Merge branch 'master' of http://git.isthmus.tk:441/glz/firmware_violet_zf

app/main.c

@@ -42,7 +42,9 @@ int main(void)
     // while (imu660ra_init())
     //     ;
 
-    Page_Init();
+    // system_delay_ms(2000);
+    // gyroOffset_init();
+    // pit_ms_init(TIM6_PIT, 2);
 
     while (1) {
 
@@ -50,6 +52,8 @@ int main(void)
         if (mt9v03x_finish_flag) {
             // 该操作消耗大概 1970 个 tick，折合约 110us
             memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
+            adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
+            ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
             mt9v03x_finish_flag = 0;
 
             state_type = COMMON_STATE;
@@ -60,6 +64,27 @@ int main(void)
             // ElementJudge();
             // ElementRun();
             MidLineTrack();
+
         }
     }
+}
+
+
+
+void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
+  int half_block = block / 2;
+  for(int y=half_block; y<height-half_block; y++){
+    for(int x=half_block; x<width-half_block; x++){
+      // 计算局部阈值
+      int thres = 0;
+      for(int dy=-half_block; dy<=half_block; dy++){
+        for(int dx=-half_block; dx<=half_block; dx++){
+          thres += img_data[(x+dx)+(y+dy)*width];
+        }
+      }
+      thres = thres / (block * block) - clip_value;
+      // 进行二值化
+      output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
+    }
+  }
 }