Initial commit: TC264 smart car project with IPS200 menu system

- IPS200 display menu with real-time status and parameter settings
- Camera image processing and line tracking
- IMU attitude solution and PID control
- WiFi SPI oscilloscope data transmission

code/user_image_process.c

@@ -0,0 +1,110 @@
+#include "user_image_process.h"
+
+IFX_ALIGN(4) uint8 image_binary_1[MT9V03X_1_H][MT9V03X_1_W];
+
+int user_otsu_threshold(uint8 *image, uint16 col, uint16 row)
+{
+    #define GRAYSCALE 256
+    uint16 width = col;
+    uint16 height = row;
+    int pixelCount[GRAYSCALE];
+    float pixelPro[GRAYSCALE];
+    int i, j;
+    int pixelSum = width * height / 4;
+    int threshold = 0;
+    uint8 *data = image;
+
+    for (i = 0; i < GRAYSCALE; i++)
+    {
+        pixelCount[i] = 0;
+        pixelPro[i] = 0;
+    }
+
+    uint32 gray_sum = 0;
+    for (i = 0; i < height; i += 2)
+    {
+        for (j = 0; j < width; j += 2)
+        {
+            pixelCount[(int)data[i * width + j]]++;
+            gray_sum += (int)data[i * width + j];
+        }
+    }
+
+    for (i = 0; i < GRAYSCALE; i++)
+    {
+        pixelPro[i] = (float)pixelCount[i] / pixelSum;
+    }
+
+    float w0, w1, u0tmp, u1tmp, u0, u1, u, deltaTmp, deltaMax = 0;
+    w0 = w1 = u0tmp = u1tmp = u0 = u1 = u = deltaTmp = 0;
+
+    for (j = 0; j < GRAYSCALE; j++)
+    {
+        w0 += pixelPro[j];
+        u0tmp += j * pixelPro[j];
+        w1 = 1 - w0;
+
+        /* 防止除零: 某一类为空时跳过该阈值 */
+        if (w0 < 1e-6f || w1 < 1e-6f)
+            continue;
+
+        u1tmp = (float)gray_sum / pixelSum - u0tmp;
+
+        u0 = u0tmp / w0;
+        u1 = u1tmp / w1;
+        u = u0tmp + u1tmp;
+
+        deltaTmp = w0 * (u0 - u) * (u0 - u) + w1 * (u1 - u) * (u1 - u);
+
+        if (deltaTmp > deltaMax)
+        {
+            deltaMax = deltaTmp;
+            threshold = j;
+        }
+    }
+
+    return threshold;
+}
+
+void user_image_binarize(uint8 *src_image, uint8 (*dst_image)[MT9V03X_1_W], uint16 col, uint16 row, int threshold)
+{
+    uint16 i, j;
+
+    for (i = 0; i < row; i++)
+    {
+        for (j = 0; j < col; j++)
+        {
+            dst_image[i][j] = (src_image[i * col + j] >= (uint8)threshold) ? IMG_WHITE : IMG_BLACK;
+        }
+    }
+}
+
+void user_image_denoise(uint8 (*image)[MT9V03X_1_W], uint16 col, uint16 row)
+{
+    uint16 i, j;
+    static uint8 buf[MT9V03X_1_H][MT9V03X_1_W];
+
+    for (i = 0; i < row; i++) {
+        for (j = 0; j < col; j++) {
+            buf[i][j] = image[i][j];
+        }
+    }
+
+    for (i = 1; i < row - 1; i++) {
+        for (j = 1; j < col - 1; j++) {
+            int cnt = 0;
+            if (buf[i-1][j-1] == IMG_WHITE) cnt++;
+            if (buf[i-1][j  ] == IMG_WHITE) cnt++;
+            if (buf[i-1][j+1] == IMG_WHITE) cnt++;
+            if (buf[i  ][j-1] == IMG_WHITE) cnt++;
+            if (buf[i  ][j  ] == IMG_WHITE) cnt++;
+            if (buf[i  ][j+1] == IMG_WHITE) cnt++;
+            if (buf[i+1][j-1] == IMG_WHITE) cnt++;
+            if (buf[i+1][j  ] == IMG_WHITE) cnt++;
+            if (buf[i+1][j+1] == IMG_WHITE) cnt++;
+
+            image[i][j] = (cnt >= 5) ? IMG_WHITE : IMG_BLACK;
+        }
+    }
+}
+