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摄像头测试代码

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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
This commit is contained in:
Glz
2023-12-17 16:11:35 +08:00
parent eaa7cc0eea
commit ce31d900ee
23 changed files with 1261 additions and 45 deletions
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57
app/main.h Normal file
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#ifndef MAIN_H
#define MAIN_H
#include "zf_common_headfile.h"
//extern uint8 *mt9v03x_image_copy[0];
extern sint32 pts_left[PT_MAXLEN][2], pts_right[PT_MAXLEN][2]; //0:H,1:W
extern sint32 pts_left_count, pts_right_count;
extern float32 pts_inv_l[PT_MAXLEN][2], pts_inv_r[PT_MAXLEN][2];
extern sint32 pts_inv_l_count, pts_inv_r_count;
extern float32 pts_filter_l[PT_MAXLEN][2], pts_filter_r[PT_MAXLEN][2];
extern sint32 pts_filter_l_count, pts_filter_r_count;
extern float32 pts_resample_left[PT_MAXLEN][2], pts_resample_right[PT_MAXLEN][2];
extern sint32 pts_resample_left_count, pts_resample_right_count;
extern uint8_t mt9v03x_image_copy[MT9V03X_H][MT9V03X_W];
extern float32 mid_left[PT_MAXLEN][2], mid_right[PT_MAXLEN][2];
extern sint32 mid_left_count, mid_right_count;
extern float angle_left[PT_MAXLEN];
extern float angle_right[PT_MAXLEN];
extern int angle_left_num, angle_right_num;
extern float angle_new_left[PT_MAXLEN];
extern float angle_new_right[PT_MAXLEN];
extern int angle_new_left_num, angle_new_right_num;
extern int Lpt0_rpts0s_id, Lpt1_rpts1s_id;
extern bool Lpt0_found, Lpt1_found;
extern int Lpt1[2],Lpt0[2];
extern int Lpt_in0_rpts0s_id, Lpt_in1_rpts1s_id;
extern bool Lpt_in0_found, Lpt_in1_found;
extern int Lpt_in1[2], Lpt_in0[2];
extern bool is_straight0, is_straight1;
extern bool is_turn0, is_turn1;
extern float rptsn[PT_MAXLEN][2];
extern int rptsn_num;
extern float aim_distance;
enum track_type_e {
TRACK_LEFT,
TRACK_RIGHT,
};
extern enum track_type_e track_type;
#endif // MAIN_H