智能车制作

标题: CCD图像处理算法分享 [打印本页]

作者: sneer 时间: 2015-10-6 12:57
标题: CCD图像处理算法分享
/*************主图像处理函数**************/ //基本完成有要修改的参数
void ImageManage(CCD_Type *CCD_Struct)
{
  int16 UpPoint[20]={0};
  int16 DownPoint[20]={0};
  int16 WhiteChecked[20]={0};//存放大白块宽度，i
  int16 WhiteCheckedMiddleLine[20]={0};
  int16 BlackChecked[20]={0};//存放黑块宽度
  int16 BlackCheckedMiddleLine[20]={0};
  int16 up=0;          //上升沿个数
  int16 down=0;       //下降沿个数
  int16 flat_black=0;
  static int16 ZJ_count=0;
  int16 flat_white=0;
  int16 MiddleNearest=127;
  int16 MiddleNearErr;
  int8 flag1=0;
  int8 flag0=0;
  static int8 flag2=0;

  //寻找跳变沿
  UpPoint[0]=0;
  up=1;
  if(CCD_Struct->Pixel_Mono[0]==0)
  {
DownPoint[0]=0;
down=1;
  }

  for(uint8 i=1;i<128;i++)
  {
if(CCD_Struct->Pixel_Mono[i]>CCD_Struct->Pixel_Mono[i-1])//upside
{
   UpPoint[up]=i;
   up++;
   flag0=1;  //左边线存在

}
else
   flag0=0;    //左边线不存在
if(CCD_Struct->Pixel_Mono[i]<CCD_Struct->Pixel_Mono[i-1])//downside
{
   DownPoint[down]=i;
   down++;
   flag1=1;
}
else
   flag1=0;
if(CCD_Struct->Pixel_Mono[i]==0)
   {
      flat_black++;
   }

if(CCD_Struct->Pixel_Mono[i]==100)
   {
      flat_white++;
   }
  }
  UpPoint[up]=127;
  DownPoint[down]=127;
  //大白=下降沿-上升沿
   if(!flag0&&!flag1&&!flat_black)  //图像全白，取前两次的中线作为当前中线处理
   {
   CCD_Struct->MiddleLineNow=CCD_Struct->Middline[2];
   CCD_Struct->ImageWidthNow=CCD_Struct->ImageWidth[2];
   CCD_Struct->LeftEdgeNow=CCD_Struct->LeftEdge[2];
   CCD_Struct->RightEdgeNow=CCD_Struct->RightEdge[2];
   }

   for(int16 i=0;i<up;i++)
   {
      WhiteChecked[i]=DownPoint[i]-UpPoint[i];

      if(WhiteChecked[i]>30)    //视具体情况而定
      {
      WhiteCheckedMiddleLine[i]=(DownPoint[i]+UpPoint[i])/2;
      MiddleNearErr=ABS(CCD_Struct->MiddleLineNow-WhiteCheckedMiddleLine[i]);
      if(MiddleNearErr<MiddleNearest||(WhiteChecked[i]>=30&&WhiteChecked[i]<=70))
      {
         MiddleNearest=MiddleNearErr;
      // if(MiddleNearErr<15)
      // {
         CCD_Struct->MiddleLineNow=WhiteCheckedMiddleLine[i];
         CCD_Struct->ImageWidthNow=WhiteChecked[i];//保存赛道宽度
         CCD_Struct->LeftEdgeNow=UpPoint[i];
         CCD_Struct->RightEdgeNow=DownPoint[i];
      //  }

      }

      }

}
for(int16 i=1;i<up-1;i++)          //中线处理
{
   BlackChecked[i]=UpPoint[i+1]-DownPoint[i];
   BlackCheckedMiddleLine[i]=(DownPoint[i]+UpPoint[i+1])/2;
   if(BlackChecked[i]<10)
      {

      MiddleNearErr=ABS(CCD_Struct->MiddleLineNow-BlackCheckedMiddleLine[i]);
         if(DownPoint[i+1]-UpPoint[i+1]>=20&&DownPoint[i]-UpPoint[i]>=20)
            {
            MiddleNearest=0;
            CCD_Struct->MiddleLineNow=BlackCheckedMiddleLine[i];
            CCD_Struct->ImageWidthNow=UpPoint[i+1]-DownPoint[i];
            CCD_Struct->LeftEdgeNow=DownPoint[i];
            CCD_Struct->RightEdgeNow=UpPoint[i];
            break;
            }
      }
   if(BlackChecked[i]>10&&BlackChecked[i]<30)
   {
      if(BlackCheckedMiddleLine[i]>64)
      {
      CAR.RealforBarrier=rightBarrier;
      }
      else
   {
   CAR.RealforBarrier=leftBarrier;
   //  CAR.moto=c_stop;
      }
         CAR.Count_2=Time_Barriar;
   }


}
for(int8 i=19;i>0;i--)
      {
         CCD_Struct->Middline[i]=CCD_Struct->Middline[i-1];
         CCD_Struct->ImageWidth[i]=CCD_Struct->ImageWidth[i-1];
         CCD_Struct->LeftEdge[i]=CCD_Struct->LeftEdge[i-1];
         CCD_Struct->RightEdge[i]=CCD_Struct->RightEdge[i-1];
      }
CCD_Struct->Middline[0]=CCD_Struct->MiddleLineNow;
CCD_Struct->ImageWidth[0]=CCD_Struct->ImageWidthNow;
CCD_Struct->LeftEdge[0]=CCD_Struct->LeftEdgeNow;
CCD_Struct->RightEdge[0]=CCD_Struct->RightEdgeNow;    //至此中线位置已经解决

for(int i=19;i>0;i--)                      //保存中线位置
   {
      CAR.route[i]=CAR.route[i-1];
   }
  if(ABS(CCD_SingleStrcut.Middline[0]-CCD_SingleStrcut.Middline[1])<10)
  {

   CAR.route[0]= CCD_SingleStrcut.Middline[0];
   if(!flag0&&!flag1&&!flat_white)
   {
   // CAR.moto=c_stop;
   // fflag=1;


      if(ZJ_count==0)
      {
      ZJ_count=50;
      fflag=50;
      }

   if(ZJ_count)
   {
      ZJ_count--;
      fflag--;

      {
      if(CCD_SingleStrcut.ImageWidth[0]>80)       //直角判断
      {
         if(CCD_SingleStrcut.LeftEdge[0]<=15)
         {

            CAR.RealforEgl=leftEgl;          //右拐直角
            CAR.route[0]=CAR.route[0]-80;
         //  CAR.Count_1=zhijiao_time;
         }
         if(CCD_SingleStrcut.RightEdge[0]>=110)
         {

            CAR.RealforEgl=rightEgl;       //左拐直角
      CAR.route[0]=CAR.route[0]+80;
         // CAR.Count_1=zhijiao_time;
         }
      }
      }
   }
   else
   {
      CAR.Count_1=0;


   }
   if(CAR.Count_1>=30)
   {
   fflag=0;
   }
   }

}

}

作者: sneer 时间: 2015-10-6 13:00
十字处理时好时坏，好的时候稳得一比，坏的时候简直不能直视，希望大家多提意见