飞思卡尔智能车竞赛 摄像头组 调试上位机

这个程序是我参加飞思卡尔智能汽车竞赛是用来分析图像数据和调试中线提取算法的工具，使用上位机，可以大大提高调试效率，不需要总是去让小车在跑道上跑。 test

数据格式

由于这个软件，我写了好几个版本，数据的格式也改了好几次，以下做一个简单说明。 介绍图像数据之前，我要介绍一下我使用的摄像头。我们使用的是野火设计的鹰眼摄像头，采用ov7725~cmos芯片，采用硬件二值化，单片机使用DMA采集图像，采集回来的直接就是二值化的图像，每个像素点只有1或0。

FreeScale2

FreeScale2程序使用的数据格式如下： 分辨率为50x50的二值化后的数据，使用50x50的二维数组保存数据。接收到的数据，每个像素点之间用英文逗号‘，’分隔，每一帧图像之间用‘img’分隔。 下面是一个示例数据:

img
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,1,0,1,1,1,1,0,1,1,1,1,0,0,1,1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,
1,1,0,1,1,1,1,0,0,0,1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,
1,1,0,1,0,0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,
0,0,0,1,0,0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,0,
0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0,0,1,1,1,0,1,1,1,1,0,1,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,0,0,0,1,0,1,1,1,1,0,1,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,1,0,0,0,0,1,1,1,1,0,1,0,
0,0,0,1,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,1,1,1,1,0,1,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,1,1,1,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,1,1,0,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,1,1,1,1,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,
0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,1,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0,0,0,1,
0,1,0,1,1,1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1,0,0,1,
1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,
1,1,0,1,1,1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1,
1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,
1,1,0,1,1,1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,        
1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,
1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,

img
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,0,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,0,0,
1,1,0,1,1,1,1,0,1,1,0,0,0,1,1,1,1,0,1,1,1,1,0,1,0,0,0,0,0,0,0,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,
...

上位机运行如下图所示

FreeScale2程序还有一个调试电机PID程序的功能。 使用方法就是用串口发回编码器采集回的转速，上位机绘制出曲线图。 下面是几个采集的图像。

FreeScale3

上面那个数据格式需要下位机发送已二值化且存在50x50数组里面的数据，因为每次只发送1或0，比较浪费时间，于是，我改成直接发送摄像头采集回来的一个字节八个像素点的数据，然后用上位机将图像展开成80x60的数组里面。

示例图像数据如下：

img
0,0,0,0,0,0,0,0,0,0,255,255,255,254,31,255,255,255,255,255,255,255,255,248,63,255,255,255,1,255,255,255,255,255,255,254,14,0,0,7,255,255,255,255,240,0,0,0,0,0,255,255,255,255,0,0,0,0,0,0,255,255,255,240,0,0,0,0,7,255,255,255,255,128,0,0,255,255,255,255,255,255,254,0,0,31,255,255,255,255,255,255,248,0,0,127,255,255,255,248,255,255,240,0,0,255,255,255,255,240,255,255,192,0,0,255,255,255,255,240,255,255,128,0,0,255,255,255,255,240,255,255,0,0,0,255,255,255,255,248,255,254,0,0,0,127,255,255,255,248,255,252,0,0,0,63,255,255,255,252,255,252,0,0,0,15,255,255,255,254,255,248,0,0,0,3,255,255,255,255,255,248,0,0,0,0,255,255,255,255,255,248,0,0,0,0,31,255,255,255,255,240,0,0,0,0,7,253,255,255,255,240,0,0,0,0,3,253,255,255,255,240,0,0,0,0,0,255,255,255,255,240,0,0,0,0,0,63,255,255,255,248,0,0,0,0,0,31,255,255,255,248,0,0,0,0,0,7,255,255,255,248,0,0,0,0,0,3,255,255,255,252,0,0,0,0,0,1,255,255,255,252,0,0,0,0,0,0,255,255,255,254,0,0,0,0,0,0,127,255,255,255,0,0,0,0,0,0,63,255,255,255,0,0,0,0,0,0,31,255,255,255,128,0,0,0,0,0,15,255,255,255,192,0,0,0,0,0,7,255,255,255,192,0,0,0,0,0,3,255,255,255,224,0,0,0,0,0,1,255,255,255,224,0,0,0,0,0,0,255,255,255,240,0,0,0,0,0,0,255,255,255,240,0,0,0,0,0,0,127,255,255,240,0,0,0,0,0,0,63,255,255,240,0,0,0,0,0,0,63,255,255,240,0,0,0,0,0,0,31,255,255,248,0,0,0,0,0,0,15,255,255,248,0,0,0,0,0,0,15,255,255,248,0,0,0,0,0,0,7,255,255,248,0,0,0,0,0,0,7,255,255,248,0,0,0,0,0,0,3,255,255,240,0,0,0,0,0,0,3,255,255,240,0,0,0,0,0,0,1,255,255,240,0,0,0,0,0,0,1,255,255,240,0,0,0,0,0,0,1,255,255,240,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,192,0,0,0,0,0,0,0,255,255,192,0,0,0,0,0,0,0,255,255,192,0,0,0,0,0,0,0,
img
0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,255,255,255,255,255,255,255,248,31,255,255,255,255,255,255,255,255,255,255,255,255,248,0,63,255,255,255,255,254,0,0,0,0,0,255,255,255,255,192,0,0,0,0,0,255,255,255,252,0,0,0,0,1,255,255,255,255,224,0,0,0,0,31,255,255,255,255,0,0,7,255,255,255,255,255,255,252,0,0,15,255,255,255,255,255,255,248,0,0,127,255,255,255,248,255,255,224,0,0,255,255,255,255,248,255,255,192,0,0,255,255,255,255,248,255,255,128,0,0,255,255,255,255,248,255,255,0,0,0,255,255,255,255,248,255,254,0,0,0,127,255,255,255,252,255,252,0,0,0,63,255,255,255,254,255,248,0,0,0,31,255,255,255,254,255,248,0,0,0,7,255,255,255,255,255,240,0,0,0,1,255,255,255,255,255,240,0,0,0,0,127,255,255,255,255,240,0,0,0,0,31,253,255,255,255,224,0,0,0,0,7,255,255,255,255,224,0,0,0,0,1,255,255,255,255,224,0,0,0,0,0,127,255,255,255,240,0,0,0,0,0,63,255,255,255,240,0,0,0,0,0,15,255,255,255,240,0,0,0,0,0,7,255,255,255,240,0,0,0,0,0,3,255,255,255,248,0,0,0,0,0,0,255,255,255,248,0,0,0,0,0,0,127,255,255,252,0,0,0,0,0,0,63,255,255,252,0,0,0,0,0,0,31,255,255,254,0,0,0,0,0,0,15,255,255,255,0,0,0,0,0,0,7,255,255,255,0,0,0,0,0,0,3,255,255,255,128,0,0,0,0,0,1,255,255,255,192,0,0,0,0,0,1,255,255,255,192,0,0,0,0,0,0,255,255,255,192,0,0,0,0,0,0,127,255,255,224,0,0,0,0,0,0,63,255,255,224,0,0,0,0,0,0,63,255,255,224,0,0,0,0,0,0,31,255,255,224,0,0,0,0,0,0,31,255,254,240,0,0,0,0,0,0,15,255,255,240,0,0,0,0,0,0,7,255,255,240,0,0,0,0,0,0,7,255,255,240,0,0,0,0,0,0,3,255,255,240,0,0,0,0,0,0,3,255,255,240,0,0,0,0,0,0,1,255,255,240,0,0,0,0,0,0,1,255,255,240,0,0,0,0,0,0,0,255,255,240,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,224,0,0,0,0,0,0,0,255,255,192,0,0,0,0,0,0,0,255,255,192,0,0,0,0,0,0,0,
img

上位机运行如下图所示