Clark Lin
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Diff: camera_api.cpp
- Revision:
- 6:b046d6ff3745
- Parent:
- 5:e32b091aa1fb
--- a/camera_api.cpp Thu Jun 05 10:32:55 2014 +0000
+++ b/camera_api.cpp Mon Jul 07 08:16:46 2014 +0000
@@ -14,242 +14,37 @@
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;
+ int black_R_left = 0;
+ for(int i = 120; i >=8; i--){
+ if(sign_line_imageR[i] == 'O' && sign_line_imageR[i-1] == ' ' && sign_line_imageR[i-2] == ' '){
+ return i;
+ }
+ }
+ return black_R_left;
- 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 black_L_right = 128;
+ for(int i = 8; i <121 ; i++){
+ if(sign_line_imageL[i] == 'O' && sign_line_imageL[i+1] == ' ' && sign_line_imageL[i+2] == ' '){
+ return i;
+ }
+ }
+ return black_L_right;
- 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;
+
+
+
+
}