angelo mottolese
3D point cloud scanner with OV7670 camera and line laser.
Dependencies: ADXL345_I2C_ HMC5843_ OV7670_ok SDFileSystem ST7735_TFT Servo mbed
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OV7670_edm_full
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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
Diff: main.cpp
- Revision:
- 0:aabbf2286bf2
- Child:
- 1:c98598814170
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 27 19:10:18 2012 +0000
@@ -0,0 +1,106 @@
+//
+// OV7670 + FIFO AL422B camera board test
+//
+#include "mbed.h"
+#include "ov7670.h"
+#include "stdio.h"
+#include "SPI_TFT.h"
+#include "string"
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "font_big.h"
+
+OV7670 camera(
+ p28,p27, // SDA,SCL(I2C / SCCB)
+ p21,p22,p20, // VSYNC,HREF,WEN(FIFO)
+ p19,p18,p17,p16,p15,p14,p13,p12, // D7-D0
+ p23,p24,p25) ; // RRST,OE,RCLK
+
+// the TFT is connected to SPI pin 5-7
+SPI_TFT TFT(p5, p6, p7, p8, p9,"TFT"); // mosi, miso, sclk, cs, reset
+
+Serial pc(USBTX,USBRX);
+
+#define SIZEX (160)
+#define SIZEY (120)
+
+int main() {
+
+ // Set up the TFT
+ TFT.claim(stdout); // Send stdout to the TFT display
+ TFT.background(Black); // Set background to black
+ TFT.foreground(White); // Set chars to white
+ TFT.cls(); // Clear the screen
+ TFT.set_font((unsigned char*) Arial12x12); // Select the font
+ TFT.set_orientation(3); // Select orientation
+
+ printf("Testing...");
+
+ int i ;
+ pc.baud(115200) ;
+ pc.printf("Camera resetting..\r\n") ;
+
+ camera.Reset() ;
+
+ pc.printf("Before Init...\r\n") ;
+ pc.printf("AD : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F") ;
+ for (i=0; i<OV7670_REGMAX; i++) {
+ int data ;
+ data = camera.ReadReg(i) ; // READ REG
+ if ((i & 0x0F) == 0) {
+ pc.printf("\r\n%02X : ",i) ;
+ }
+ pc.printf("%02X ",data) ;
+ }
+ pc.printf("\r\n") ;
+
+ camera.InitQQVGA() ;
+
+ pc.printf("After Init...\r\n") ;
+ pc.printf("AD : +0 +1 +2 +3 +4 +5 +6 +7 +8 +9 +A +B +C +D +E +F") ;
+ for (i=0; i<OV7670_REGMAX; i++) {
+ int data ;
+ data = camera.ReadReg(i) ; // READ REG
+ if ((i & 0x0F) == 0) {
+ pc.printf("\r\n%02X : ",i) ;
+ }
+ pc.printf("%02X ",data) ;
+ }
+ pc.printf("\r\n") ;
+
+ // CAPTURE and SEND LOOP
+ while (1) {
+ pc.printf("Hit Any Key to send RGBx160x120 Capture Data.\r\n") ;
+ while (!pc.readable()) ;
+ pc.getc() ;
+ camera.CaptureNext() ;
+ while (camera.CaptureDone() == false) ;
+ pc.printf("*\r\n") ;
+ camera.ReadStart() ;
+ i = 0 ;
+ int colour;
+
+ for (int y = 0; y < SIZEY; y++) {
+ int r,g,b,d1,d2 ;
+ for (int x = 0; x < SIZEX; x++) {
+ d1 = camera.ReadOneByte() ; // upper nibble is XXX , lower nibble is B
+ d2 = camera.ReadOneByte() ; // upper nibble is G , lower nibble is R
+ b = (d1 & 0x0F) ;
+ g = (d2 & 0xF0) >> 4 ;
+ r = (d2 & 0x0F) ;
+ pc.printf ("%1X%1X%1X",r,g,b) ;
+
+ // Calculate colour
+ colour = r << 11;
+ colour += g << 5;
+ colour += b;
+
+ // Display pixel on TFT screen
+ TFT.pixel(x, y, colour);
+ }
+ pc.printf("\r\n") ;
+ }
+ camera.ReadStop() ;
+ }
+}