/******************************************************************************
?
?*?@file???????		camera_deal.c
?*?@SCHOOL	???	
?*?@author?????		
?*?@version????		v1.0
?*?@Software?		IAR?7.2?or?MDK?5.17
?*?@Target?core		MK60DN512VLL10
?*?@date???????		2017-05-23
?******************************************************************************/

/***頭文件**********************************************************************/
#include?“camera_deal.h“
/*******************************************************************************/
????
????
??//--變量定義如下---------------------------------------------------------------
??uint8?ij?mt;????????????//通用循環(huán)變量
??int?offset[Hang];??????????//計(jì)算的偏移中線值
??uint8?White_Width[Hang];???//計(jì)算某行的白色區(qū)域?qū)挾?br/>??int?Mid_Line[Hang];????????//未換算的中線（測得中線值）
??int?R_Bian[Hang];??????????//存儲邊界坐標(biāo)
??int?L_Bian[Hang];??????????//存儲邊界坐標(biāo)
??uint8?Bianjie[Hang][Lie];??//邊界線存儲數(shù)組

??unsigned?char?Image_CcguideImage_Cs=0Image_Max=0Image_Csroad=0Image_Csflag=0;
??unsigned?char?Image_Csfd=0;
??int?Image_Csm=0Image_Csn=0;
??unsigned?char?Image_Barrier=0Image_BR=0Image_BarR=0Image_BL=0Image_Blflag=0Image_Brflag=0Image_BarL=0;??
??int?Qz_Spd=0;
??
??extern?int?init_Speed;
??extern?int?Speed_Max;
??extern?int?Cr_Speed;
????
??//------------------------------------------------------------------------------
??//函數(shù)功能：初始化圖像函數(shù)
??//描????述：解壓圖像數(shù)組，清空上幅圖像的邊界數(shù)組和中值數(shù)組
??//------------------------------------------------------------------------------
??extern?unsigned?char?Right_Ahead_Hang;//縱向掃描函數(shù)（判斷正前方是否有黑點(diǎn)）
??extern?unsigned?char?Effective_Hang;//有效行計(jì)算函數(shù)
??extern?unsigned?char?S_White_Line_Time;//連續(xù)白色區(qū)域變寬次數(shù)
??extern?unsigned?char?Image_CnL;//左轉(zhuǎn)條件
??extern?unsigned?char?Image_CnR;//右轉(zhuǎn)條件
??extern?unsigned?char?Image_CnBL;//左邊界右折
??extern?unsigned?char?Image_CnBR;//右邊界左折
??void?Init_Camera（void）
??{
????for（i=0;i??????for（j=0;j????????Bianjie[i][j]=0;?//全黑
????
????for（i=0;i????{
??????L_Bian[i]=0;
??????R_Bian[i]=0;
??????offset[i]=0;??????//偏移中線值
??????White_Width[i]=0;?//計(jì)算某行的白色區(qū)域?qū)挾?
??????Mid_Line[i]=0;????//未換算的中線（測得中線值）
????}
????
????//清空上一幅圖像的相關(guān)數(shù)據(jù)
????Image_CnL=0;???
????Image_CnR=0;
????Image_CnBR=0;
????Image_CnBL=0;
????Right_Ahead_Hang=0;
????S_White_Line_Time=0;
????Effective_Hang=0;
????Right_Ahead_Hang=0;
????
????Image_Decompression（image_binimage_dec[0]）;//將一維數(shù)組image_bin的內(nèi)容解壓到二維數(shù)組image_dec里
??}


??//------------------------------------------------------------------------------
??//函數(shù)功能：前15行圖像處理函數(shù)
??//描????述：尋邊界，補(bǔ)線，丟線計(jì)數(shù)，擬合偏差值
??//------------------------------------------------------------------------------
??void?Line_0to15_Deal（void）
??{
????for（i=0;i<15;i++）
????{
??????if（i<2）?//先找尋前0~1行邊界坐標(biāo)
??????{
????????for（j=Hang-20;j>0?;j--）//左邊邊界
????????{
??????????if（image_dec[Hang-（i+1）][j-1]==0?&&?image_dec[Hang-（i+1）][j]==0?&&?image_dec[Hang-（i+1）][j+1]==255?&&?image_dec[Hang-（i+1）][j+2]==255）
??????????{
????????

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-08-11?00:13??智能車攝像頭圖像處理\
?????文件???????28255??2018-08-11?00:09??智能車攝像頭圖像處理\camera_deal.c
?????文件?????????726??2017-06-25?02:24??智能車攝像頭圖像處理\camera_deal.h