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
2023-12-17 16:11:35 +08:00
parent eaa7cc0eea
commit ce31d900ee
23 changed files with 1261 additions and 45 deletions
--- a/app/gl_cross.c
+++ b/app/gl_cross.c
@@ -0,0 +1,57 @@
+#include "zf_common_headfile.h"
+#include "gl_headfile.h"
+
+enum cross_type_e cross_type = CROSS_NONE;
+bool far_Lpt0_found, far_Lpt1_found;
+int32_t Both_Boder_None_Cross;
+
+void CheckCross() {
+    bool Xfound = Lpt0_found && Lpt1_found;
+    if (cross_type == CROSS_NONE && Xfound){ 
+    cross_type = CROSS_BEGIN;
+    }
+}
+
+void RunCross() {
+    bool Xfound = Lpt0_found && Lpt1_found;
+    aim_distance = 0.4;
+    //检测到十字，先按照近线走
+    if (cross_type == CROSS_BEGIN) {
+        if (Lpt0_found) {
+            mid_left_count = pts_resample_left_count = Lpt0_rpts0s_id;
+            track_type = TRACK_LEFT;
+        }
+        if (Lpt1_found) {
+            mid_right_count = pts_resample_right_count = Lpt1_rpts1s_id;
+            track_type = TRACK_RIGHT;
+        }
+
+        //近角点过少，进入远线控制
+        if ((Xfound && (Lpt0_rpts0s_id < 0.2 / RESAMPLEDIST || Lpt1_rpts1s_id < 0.2 / RESAMPLEDIST)) || (pts_resample_left_count <20 && pts_resample_right_count<20)) {
+            cross_type = CROSS_IN;
+            //cross_encoder = current_encoder;
+        }
+        
+    }
+        //远线控制进十字,begin_y渐变靠近防丢线
+    else if (cross_type == CROSS_IN) {
+        //寻远线,算法与近线相同
+        cross_farline();
+
+        if (pts_resample_left_count < 5 && pts_resample_right_count < 5) { 
+            Both_Boder_None_Cross++;
+            }
+        if (Both_Boder_None_Cross > 2 && pts_resample_left_count > 20 && pts_resample_right_count > 20) {
+            cross_type = CROSS_NONE;
+            Both_Boder_None_Cross = 0;
+        }
+        if (far_Lpt1_found) { track_type = TRACK_RIGHT; }
+        else if (far_Lpt0_found) { track_type = TRACK_LEFT; }
+        else if (Both_Boder_None_Cross > 0 && pts_resample_right_count < 5) { track_type = TRACK_RIGHT; }
+        else if (Both_Boder_None_Cross > 0 && pts_resample_left_count < 5) { track_type = TRACK_LEFT; }
+
+    }
+}
+
+
+void cross_farline(){}