飞思卡尔智能车摄像头组freescale程序代码

extern int left,w,top,h;

extern HDC m_hdc;

CBrush brush3(RGB(0,255,0));

CBrush brush4(RGB(255,0,0));

CBrush brush5(RGB(255,255,0));

#else

#include

#include "math.h"

// #include "LQfun.h"

#endif

#ifdef ccd

#define MAX_VIDEO_LINE 39

#define MAX_VIDEO_POINT 187

#else

//#define MAX_VIDEO_LINE 26

// #define MAX_VIDEO_POINT 301

#define MAX_VIDEO_LINE 78

#define MAX_VIDEO_POINT 57

#endif

extern unsigned char g_VideoImageDate[MAX_VIDEO_LINE][MAX_VIDEO_POINT];

#define INT8U unsigned char

#define INT8S signed char

#define INT16U unsigned int

#define INT16S int

#define INT32S int

#define NO_DATA_180 254

//#define INT32U unsigned int

unsigned char LIMIT=((MAX_VIDEO_POINT)/2);

unsigned char MIDDLE[MAX_VIDEO_LINE];

#define MAX_BLACK_NUM 7

INT8S n;

INT8U limit_cur;

INT8U BackLineValidFlag;

INT8U l_BlackStartDot;

INT8U k;

INT8U k2;

INT8U NextFlag;

INT16S g_SearchStart;

INT16S g_SearchEnd;

INT8U g_SearchDirection;

INT16S g_BlackMiddle[2];

INT8U g_BottomMiddle=MAX_VIDEO_POINT/2;

INT8U g_BlackPoint[2][MAX_BLACK_NUM];

INT8U g_BlackPoint_qipao[2][MAX_BLACK_NUM];

INT8U cnt;

INT8U cnt_large[MAX_VIDEO_LINE];

INT8U cnt_qipao;

INT8U g_BottomValidLine;

extern INT8U g_width[MAX_VIDEO_LINE];

extern INT8U g_BlackPositionCenter[MAX_VIDEO_LINE];

//INT16U g_center;

INT8U g_ValidLine;

INT16U g_BlackLineTotal;

INT8S g_error;

INT8S ValidLineError;

INT8S g_WidthError;

INT8S g_MinWidth;

INT8S g_MaxWidth;

extern INT8U g_IfCross;

unsigned char haveleft,haveright;

unsigned char left_n,right_n,left_or_right,left_center_x,right_center_x; INT8U cur_center;

//float g_DirectionControl;

//float g_DirectionControl_y;

//INT32S g_DirectionControlLine;

void init_pic_all()

{

INT8U i;

for(i = 0; i < MAX_VIDEO_LINE; i++) //78

{

//MIDDLE[MAX_VIDEO_LINE-1-i]=50+(90-50)*i/(MAX_VIDEO_LINE-1);

MIDDLE[MAX_VIDEO_LINE-1-i]=30+(50-30)*i/(MAX_VIDEO_LINE-1);

//150+powf(i/MAX_VIDEO_LINE,3.)/powf(1.,3.)*40;

//

MIDDLE[MAX_VIDEO_LINE-1-i]=90+(100-90)*i/(MAX_VIDEO_LINE-1);//150+powf(i/MA X_VIDEO_LINE,3.)/powf(1.,3.)*40;

}

}

void init_process(void)

{

//return;

INT8U i = 0;

for(i = 0; i < MAX_VIDEO_LINE; i ++) //39

{

g_BlackPositionCenter[i] = NO_DATA_180;

g_width[i] = 0;

cnt_large[i]=0;

}

NextFlag=0;

g_IfCross=0;

cnt_qipao=0;

haveright=0;

haveleft=0;

g_SearchStart = g_BottomMiddle - LIMIT;

g_SearchEnd = g_BottomMiddle + LIMIT;