f1=true;
backman 6:5a39bde2e016 209 }
backman 6:5a39bde2e016 210 }
backman 12:418e39749f48 211 if(sign_line_imageR[j]=='O') {
backman 6:5a39bde2e016 212 if(f2==false) {
backman 6:5a39bde2e016 213 b_start=j;
backman 6:5a39bde2e016 214 f2=true;
backman 6:5a39bde2e016 215 }
backman 6:5a39bde2e016 216 }
backman 6:5a39bde2e016 217 break;
backman 6:5a39bde2e016 218 }
backman 6:5a39bde2e016 219 }
backman 6:5a39bde2e016 220
backman 12:418e39749f48 221 b_w=b_start-b_end;
backman 12:418e39749f48 222 b2_w=b2_start-b2_end;
TonyLin 17:af867c7512bb 223
backman 12:418e39749f48 224 de_v=b_start;
TonyLin 17:af867c7512bb 225 de_v2=b_end;
backman 6:5a39bde2e016 226
backman 6:5a39bde2e016 227 switch(find_type) {
backman 6:5a39bde2e016 228 case 0x01:
TonyLin 17:af867c7512bb 229 b_center=(b_end+b_start)/2;
TonyLin 17:af867c7512bb 230 b2_center=(b2_end+b2_start)/2;
TonyLin 17:af867c7512bb 231 if(w_thr_up>b_w&&(b_center!=0)&&(b_center-64)<(64-b2_center))
TonyLin 17:af867c7512bb 232 center=b_center;
TonyLin 17:af867c7512bb 233 else
TonyLin 17:af867c7512bb 234 center=b2_center;
TonyLin 17:af867c7512bb 235 /* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
TonyLin 17:af867c7512bb 236 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 237
backman 12:418e39749f48 238
backman 12:418e39749f48 239
TonyLin 17:af867c7512bb 240 // } else if( ( w_thr_up- (b2_w) )>0 ) {
TonyLin 17:af867c7512bb 241 center=(b2_end+b2_start)/2;
TonyLin 17:af867c7512bb 242 // } else {
backman 12:418e39749f48 243
TonyLin 17:af867c7512bb 244 center=65;
backman 12:418e39749f48 245
TonyLin 17:af867c7512bb 246 //????????????????
backman 12:418e39749f48 247
TonyLin 17:af867c7512bb 248 }
backman 12:418e39749f48 249
TonyLin 17:af867c7512bb 250 */
backman 6:5a39bde2e016 251 break;
backman 6:5a39bde2e016 252
backman 6:5a39bde2e016 253 case 0x02:
backman 6:5a39bde2e016 254 center=(b_end+b_start)/2;
backman 6:5a39bde2e016 255 break;
backman 6:5a39bde2e016 256 }
backman 3:c5f2281b3ed2 257 return center;
backman 12:418e39749f48 258 }
backman 6:5a39bde2e016 259
backman 6:5a39bde2e016 260 void BX_camera::read(void)
backman 6:5a39bde2e016 261 {
backman 6:5a39bde2e016 262
backman 6:5a39bde2e016 263 w_f_vL=0x0000;
backman 6:5a39bde2e016 264 b_f_vL=0xffff;
backman 6:5a39bde2e016 265 w_f_vR=0x0000;
backman 6:5a39bde2e016 266 b_f_vR=0xffff;
backman 6:5a39bde2e016 267
backman 6:5a39bde2e016 268 *si=1;
backman 6:5a39bde2e016 269 *cam_clk=1;
backman 6:5a39bde2e016 270
backman 6:5a39bde2e016 271 wait_us(30); // tune here
backman 6:5a39bde2e016 272 *si=0;
backman 6:5a39bde2e016 273 *cam_clk=0;
backman 6:5a39bde2e016 274
backman 6:5a39bde2e016 275 line_CamR->enable();
backman 6:5a39bde2e016 276 line_CamL->enable();
TonyLin 17:af867c7512bb 277
backman 6:5a39bde2e016 278 //input 128 //both
backman 6:5a39bde2e016 279 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 280 *cam_clk=1;
backman 6:5a39bde2e016 281 wait_us(5);
backman 6:5a39bde2e016 282
backman 6:5a39bde2e016 283 line_imageR[i]=line_CamR->read_u16();
backman 6:5a39bde2e016 284 line_imageL[i]=line_CamL->read_u16();
backman 4:05b21dbca0c7 285
backman 6:5a39bde2e016 286 // big small
backman 6:5a39bde2e016 287 if(line_imageR[i] > w_f_vR)
backman 6:5a39bde2e016 288 w_f_vR=line_imageR[i];
backman 6:5a39bde2e016 289 else if(line_imageR[i] < b_f_vR )
backman 6:5a39bde2e016 290 b_f_vR = line_imageR[i];
backman 6:5a39bde2e016 291
backman 6:5a39bde2e016 292
backman 6:5a39bde2e016 293 if(line_imageL[i] > w_f_vL)
backman 6:5a39bde2e016 294 w_f_vL=line_imageL[i];
backman 6:5a39bde2e016 295 else if(line_imageL[i] < b_f_vL )
backman 6:5a39bde2e016 296 b_f_vL = line_imageL[i];
backman 6:5a39bde2e016 297
backman 6:5a39bde2e016 298 *cam_clk=0;
backman 6:5a39bde2e016 299 wait_us(5);
backman 6:5a39bde2e016 300 }
backman 6:5a39bde2e016 301
backman 6:5a39bde2e016 302 line_CamR->enable();
backman 6:5a39bde2e016 303 line_CamL->enable();
backman 6:5a39bde2e016 304
backman 6:5a39bde2e016 305 //filter L R //may change
backman 6:5a39bde2e016 306 for(int i=0; i<128; i++) {
backman 6:5a39bde2e016 307 if( (line_imageR[i]-b_f_vR) < (w_f_vR - line_imageR[i] ) )
backman 6:5a39bde2e016 308 sign_line_imageR[i]=' ';
backman 6:5a39bde2e016 309 else
backman 6:5a39bde2e016 310 sign_line_imageR[i]='O';
backman 6:5a39bde2e016 311
backman 6:5a39bde2e016 312 if( (line_imageL[i]-b_f_vL) < (w_f_vL - line_imageL[i] ) )
backman 6:5a39bde2e016 313 sign_line_imageL[i]=' ';
backman 6:5a39bde2e016 314 else
backman 6:5a39bde2e016 315 sign_line_imageL[i]='O';
backman 6:5a39bde2e016 316
backman 6:5a39bde2e016 317 if(i==0) {
backman 6:5a39bde2e016 318 sign_line_imageR[i]='X';
backman 6:5a39bde2e016 319 sign_line_imageL[i]='X';
backman 6:5a39bde2e016 320 }
backman 6:5a39bde2e016 321 }
backman 6:5a39bde2e016 322 }