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# **FPGA camera inverse perspective mapping** # **FPGA camera inverse perspective mapping (Bird's-eye view)**
Using two **OV7670** cameras and *Digilent Basys3* board with *Xilinx Artix 7* series **FPGA** performing inverse perspective image mapping and displays result on **VGA** monitor. Using two **OV7670** cameras and *Digilent Basys3* board with *Xilinx Artix 7* series **FPGA** performing inverse perspective image mapping and displays result on **VGA** monitor.
A working model was created using **Verilog** HDL. This model is capable of setting up multiple cameras, as well as receiving videos from them. Received image before saving can be transformed into a black and white image or transformed using transformation matrices. A working model was created using **Verilog** HDL. This model is capable of setting up multiple cameras, as well as receiving videos from them. Received image before saving can be transformed into a black and white image or transformed using transformation matrices.
![Usage](https://e43kna.bl.files.1drv.com/y4mblnACFjxVnxxrWqAzc0baAkMnByvkHqyAAtRhvZx5n2ddzly7DiJPIlAuLtMVR8BTLlpInTbnrEBdfujHlR9mRjxEK9Yz54qthLOcxqIG5RLtdV-5s6vD1pC5_R1jkxbEhx-V8CO-uljYtysmkwTnGRz718A-3cvYGTHlZ7reqjMs293BL4EBk7tSGXXPyNwKycOy9y59-4tOQO1l3Nerw/perspective_transformation.jpg?psid=1)
Online sources: Online sources:
* https://github.com/luckasfb/Development_Documents/blob/master/MTK-Mediatek-Alps-Documents/OV7670%20software%20application%20note.pdf * https://github.com/luckasfb/Development_Documents/blob/master/MTK-Mediatek-Alps-Documents/OV7670%20software%20application%20note.pdf
* https://www.nandland.com/goboard/uart-go-board-project-part1.html * https://www.nandland.com/goboard/uart-go-board-project-part1.html
@@ -14,5 +16,18 @@ Online sources:
* https://surf-vhdl.com/how-to-implement-division-in-vhdl/ * https://surf-vhdl.com/how-to-implement-division-in-vhdl/
# Result # Result
![original image from camera](https://7aba7a.bl.files.1drv.com/y4pwKHQvpHW92CTrzWGtWLTa32wgLyZR7ErFuswySWTBlY8j5WtYXB2xbfdF26WbK1EfGdaF3LiP7dsH9M_XuHN_okZEtXPohPNBCi84w3aulIHkF0wPb84--H45VNhXt3-47r82Ix_T1TroHMugZ0_TprtKybh1QxSujA2HF-DQFTszwYvA0WPgdisB4mnXeZ5IfSo01VfeqXwQy-LYn_rMw/IMG_4925.jpg)
![original image from camera](https://ibtojw.bl.files.1drv.com/y4p7PqFYUu3T73ChgD9lcUQQr30ZjLp8Gu3eI3oc1VWcGKXLwqWrP7A9U28Wy5hYm2fQvLt6rEl0BcLMeK40ePYksOWo71oUfRo-XznyrGMwe91icEp4wZWVjwwkcH0sXkkDmGub92JJfYQ5HCn5T9VLUFQ4dBOe77hBJKBXPD7FEccUIP5sq_R9UScoh-Wl5gZFKBR4ELeVqNU42Ja33aewg/IMG_4927.jpg) Original image from camera
![original image from camera](https://7aba7a.bl.files.1drv.com/y4mjm7jOQLVZLG698C2Q89lSiJpgaUXb5QJ5O4aPJ7brX9Memvs9MDf5o8K7PG3NiiOQKGO7-PcO1JAX-iztIKA9llJfilCvZYvJtWOGK6quP3hqJP3wYk-h5nsNKdHY_lHdq7NY-SEXolzWbNMFiJaYrOYF_CjUxmr1eX1wdDWzDDj3UjYfb31RmOmqQkrlyLVmBpNGrpokqwuvX6Sxa9ykA/IMG_4925.jpg?psid=1)
After uploading the configuration to FPGA board in the corner of the monitor, You can see chessboard without perspective
![image after transformation](https://ibtojw.bl.files.1drv.com/y4m6_OiMO_spokt3SNQntEU2D6G4V3mWKGo79hVMY420dGuj1e51Qw-tb6YGBXY8ual0gH2qLpVP_3XPnsfPWBoqJ2-NawmLFin8PmYrcm3sKn0epzZLAVmIJaX6SW6t-qGtug88LxmRxLAldHde_YJBau-WB1gaiCiKoaAiy4mZTvwhpTmyhfLKxCcCcMgOCJAYpgh1WZ7_0UKuaarLdN5ug/IMG_4927.jpg?psid=1)
# How cameras connected with the board
![Basys3](https://rasv7w.bl.files.1drv.com/y4mAoPcNULZ7KFfe_9pM95q_px_RCpv7YOZgSKTsRCfEHDp7D5BJCBOtnA4oFRZeKr1pWHlaKprguELQ0_67uPMYZx_AHpcq91-0I5LENw4HEBAArny1z7W22VLienP15ZhxIFNKmf3EvNJn5ZzhXBZQ2Hqa8V58lyD2NNRn4FQw29xDjhehsM_ZfiMMosfaE1tUvCwPGgEJC9fkK7RUSApIw/pmod-pinout.png?psid=1)
![pinout](https://fgkm1w.bl.files.1drv.com/y4mYvu2r_T4Mv91oiLmIPjggQrIXIDWy5FKZhU09sKQ3F8gNJO5FsMyYJ_KKzjZIg7xod5W9ru7YzTrMn8ib5QkbafE3yVFfL-AR0MUKOkgFc2e8nMGdDohYi3JcvHDohoXyIHHvXdYH4XdBnXwQ-a1uEH1E2nRVFMfS2Q9Z5Bms4Dw1IhHRer-cfWyyPkzUdHJn_RxtHmQJFUhwayYYR5bGg/ov7670-pinout.png?psid=1)