receive-im-by-rs232.rar_fpga image

#include <math.h> # include<stdio.h> # include<system.h> # include<string.h> # include<stdlib.h> # include<unistd.h> #include "unistd.h" #include <malloc.h> //#include "altera_avalon_pio_regs.h" #include "alt_types.h" #include "sys/alt_irq.h" #include "sys/alt_timestamp.h" #include "altera_avalon_timer.h" #include <stdlib.h> #include <float.h> #include <stdio.h> #include <system.h> #include "altera_avalon_pio_regs.h" #include "altera_avalon_uart_regs.h" #include "altera_avalon_uart.h" #include "alt_types.h" #include "sys/alt_irq.h" #include "sys/alt_timestamp.h" #include "altera_avalon_timer.h" #define RS232_BASE 0xc000020 #define width 256 #define length 256 #define size 65536 #define r 11 #define threshold 5000 int Ix[length][width],Ixb[length][width]; int Iy[length][width],Iyb[length][width]; int Ix2[length][width],Ix2b[length][width]; int Iy2[length][width],Iy2b[length][width]; int Ixx[length][width],Ixxb[length][width]; int Iyy[length][width],Iyyb[length][width]; int Ixy[length][width],Ixyb[length][width]; float Ixy2[length][width],Ixy2b[length][width]; float Ixx2[length][width],Ixx2b[length][width]; float Iyy2[length][width],Iyy2b[length][width]; float Ixxyy[length][width],Ixxyyb[length][width]; float Ixxyy2[length][width],Ixxyy2b[length][width]; float Ixxyysqr[length][width],Ixxyysqrb[length][width]; float B[length][width],Bb[length][width]; float A[length][width],Ab[length][width]; float cim[length][width],cimb[length][width]; float Ixy22[length][width],Ixy22b[length][width]; int indcount=0,count1=0,count2=0,counts1=0,counts2=0,count3=0,count4=0; int r1[332],c1[332],r2[332],c2[332]; int a=50,b=343,c=2537; float tps1,tps2,tps3,tps4,tps5,tps6; alt_u32 freq,cycle0,cycle1,cycle2,cycle3,cycle4,cycle5,cycle6; int i=0,j=0,k1,k2,i1=0,e1=0,e2=0,i2=0,j2=0,f,h,n1,m1,diff2=0,sumdiff2=0,diff=0,sumdiff=0,ss=-1,zz=-1; int imshow; /**************************************/ /* Introduir des fonctions */ /*____________________________________*/ void delay() {int i=1000; while (i>0) { i--; } } int main() { FILE* fp; fp=fopen("/dev/rs232","r"); printf("salam (^_^)\n"); unsigned char donns_ins[4],fc[4]; float im1g[length][width], im2g[length][width]; int i=0,j=0,ad=0; for(i=0;i<256;i++) { for(j=0;j<256;j++) { fread(donns_ins,1,4,fp);memcpy(&im1g[i][j],donns_ins,4);//printf("im1g=%f\t",im1g[i][j]); fread(donns_ins,1,4,fp);memcpy(&im2g[i][j],donns_ins,4);//printf("im1g=%f\t",im2g[i][j]); } printf("im1g=%f\n",im1g[i][j]); } ////// Part of Data Aquiring /////////////////////////////////////////////////////////// //////////////////////////////////////////////////////// // Shape the 3 matrices RGB1 alt_timestamp_start(); // Start Timer freq=alt_timestamp_freq(); //printf (" Freq par sec : %d \n\r",freq); cycle1= alt_timestamp(); // E:\LATI 2015\matlab tests\correlation_matching //////////////////////////////////////////////////////////// /////////// PART OF Images PROCESSING ///////////////////////////////// //Step1 : Computing the gradiants (Ix,Iy) for the 2 images for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { Ix[i][j]=im1g[i-1][j-1]-im1g[i-1][j+1] +im1g[i][j-1]-im1g[i][j+1] +im1g[i+1][j-1]-im1g[i+1][j+1]; //// 5 + Ixb[i][j]=im2g[i-1][j-1]-im2g[i-1][j+1] +im2g[i][j-1]-im2g[i][j+1] +im2g[i+1][j-1]-im2g[i+1][j+1]; //// 5 + Iy[i][j]=im1g[i-1][j-1]-im1g[i+1][j-1] +im1g[i-1][j]-im1g[i+1][j] +im1g[i-1][j+1]-im1g[i+1][j+1]; //// 5 + Iyb[i][j]=im2g[i-1][j-1]-im2g[i+1][j-1] +im2g[i-1][j]-im2g[i+1][j] +im2g[i-1][j+1]-im2g[i+1][j+1]; //// 5 + } } //printf( " Gradiants Ix,Iy are computed correctly \n"); cycle2= alt_timestamp(); //printf (" Needed cycle number to aquire image 2 is %d \n",cycle2-cycle1); tps2= ((cycle2-cycle1)/(float) freq); printf (" time to compute Gradiants Ix,Iy is %f \n",tps2); /////////////////////////////////////////////////////////////////////// //Step2 : Computing the square of gradiants (Ix,Iy) for the 2 images for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { Ix2[i][j]=Ix[i][j]*Ix[i][j]; //// 1 * Ix2b[i][j]=Ixb[i][j]*Ixb[i][j]; //// 1 * Iy2[i][j]=Iy[i][j]*Iy[i][j]; //// 1 * Iy2b[i][j]=Iyb[i][j]*Iyb[i][j]; //// 1 * } } ///////////////////////////////////////////////////////////////////////// printf( " Gradiants Ix2,Iy2 are computed correctly \n"); //printf( " Gradiants Ix,Iy are computed correctly \n"); cycle3= alt_timestamp(); //printf (" Needed cycle number to aquire image 2 is %d \n",cycle2-cycle1); tps3= ((cycle3-cycle2)/(float) freq); printf (" time to compute Gradiants Ix2,Iy2 is %f \n",tps3); //////////////////////////////////////////////////////////////////////// //Step3 : Smoothing the square of gradiants (Ix,Iy) with Guaussian filter for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { Ixx2[i][j]=a*(Ix2[i-1][j-1]+Ix2[i-1][j+1]+Ix2[i+1][j+1]+Ix2[i+1][j-1]) +b*(Ix2[i-1][j]+Ix2[i][j-1]+Ix2[i+1][j]+Ix2[i][j+1])+c*Ix2[i][j]; //// 3* and 8+ Ixx2b[i][j]=a*(Ix2b[i-1][j-1]+Ix2b[i-1][j+1]+Ix2b[i+1][j+1]+Ix2b[i+1][j-1]) +b*(Ix2b[i-1][j]+Ix2b[i][j-1]+Ix2b[i+1][j]+Ix2b[i][j+1])+c*Ix2b[i][j]; //// 3* and 8+ Iyy2[i][j]=a*(Iy2[i-1][j-1]+Iy2[i-1][j+1]+Iy2[i+1][j+1]+Iy2[i+1][j-1]) +b*(Iy2[i-1][j]+Iy2[i][j-1]+Iy2[i+1][j]+Iy2[i][j+1])+c*Iy2[i][j]; //// 3* and 8+ Iyy2b[i][j]=a*(Iy2b[i-1][j-1]+Iy2b[i-1][j+1]+Iy2b[i+1][j+1]+Iy2b[i+1][j-1]) +b*(Iy2b[i-1][j]+Iy2b[i][j-1]+Iy2b[i+1][j]+Iy2b[i][j+1])+c*Iy2b[i][j]; //// 3* and 8+ } } for(i=1;i<(length-1);i++){ for(j=1;j<(width-1);j++){ Ixx2[i][j]=Ixx2[i][j]/4096; Ixx2b[i][j]=Ixx2b[i][j]/4096; Iyy2[i][j]=Iyy2[i][j]/4096; Iyy2b[i][j]=Iyy2b[i][j]/4096; } } cycle4= alt_timestamp(); //printf (" Needed cycle number to aquire image 2 is %d \n",cycle2-cycle1); tps4= ((cycle4-cycle3)/(float) freq); printf (" time to compute filter Gradiants Ix2,Iy2 is %f \n",tps4); ////////////////////////////////////////////////////////////////////////////////// printf( " Gradiants Ix2,Iy2 are filered with Guassian filter correctly \n"); ////////////////////////////////////////////////////////////////////////////////// //Step4 : Computing the Denominator of Harris Response for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { B[i][j]=Ixx2[i][j]+Iyy2[i][j]; //// 1 * Bb[i][j]=Ixx2b[i][j]+Iyy2b[i][j]; //// 1 * } } /////////////////////////////////////////////////////////////////////////////////// //Step5 : Computing the product of the squared smoothed gradiants for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { Ixxyysqr[i][j]=Ixx2[i][j]*Iyy2[i][j]; //// 1 * Ixxyysqrb[i][j]=Ixx2b[i][j]*Iyy2b[i][j]; //// 1 * } } //Step6 : Computing the product of the gradiants Ix*Iy for(i=1;i<(length-1);i++) { for(j=1;j<(width-1);j++) { Ixy[i][j]=Ix[i][j]*Iy[i][j]; //// 1 * Ixyb[i][j]=Ixb[i][j]*Iyb[i][j]; //// 1 * } } //////////////////////////////////////////////////////////////////////////////////// printf( " Gradiants Ixy are computed correctly \n"); //////////////////////////////////////////////////////////////////////////////////// //Step7 : Smoothing the produc