angelo mottolese / Mbed 2 deprecated 3D_Scanner_OV7670_

3D point cloud scanner with OV7670 camera and line laser.

Dependencies:   ADXL345_I2C_ HMC5843_ OV7670_ok SDFileSystem ST7735_TFT Servo mbed

Fork of OV7670_edm_full by angelo mottolese

3D point cloud scanner with OV7670 FIFO camera and line laser. I take the brightest pixels in an image, I measure their horizontal displacement to deduce a depth value, and I generate XYZ coordinates. The camera is rotating, and I know the angle, so I can map 3D space in cylindrical coordinates. The home of the project is http://angelomottolese.eu.ai/sitoScanner.html

main.cpp@1:c98598814170, 2012-03-31 (annotated)

Committer:
ms523
Date:
Sat Mar 31 10:05:59 2012 +0000
Revision:
1:c98598814170
Parent:
0:aabbf2286bf2
Child:
2:4ebec58ffaca
Working at 15fps for 160*120 RGB565 video

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ms523 0:aabbf2286bf2 1 //
ms523 0:aabbf2286bf2 2 // OV7670 + FIFO AL422B camera board test
ms523 0:aabbf2286bf2 3 //
ms523 0:aabbf2286bf2 4 #include "mbed.h"
ms523 0:aabbf2286bf2 5 #include "ov7670.h"
ms523 0:aabbf2286bf2 6 #include "stdio.h"
ms523 0:aabbf2286bf2 7 #include "SPI_TFT.h"
ms523 0:aabbf2286bf2 8 #include "string"
ms523 0:aabbf2286bf2 9 #include "Arial12x12.h"
ms523 0:aabbf2286bf2 10 #include "Arial24x23.h"
ms523 0:aabbf2286bf2 11 #include "Arial28x28.h"
ms523 0:aabbf2286bf2 12 #include "font_big.h"
ms523 0:aabbf2286bf2 13
ms523 0:aabbf2286bf2 14 OV7670 camera(
ms523 0:aabbf2286bf2 15 p28,p27, // SDA,SCL(I2C / SCCB)
ms523 0:aabbf2286bf2 16 p21,p22,p20, // VSYNC,HREF,WEN(FIFO)
ms523 1:c98598814170 17 Port0,0x07800033,
ms523 0:aabbf2286bf2 18 p23,p24,p25) ; // RRST,OE,RCLK
ms523 0:aabbf2286bf2 19
ms523 0:aabbf2286bf2 20 // the TFT is connected to SPI pin 5-7
ms523 1:c98598814170 21 SPI_TFT TFT(p5, p6, p7, p8, p14,"TFT"); // mosi, miso, sclk, cs, reset
ms523 0:aabbf2286bf2 22
ms523 0:aabbf2286bf2 23 Serial pc(USBTX,USBRX);
ms523 0:aabbf2286bf2 24
ms523 0:aabbf2286bf2 25 #define SIZEX (160)
ms523 0:aabbf2286bf2 26 #define SIZEY (120)
ms523 1:c98598814170 27 #define SIZE 19200
ms523 1:c98598814170 28
ms523 1:c98598814170 29 unsigned char bank0 [SIZE];
ms523 1:c98598814170 30 unsigned char *bank1 = (unsigned char *)(0x2007C000);
ms523 0:aabbf2286bf2 31
ms523 0:aabbf2286bf2 32 int main() {
ms523 0:aabbf2286bf2 33
ms523 0:aabbf2286bf2 34 // Set up the TFT
ms523 0:aabbf2286bf2 35 TFT.claim(stdout); // Send stdout to the TFT display
ms523 0:aabbf2286bf2 36 TFT.background(Black); // Set background to black
ms523 0:aabbf2286bf2 37 TFT.foreground(White); // Set chars to white
ms523 0:aabbf2286bf2 38 TFT.cls(); // Clear the screen
ms523 0:aabbf2286bf2 39 TFT.set_font((unsigned char*) Arial12x12); // Select the font
ms523 0:aabbf2286bf2 40 TFT.set_orientation(3); // Select orientation
ms523 0:aabbf2286bf2 41
ms523 1:c98598814170 42 // Reset camera on power up
ms523 0:aabbf2286bf2 43 camera.Reset() ;
ms523 0:aabbf2286bf2 44
ms523 1:c98598814170 45 // Set up for 160*120 pixels RGB565
ms523 0:aabbf2286bf2 46 camera.InitQQVGA() ;
ms523 1:c98598814170 47
ms523 1:c98598814170 48 // Print message to screen
ms523 1:c98598814170 49 pc.printf("Hit Any Key to stop RGBx160x120 Capture Data.\r\n");
ms523 1:c98598814170 50
ms523 1:c98598814170 51 // Kick things off by capturing an image
ms523 1:c98598814170 52 camera.CaptureNext() ;
ms523 1:c98598814170 53 while (camera.CaptureDone() == false) ;
ms523 0:aabbf2286bf2 54
ms523 1:c98598814170 55 // Now enter the main loop
ms523 1:c98598814170 56 while (!pc.readable()) {
ms523 1:c98598814170 57
ms523 1:c98598814170 58 // Start reading in the image data from the camera hardware buffer
ms523 1:c98598814170 59 camera.ReadStart();
ms523 1:c98598814170 60
ms523 1:c98598814170 61 // Read in the first half of the image
ms523 1:c98598814170 62 for (int i = 0; i < SIZE; i++) {
ms523 1:c98598814170 63 bank0[i] = camera.ReadOneByte();
ms523 0:aabbf2286bf2 64 }
ms523 0:aabbf2286bf2 65
ms523 1:c98598814170 66 // Read in the second half of the image
ms523 1:c98598814170 67 for (int i = 0; i < SIZE ; i++) {
ms523 1:c98598814170 68 bank1[i] = camera.ReadOneByte();
ms523 1:c98598814170 69 }
ms523 1:c98598814170 70
ms523 1:c98598814170 71 // Stop reading the image
ms523 1:c98598814170 72 camera.ReadStop() ;
ms523 1:c98598814170 73
ms523 1:c98598814170 74 // Immediately request the next image to be captured (takes around 45ms)
ms523 0:aabbf2286bf2 75 camera.CaptureNext() ;
ms523 0:aabbf2286bf2 76
ms523 1:c98598814170 77 // Use this time to display the image on the screen
ms523 1:c98598814170 78 // Display the top half
ms523 1:c98598814170 79 TFT.Bitmap(0,0,160,60,bank1);
ms523 1:c98598814170 80 // Display the bottom half
ms523 1:c98598814170 81 TFT.Bitmap(0,60,160,60,bank0);
ms523 1:c98598814170 82
ms523 1:c98598814170 83 /* Note: we still have around 15ms left here to do other stuff */
ms523 1:c98598814170 84
ms523 1:c98598814170 85 // Now wait for the image to finish being captured
ms523 1:c98598814170 86 while (camera.CaptureDone() == false) ;
ms523 0:aabbf2286bf2 87 }
ms523 0:aabbf2286bf2 88 }