Clark Lin
QQQ
Diff: camera_api.cpp
- Revision:
- 17:af867c7512bb
- Parent:
- 12:418e39749f48
- Child:
- 18:88b083db7491
diff -r b1e11b865d05 -r af867c7512bb camera_api.cpp
--- a/camera_api.cpp Sat Jun 28 14:21:19 2014 +0000
+++ b/camera_api.cpp Sat Jun 28 18:59:41 2014 +0000
@@ -3,6 +3,7 @@
#define clk 2 //ms
+
BX_camera::BX_camera(void)
{
@@ -26,20 +27,17 @@
char find_type=0x00;
- int b_end=118;
- int b_start=118;
-
+ int b_end=64;
+ int b_start=64;
int b_w=0;
- int b_center=0;
-
- int b2_end=0;
- int b2_start=0;
- int b2_center=0;
-
+ int b_center=64;
+ int b2_end=64;
+ int b2_start=64;
+ int b2_center=64;
int b2_w=0;
-
int center=30;
int j=64;
+ int offset=64;
bool f1=false;
bool f2=false;
bool f3=false;
@@ -47,6 +45,8 @@
int w_thr_up=32;
int w_thr_dn=0;
+ b_start=b_center=b_end=b2_start=b2_center=b2_end=offset;
+
if(sign_line_imageR[64]==' ')
find_type=0x02;
else
@@ -54,123 +54,90 @@
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;
+ 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;
-
}
-
-
}
b_w=b_start-b_end;
b2_w=b2_start-b2_end;
-
+
de_v=b_start;
- de_v2=b_end;
+ 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!=offset) && (b_center-offset)<(offset-b2_center))
+ center=b_center;
+ else
+ center=b2_center;
- 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 {
-/* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
- center=(b_end+b_start)/2;
-
-
+ center=65;
- // } 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;
-
}
@@ -180,26 +147,18 @@
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;
@@ -216,13 +175,9 @@
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;
@@ -237,7 +192,6 @@
}
}
-
if(f3==false&&sign_line_imageR[j]==' ') {
if(f3==false) {
b2_end=j;
@@ -252,105 +206,72 @@
}
}
-
-
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=b_start;
- de_v2=b_end;
+ 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;
+ 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 {
-/* if( ( w_thr_up- (b_w))>0 &&( ( w_thr_up- (b_w)) < (w_thr_up-(b2_w)) ) ) {
- center=(b_end+b_start)/2;
-
-
+ center=65;
- // } 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;
-
}
-
-
-
-
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;
@@ -358,19 +279,14 @@
*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();
@@ -386,48 +302,28 @@
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';
}
-
-
}
-
-
-
}
\ No newline at end of file