摄像头组参考程序

1、#include common.h#include image.h#include gpio.h#include exti.h#include .h uart #include FTM.h#include delay.h#include isr.h/库函数调用 unsigned char threshold=135; /一次采集的行数 unsigned char Is_SendPhoto=0; /图像发送unsigned char Pix_dataVH=0,Bina_dataVH=0; /初始化像素数组、进制数组int LeftBorderV=0,RightBorderV=0, CenterL

2、ineV=0; /初始化左中右边界线坐标u16 CCD_V,CCD_H; /每次处理16行数据s8 Sumleft,Sumright; /纪录8次数据总和unsigned char top_line=40,top_line1=50,top_line2=48; long count,WhiteNum; /计数白色像素点unsigned char width_count=50; unsigned char width_min=50; /最少采集五十行unsigned char V_count=0; /行采集计数unsigned char jump_point; /定义跳变点unsigned cha

3、r last_top;unsigned char top top line=49; unsigned char THRE20; /清行中断long thre_sum=0; /总和初始值为零unsigned char thread_count;unsigned char center_min=30; /中点位置unsigned char left_line,right_line; /定义左右边界线unsigned int left_count,right_count; /左右边计数unsigned char Bina_DataH=0; /从零行开始u32 S_count=0;extern u32

4、 start4s; / void CameraInit() exti_init(PORTE,1,rising_down); /中断开始 disable_irq(91); exti_init(PORTE,0,falling_down); /中断结束void Binarization(void) /行中断 u16 i; for(i=0;ithreshold) /像素阈值的判断条件 Bina_Datai = 1; /灰度值大于32的为白点 else Bina_Datai = 0; /否则为黑点 void Get_Center(void) for(CCD_H=155;CCD_H1;CCD_H-) if

5、(Bina_DataCCD_H) & (Bina_DataCCD_H-1=0) & (Bina_DataCCD_H-2=0) /三列全为黑点 RightBorderCCD_V=CCD_H; break; /找到右边界，结束 else RightBorderCCD_V=0; /否则右边界丢失 for(CCD_H=125;CCD_HH-2;CCD_H+) if(Bina_DataCCD_H=0) & (Bina_DataCCD_H+1=0) & (Bina_DataCCD_H+2=0) LeftBorderCCD_V=CCD_H; break; /找到左边界，结束 else LeftBorderC

6、CD_V=280; / CenterLineCCD_V=(LeftBorderCCD_V+RightBorderCCD_V)/2; /中心线等于左右边界坐标和的一半void BinaData() int i=0,j=0; unsigned char *p; for(i=0;iV;i+) p=Pix_datai; for(j=0;j=threshold) /如果采集的点超过阈值 Bina_dataij=1; /该点为白点 else Bina_dataij=0;/反之为黑点 void AllFilt() /本段为确定中心黑线 count=0; for(CCD_V=1;CCD_VV-1;CCD_V+

7、) for(CCD_H=1;CCD_HH-1;CCD_H+) /从最左边开始对比检测 if(Bina_dataCCD_VCCD_H=1) if(Bina_dataCCD_V-1CCD_H=1 | Bina_dataCCD_V+1CCD_H=1) & (Bina_dataCCD_VCCD_H-1=1 | Bina_dataCCD_VCCD_H+1=1) Bina_dataCCD_VCCD_H=1; /某点四周像素为白，则该点为白点 count+; /摄像头行自加 else Bina_dataCCD_VCCD_H=0; /反之为黑点 else if(Bina_dataCCD_VCCD_H=0) i

8、f(Bina_dataCCD_V-1CCD_H=0 | Bina_dataCCD_V+1CCD_H=0) & (Bina_dataCCD_VCCD_H-1=0 | Bina_dataCCD_VCCD_H+1=0) Bina_dataCCD_VCCD_H=0; /四周像素为黑点，则该点为黑点 else Bina_dataCCD_VCCD_H=1; / 反之为白点 count+; /自动加行 void get_center() unsigned char *p; static unsigned char last_center=140; /最大行数 for(CCD_V=0;CCD_V1;CCD_H

9、-) /从第140列开始计数 if(*(p+CCD_H)=0) & (*(p+CCD_H-1)=0) & (*(p+CCD_H-2)=0) RightBorderCCD_V=CCD_H; /连续三点为黑，则为右边界 break; else RightBorderCCD_V=18; / for(CCD_H=140;CCD_H=8) CenterLine4=last_center; last_center=CenterLine4; /冒泡法滤波 / if(LeftBorderCCD_V-RightBorderCCD_V)width_count) / width_count=LeftBorderCCD_V-RightBorderCCD_V; /左右边界坐标差值大于阈值，则阈值变为新的坐标之差 for(CCD_V=LINE;CCD_V1;CCD_H-) if(*(p+CCD_H)=0) & (*(p+CCD_H-1)=0) & (*(p+CCD_H-2)=0) RightBorderCCD_V=CCD_H; /某点右边连续是黑点