Initial commit
Uploading to GitHub
This commit is contained in:
Imants Pulkstenis
Binary file not shown.
|
After Width: | Height: | Size: 225 KiB |
@@ -0,0 +1,275 @@
|
||||
%% FPGA image trasform module
|
||||
% Configuretion script generator
|
||||
%
|
||||
% Coordinates for perspective transform matrix
|
||||
% 640x480
|
||||
% -------------------------------
|
||||
% | P2 |
|
||||
% | P1 |
|
||||
% | |
|
||||
% | |
|
||||
% | |
|
||||
% | P4 |
|
||||
% | P3 |
|
||||
% -------------------------------
|
||||
% Px = (x , y );
|
||||
%
|
||||
% %Pre fefined output image size
|
||||
% width = 320; % for output image
|
||||
% higth = 240;
|
||||
% %Generate settings for:
|
||||
% camera = 1; % camera 0 or 1
|
||||
% mode = 0; % from 0 to 3, but 0 is reserved for
|
||||
%
|
||||
% P1 = [ 0 , 0 ];
|
||||
% P2 = [ 639 , 0 ];
|
||||
% P3 = [ 639 , 479 ];
|
||||
% P4 = [ 0 , 479 ];
|
||||
|
||||
% Or use popup menu
|
||||
prompt = {'Enter output image width(0-320):','Enter output image higth(0-240):','Enter camera No.(0-1):','Enter mode No.(0-3):'};
|
||||
dlgtitle = 'Input';
|
||||
dims = [1 35];
|
||||
definput = {'320','240','0','1' };
|
||||
answer = inputdlg(prompt,dlgtitle,dims,definput);
|
||||
width = str2num(answer{1});
|
||||
width = min(width, 320);
|
||||
width = max(width, 1);
|
||||
higth = str2num(answer{2});
|
||||
higth = min(higth, 240);
|
||||
higth = max(higth, 1);
|
||||
camera = str2num(answer{3});
|
||||
camera = min(camera, 1);
|
||||
camera = max(camera, 0);
|
||||
mode = str2num(answer{4});
|
||||
mode = min(mode, 3);
|
||||
mode = max(mode, 0);
|
||||
%
|
||||
step = 0.001; % step for lookuptable file generator loop
|
||||
%
|
||||
%% reading image
|
||||
% f = imread('star640x480.jpg');
|
||||
f = imread('overlay.jpg');
|
||||
f = im2double(f);
|
||||
f = mean(f,3);
|
||||
|
||||
figure(1);% subplot(2,2,[1,3]);
|
||||
imshow(f, []);
|
||||
|
||||
|
||||
%% Perspective transform matrix
|
||||
%
|
||||
% T = [ 1.4839, 0.23638, 0.0030649; ...
|
||||
% 0, 1.652, 0; ...
|
||||
% -4.4516, -207.21, 1];
|
||||
%
|
||||
% input corners (using impixel) and compute transform
|
||||
% use(uncomment):
|
||||
[c r p] = impixel;
|
||||
% or use those coordinates(comment if using impixel):
|
||||
% c = [ P1(1) P2(1) P3(1) P4(1) ]'; % x coordinates
|
||||
% r = [ P1(2) P2(2) P3(2) P4(2) ]'; % y coordinates
|
||||
base = [0 0; (width-1) 0; (width-1) (higth-1); 0 (higth-1)]; % output dimentions
|
||||
|
||||
tf = fitgeotrans([c r],base,'projective');
|
||||
% disp('tf = ');
|
||||
% disp(tf)
|
||||
|
||||
T = tf.T;
|
||||
disp('T =');
|
||||
format short g
|
||||
disp(T);
|
||||
disp('After rounding and converting ');
|
||||
T = round(T * 2^12) / 2^12 % faster rounding
|
||||
% T = sfi(T,25,12); % very slow
|
||||
format
|
||||
figure(1);%subplot(2,2,[1,3]);
|
||||
hold on;
|
||||
% plot red box
|
||||
plot([c;c(1)],[r;r(1)],'r','Linewidth',2);
|
||||
text(c(1),r(1)+20,'P1','Color','r');
|
||||
text(c(2),r(2)+20,'P2','Color','r');
|
||||
text(c(3),r(3)-20,'P3','Color','r');
|
||||
text(c(4),r(4)-20,'P4','Color','r');
|
||||
|
||||
% % plot lines like in prototype model
|
||||
% plot([1;1],[0;480],'g','Linewidth',2);
|
||||
% plot([80;80],[0;480],'g','Linewidth',2);
|
||||
% plot([160;160],[0;480],'g','Linewidth',2);
|
||||
% plot([240;240],[0;480],'g','Linewidth',2);
|
||||
% plot([320;320],[0;480],'g','Linewidth',2);
|
||||
% plot([400;400],[0;480],'g','Linewidth',2);
|
||||
% plot([480;480],[0;480],'g','Linewidth',2);
|
||||
% plot([560;560],[0;480],'g','Linewidth',2);
|
||||
% plot([639;639],[0;480],'g','Linewidth',2);
|
||||
%
|
||||
% plot([0;640],[1;1],'g','Linewidth',2);
|
||||
% plot([0;640],[80;80],'g','Linewidth',2);
|
||||
% plot([0;640],[160;160],'g','Linewidth',2);
|
||||
% plot([0;640],[240;240],'g','Linewidth',2);
|
||||
% plot([0;640],[320;320],'g','Linewidth',2);
|
||||
% plot([0;640],[400;400],'g','Linewidth',2);
|
||||
% plot([0;640],[479;479],'g','Linewidth',2);
|
||||
%
|
||||
% F = getframe();
|
||||
% gg = frame2im(F);
|
||||
% imwrite(gg,'overlay.jpg'); % save image
|
||||
hold off;
|
||||
|
||||
%% calculating new values
|
||||
g = zeros(higth, width);
|
||||
|
||||
v_tr_all = zeros(numel(f), 3);
|
||||
|
||||
n = 0;
|
||||
for y = 1:size(f, 1),
|
||||
for x = 1:size(f, 2),
|
||||
% x and y are from ORIGINAL (untransformed) image from camera
|
||||
n = n + 1;
|
||||
|
||||
v = [x, y, 1];
|
||||
v_tr = v * T;
|
||||
|
||||
v_tr_all(n,:) = v_tr;
|
||||
|
||||
|
||||
w_tr_inv = 1/ v_tr(3);
|
||||
w_tr_inv = round(w_tr_inv * 2^8) / 2^8;
|
||||
x_tr = v_tr(1) * w_tr_inv;
|
||||
y_tr = v_tr(2) * w_tr_inv;
|
||||
|
||||
% x_tr = v_tr(1) / v_tr(3);
|
||||
% y_tr = v_tr(2) / v_tr(3);
|
||||
%
|
||||
% x_tr = round(x_tr);
|
||||
% y_tr = round(y_tr);
|
||||
x_tr = fix(x_tr); % integer part of real number
|
||||
y_tr = fix(y_tr);
|
||||
|
||||
x_tr = min(x_tr, size(g, 2));
|
||||
x_tr = max(x_tr, 1);
|
||||
y_tr = min(y_tr, size(g, 1));
|
||||
y_tr = max(y_tr, 1);
|
||||
|
||||
% x_tr, y_tr are TARGET COORDINATES WHERE TO WRITE DATA
|
||||
g(y_tr, x_tr) = f(y, x);
|
||||
|
||||
end;
|
||||
end;
|
||||
|
||||
figure(2);%subplot(2,1,1);
|
||||
imshow(g, []);
|
||||
|
||||
% plots all calculated x, y and w values
|
||||
figure(3);%subplot(2,1,2);
|
||||
plot(v_tr_all);
|
||||
legend('x', 'y', 'w');
|
||||
X = ['MAX w = ', num2str(max(v_tr_all(:,3)))];
|
||||
disp(X),
|
||||
Y = ['MIN w = ', num2str(min(v_tr_all(:,3)))];
|
||||
disp(Y),
|
||||
disp(' ');
|
||||
% prints w max an min values on plot
|
||||
text( 0 , 0 , [ X,' ', Y] );
|
||||
|
||||
%% Print perspective trasform matrix values in hex
|
||||
%
|
||||
% first bit is sign bit, 12bit integer part ans 12bit fraction part
|
||||
%
|
||||
Tbin = [];
|
||||
Thex = [];
|
||||
for i=1:3
|
||||
for k=1:3
|
||||
a = sfi(T(i,k),25,12);
|
||||
Tbin = [Tbin; a.bin];
|
||||
Thex = [Thex; a.hex];
|
||||
end
|
||||
end
|
||||
% % Displaying transform matrix in Verilog code style, for easy copying and pasting
|
||||
% disp('Copy those constants in Verilog code'),
|
||||
% X = ['TRA_IMG_WIDTH = ''d', num2str(width),','];
|
||||
% disp(X),
|
||||
% X = ['TRA_IMG_DEPTH = ''d', num2str(higth),','];
|
||||
% disp(X),
|
||||
% a = 0;
|
||||
% for n=1:3
|
||||
% for k=1:3
|
||||
% a = a + 1;
|
||||
% X = ['T', num2str(n) , num2str(k) ,' = 25''sb', Tbin(a,1), '_' ,Tbin(a,2:13),'_',Tbin(a,14:25),','];
|
||||
% disp(X),
|
||||
% end
|
||||
% end
|
||||
%
|
||||
% % Make file for case statement in Verilog
|
||||
% %
|
||||
% % This file contains code for loopuptable module
|
||||
% %
|
||||
% w_dec = [];
|
||||
% %w_hex = [];
|
||||
% w_dec_inv = [];
|
||||
% temp = ['000000000000']; % just random values
|
||||
% temp_old = ['000000100000']; % just random values
|
||||
% for i= -1.5 : step : 4 % min and max w values
|
||||
% w_dec = [ w_dec; sfi(i,12,8)];
|
||||
% if (i ~= 0 )
|
||||
% w_dec_inv = [ w_dec_inv; sfi(1/i,12,8)];
|
||||
% end
|
||||
% end
|
||||
% %w_hex = w_dec.hex;
|
||||
% w_bin = w_dec.bin;
|
||||
% w_bin_inv = w_dec_inv.bin;
|
||||
%
|
||||
% % lookuptable file generator
|
||||
% %
|
||||
% fid = fopen('lookuptable.v', 'wt');
|
||||
% fprintf(fid, 'module lookuptable();\n');
|
||||
% fprintf(fid, 'always@(negedge clk) begin\n ');
|
||||
% fprintf(fid, 'case (w)\n');
|
||||
%
|
||||
% for i=1:length(w_bin)
|
||||
% temp_old = temp;
|
||||
% temp = w_bin(i,1:12);
|
||||
% if temp_old == temp
|
||||
% % if same as previus value, do nothing
|
||||
% else
|
||||
% fprintf(fid, '\t12''b%s_%s_%s : r_w_inv <= 12''b%s_%s_%s;\n', w_bin(i,1:1), w_bin(i,2:4), w_bin(i,5:12), w_bin_inv(i,1:1), w_bin_inv(i,2:4), w_bin_inv(i,5:12) );
|
||||
% end
|
||||
% end
|
||||
% fprintf(fid, '\tdefault : r_w_inv <= 12''d1;\n ');% %s_%s_%s;\n ' , w_bin_inv(i,1:12) );
|
||||
% fprintf(fid, 'endcase;\n');
|
||||
% fprintf(fid, 'end\n');
|
||||
% fprintf(fid, 'endmodule');
|
||||
% disp(' ');
|
||||
% disp('Text file lookuptable.v write done');disp(' ');
|
||||
% fclose(fid);
|
||||
%
|
||||
%% Making configuretion file for Registers
|
||||
|
||||
X = ['Configuration script for CAM',num2str(camera),' and for mode',num2str(mode), ':'];
|
||||
disp(X),
|
||||
sw = ufi(mode,2,0);
|
||||
cam = ufi(camera,1,0);
|
||||
param = ufi(0,4,0);
|
||||
value = ufi(width,25,0);
|
||||
temp = ufi(bin2dec([param.bin , sw.bin , cam.bin]),7,0);
|
||||
X = ['P', temp.hex];
|
||||
temp = ufi(bin2dec(value.bin),25,0);
|
||||
X = [X, temp.hex];
|
||||
disp(X),
|
||||
param = ufi(1,4,0);
|
||||
value = ufi(higth,25,0);
|
||||
temp = ufi(bin2dec([param.bin , sw.bin , cam.bin]),7,0);
|
||||
X = ['P', temp.hex];
|
||||
temp = ufi(bin2dec(value.bin),25,0);
|
||||
X = [X, temp.hex];
|
||||
disp(X),
|
||||
a = 0;
|
||||
for n=1:3
|
||||
for k=1:3
|
||||
a = a + 1;
|
||||
param = ufi(a+1,4,0);
|
||||
temp = ufi(bin2dec([param.bin , sw.bin , cam.bin]),7,0);
|
||||
X = ['P', temp.hex, Thex(a,1:7)];
|
||||
disp(X),
|
||||
end
|
||||
end
|
||||
@@ -0,0 +1,28 @@
|
||||
|
||||
bit=imread('RTU320x240_24bit.bmp'); % 24-bit BMP image RGB888
|
||||
bit4=bit./17;
|
||||
bit2=bit./85;
|
||||
k=1;
|
||||
fid = fopen('imag_data.csv', 'wt');
|
||||
|
||||
for i=240:-1:1 % image is written from the last row to the first row
|
||||
for j=1:320
|
||||
r(k)=bit4(i,j,1);
|
||||
g(k)=bit4(i,j,2);
|
||||
b(k)=bit4(i,j,3);
|
||||
|
||||
mem_place = (i-1)*320+(j-1);
|
||||
|
||||
fprintf(fid, 'p\t%d\t%x\t%x\t%x\n', mem_place, r(k), g(k), b(k));
|
||||
|
||||
k=k+1;
|
||||
end
|
||||
end
|
||||
|
||||
|
||||
|
||||
disp('Text files write done');disp(' ');
|
||||
fclose(fid);
|
||||
%fclose(fid_green);
|
||||
%fclose(fid_blue);
|
||||
% fpga4student.com FPGA projects, Verilog projects, VHDL projects
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,125 @@
|
||||
% Source:
|
||||
% http://www.johnloomis.org/ece564/notes/tform/planar/html/planar2.html
|
||||
%
|
||||
%% Produce orthonormal view from oblique projective image
|
||||
% read original image
|
||||
%
|
||||
clear; close all
|
||||
filename = 'floor640x480.jpg';
|
||||
img = im2double(rgb2gray(imread(filename)));
|
||||
name = 'check2';
|
||||
msgid = 'Images:initSize:adjustingMag';
|
||||
warning('off',msgid);
|
||||
imshow(img);
|
||||
%
|
||||
%%
|
||||
%
|
||||
% input corners (using impixel) and compute transform
|
||||
%[c r p] = impixel;
|
||||
c = [ 320 639 639 320 ]'; % x
|
||||
r = [ 60 1 479 390 ]'; % y
|
||||
base = [0 0; 159 0; 159 239; 0 239]; % output dimentions
|
||||
tf = fitgeotrans([c r],base,'projective');
|
||||
disp('tf = ');
|
||||
disp(tf)
|
||||
%
|
||||
%%
|
||||
%
|
||||
T = tf.T;
|
||||
disp('T =');
|
||||
format short g
|
||||
disp(T);
|
||||
disp('After rounding and converting ');
|
||||
T = round(T * 2^12) / 2^12
|
||||
format
|
||||
%
|
||||
%% overlay control points on image
|
||||
%
|
||||
imshow(img);
|
||||
hold on;
|
||||
plot([c;c(1)],[r;r(1)],'r','Linewidth',2);
|
||||
%text(c(1),r(1)+20,'0, 11','Color','y');
|
||||
%text(c(2),r(2)+20,'11, 11','Color','y');
|
||||
%text(c(3),r(3)-20,'11, 0','Color','y');
|
||||
%text(c(4),r(4)-20,'0, 0','Color','y');
|
||||
hold off;
|
||||
F = getframe();
|
||||
g = frame2im(F);
|
||||
imwrite(g,[name '_overlay.jpg']);
|
||||
%
|
||||
%% do image transform
|
||||
%
|
||||
[xf1, xf1_ref] = imwarp(img,tf);
|
||||
imshow(xf1)
|
||||
xf1_ref
|
||||
imwrite(xf1,[name '_registered.jpg']);
|
||||
|
||||
%% Crop image - added not in original code file
|
||||
%
|
||||
% xf2 = imcrop(xf1,[476 118 240 240]);
|
||||
% imshow(xf2)
|
||||
% imwrite(xf2,[name '_croped.jpg']);
|
||||
|
||||
%% Print perspective trasform matrix values in hex
|
||||
Thex = [];
|
||||
for i=1:3
|
||||
for k=1:3
|
||||
a = sfi(T(i,k),25,12);
|
||||
Thex = [Thex; a.hex];
|
||||
end
|
||||
end
|
||||
Thex,
|
||||
|
||||
%% Calculatin w values
|
||||
w= [];
|
||||
w_inv= [];
|
||||
table = [];
|
||||
P= [];
|
||||
Pnew= [];
|
||||
for x=320:639
|
||||
for y=0:480
|
||||
P = [ x , y, 1] * T;
|
||||
w = [w ; P(3)];
|
||||
w_inv = [w_inv; 1/P(3) ];
|
||||
table = [ table; P(3) , 1/P(3) ];
|
||||
Pnew= [ Pnew ; floor(P(1)/P(3)), floor(P(2)/P(3)) ];
|
||||
end
|
||||
end
|
||||
w = unique(w);
|
||||
w_inv = unique(w_inv);
|
||||
min(w),
|
||||
max(w),
|
||||
min(w_inv),
|
||||
max(w_inv),
|
||||
|
||||
%% % make fale for case statement in Verilog
|
||||
|
||||
w_dec = [];
|
||||
%w_hex = [];
|
||||
w_dec_inv = [];
|
||||
temp = ['0000000000'];
|
||||
temp_old = ['0000010000'];
|
||||
for i=1:0.001:2.999
|
||||
w_dec = [ w_dec; ufi(i,10,8)];
|
||||
w_dec_inv = [ w_dec_inv; ufi(1/i,10,8)];
|
||||
end
|
||||
%w_hex = w_dec.hex;
|
||||
w_bin = w_dec.bin;
|
||||
w_bin_inv = w_dec_inv.bin;
|
||||
|
||||
fid = fopen('lookuptable.txt', 'wt');
|
||||
fprintf(fid, 'case (w)\n');
|
||||
|
||||
for i=1:length(w_bin)
|
||||
temp_old = temp;
|
||||
temp = w_bin(i,1:10);
|
||||
if temp_old == temp
|
||||
|
||||
else
|
||||
fprintf(fid, '\t10''b%s : r_w_inv <= 10''b%s;\n', w_bin(i,1:10), w_bin_inv(i,1:10) );
|
||||
end
|
||||
end
|
||||
fprintf(fid, '\tdefault : r_w_inv <= 10''b%s;\n ', w_bin(1,1:10) );
|
||||
fprintf(fid, 'endcase; ');
|
||||
disp('Text files write done');disp(' ');
|
||||
fclose(fid);
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 44 KiB |
+76800
File diff suppressed because it is too large
Load Diff
Binary file not shown.
|
After Width: | Height: | Size: 15 KiB |
Reference in New Issue
Block a user