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

Committer:
ms523
Date:
2012-03-27
Revision:
0:aabbf2286bf2
Child:
1:c98598814170

File content as of revision 0:aabbf2286bf2:

//
// 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() ;
    }
}