摄像头测试代码

在main.c文件中img_processing();函数里pts_left和pts_right两个数组储存边线坐标

app/gl_common.h

@@ -0,0 +1,35 @@
+#ifndef COMMON_H_
+#define COMMON_H_
+
+
+
+#define IMAGE_H                     (MT9V03X_H)
+#define IMAGE_W                     (MT9V03X_W)
+#define BEGINH_L                    (61)
+#define BEGINH_R                    (61)
+#define BEGINW_L                    (-18)
+#define BEGINW_R                    (-12)
+#define PT_MAXLEN                   (75)
+#define GET_PIX_1C(IMG, H, W)       (IMG[(H) * MT9V03X_W + (W)])   //获取像素点的值
+#define FIX_BINTHRESHOLD            (140)                          //设置最开始的阈值
+#define SELFADAPT_KERNELSIZE        (7)                            //巡线区域核大小
+#define FILTER_KERNELSIZE           (7)                            //滤波核大小
+#define SELFADAPT_OFFSET            (8)                           //适应性块大小
+#define PIXPERMETER                 (56)
+#define RESAMPLEDIST                (0.02)
+#define ANGLEDIST                   (0.2)
+#define ROADWIDTH                   (0.45)
+#define FRAMENONE                   (1)
+#define FRAMETOLEFT                 (5)
+#define FRAMETORIGHT                (5)
+
+typedef signed int          sint32;
+typedef float               float32;
+
+sint32 limit(sint32 x, sint32 low, sint32 up);
+int clip(int x, int low, int up);
+float fclip(float x, float low, float up) ;
+
+
+
+#endif /* COMMON_H_ */