clemente di caprio
ADNS2051 Library Program Demonstration
Dependencies: ADNS2051lib FatFileSystem mbed MI0283QTlib
Diff: main.cpp
- Revision:
- 0:b560d4d15292
diff -r 000000000000 -r b560d4d15292 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 28 20:50:49 2012 +0000
@@ -0,0 +1,1124 @@
+#include "mbed.h"
+#include "ADNS2051.h"
+#include "MI0283QTlib.h"
+
+
+/** Demo software for ADNS2051 optical sensor.
+ *
+ */
+
+// masks type
+#define PREWITT 1
+#define KIRSCH 2
+#define SOBEL 3
+// gamma value
+#define GAMMA_25 1 // gamma value=2.5
+#define GAMMA_22 2 // gamma value=2.2
+#define GAMMA_18 3 // gamma value=1.8
+
+/** Color and Edges enhancement
+ * I took these two functions from the book: "Digital Media Processing DSP Algorithms Using C Hazarathaiah Malepati".
+ *
+ * From the book:
+ * Histogram equalization technique of color enhancement in the RGB domain.
+ * As we know, if the color component is represented with 8-bit precision, then the values 0 to 255 are used to represent a
+ * particular color component.We say that the image colors are well represented when the color components occupy
+ * the total range of 0 to 255. If the color components of an image do not occupy the full range (i.e., 0 to 255), then
+ * we have the scope to enhance the colors of that image.With the histogram equalization technique, first we find
+ * the minimum (Xmin) and maximum (Xmax) values of a particular color component, and then we translate that
+ * color component to have minimum value at zero by subtracting the Xmin from its values, and finally, multiply the
+ * color component by 255/(Xmax− Xmin) to obtain the maximum color component 255. This process is illustrated
+ * in Figure 10.1. The same process is applied for all three color components of an image. This process enhances
+ * image colors (green becomes greener, yellow becomes more yellow, etc.),
+ */
+void color_enhancement( unsigned char *pixelmap);
+
+/**
+ * From the book:
+ * With edge enhancement, we increase the contrast of the image along the edges. The edge enhancement is done by
+ * strengthening the high-frequency components of an image. One way of enhancing edges is by adding weighted
+ * high-frequency components of an image to itself.
+ */
+void edges_enhancement( unsigned char *pixelmap);
+
+/** From the book: Image processing in C Dwayne Phillips
+ * The quick edge function performs edge detection using the single 3 x 3
+ * quick mask. It performs convolution over the image array using the quick mask.
+ * It thresholds the output image if requested, and xes the edges of the output
+ * image.
+ * Geometric operations change the spatial relationships between objects in an
+ * image. They do this by moving objects around and changing the size and
+ * shape of objects. Geometric operations help rearrange an image so we can
+ * see what we want to see a little better.
+ * The three basic geometric operations are displacement, stretching, and
+ * rotation. A fourth operation is the cross product.
+ * Displacement moves or displaces an image in the vertical and horizontal
+ * directions. Stretching enlarges or reduces an image in the vertical and horizontal
+ * directions. Rotation turns or rotates an image by any angle.
+ */
+void quick_edge(unsigned char *pixelmap, unsigned char *outmap, unsigned int threshold);
+void setup_masks(unsigned int detect_type, int *mask_0, int *mask_1, int *mask_2, int *mask_3, int *mask_4, int *mask_5, int *mask_6, int *mask_7);
+void perform_convolution(unsigned char *image, unsigned char *out_image, unsigned char detect_type, unsigned char threshold);
+void geometry(unsigned char *the_image, unsigned char *out_image,
+ float x_angle,
+ float x_stretch, float y_stretch,
+ int x_displace, int y_displace,
+ float x_cross, float y_cross,
+ int bilinear,
+ int rows,
+ int cols);
+unsigned char bilinear_interpolate(unsigned char *the_image, double x, double y, int rows, int cols);
+/* I found these books very useful and instructive. Recommend them wholeheartedly. */
+
+
+/** Draw enlarged image to the x and y coordinates.
+ * The image will be enlarged by 4.
+ *
+ * @param *pxlmap the array image
+ * @param x the x position
+ * @param y the y position
+ */
+void magnify( unsigned char *pxlmap, unsigned int x, unsigned int y);
+void gammacorrection( unsigned char *pixelmap, unsigned char gammaval);
+
+//
+DigitalOut myled(LED2);
+DigitalOut DBG_LED(LED1);
+DigitalOut TS_CS(p15);
+//
+Serial pc(USBTX, USBRX);
+//
+ADNS2051 optical( p19, p20);
+//
+GLCD lcd( p11, p12, p13, p14, p17, p26);
+
+unsigned char pxlmap[256];
+//unsigned char edgemap[256];
+unsigned char tmpmap[256];
+
+int new_hi=63, new_low=10;
+int threshold_val=50;
+float edges_val=0.5;
+
+#define COLOR_LVL 32
+
+/*
+ #define COLOR_LVL 256
+
+ gamma LUT generated using this formula:
+
+ new_pixel=(( org_pixel/COLOR_LVL)^(1/gamma))*COLOR_LVL
+
+ // set gamma value...
+ gammaval=2.5;
+ float f2=1/gammaval;
+ // start LUT generation...
+ for ( i=0; i<COLOR_LVL; i++) {
+ float f1=(float)i/COLOR_LVL;
+ gammaLUT[i] = pow( f1,f2)*COLOR_LVL;
+ }
+
+*/
+
+/* LUT for gamma value: 2.5 */
+unsigned char gmm25_LUT[32]={
+ 0, 7, 10, 12, 13, 15, 16, 17, 18, 19, 20, 20, 21, 22, 22, 23, 24,
+ 24, 25, 25, 26, 27, 27, 28, 28, 28, 29, 29, 30, 30, 31, 31,
+};
+
+/* LUT for gamma value: 2.2 */
+unsigned char gmm22_LUT[32]={
+ 0, 6, 9, 10, 12, 13, 14, 16, 17, 17, 18, 19, 20, 21, 21, 22, 23,
+ 24, 24, 25, 25, 26, 26, 27, 28, 28, 29, 29, 30, 30, 31, 31,
+};
+
+/* LUT for gamma value: 1.8 */
+unsigned char gmm18_LUT[32]={
+ 0, 4, 6, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 21,
+ 22, 23, 23, 24, 25, 25, 26, 27, 27, 28, 29, 29, 30, 30, 31,
+};
+
+void gammacorrection( unsigned char *pixelmap, unsigned char gammaval)
+{
+ unsigned char *pGammaLUT;
+ unsigned char x0, y0;
+ int M=16, N=16;
+ int j, i, p, q;
+
+ switch (gammaval) {
+ case GAMMA_25:
+ pGammaLUT=(unsigned char*)gmm25_LUT;
+ break;
+ case GAMMA_22:
+ pGammaLUT=(unsigned char*)gmm22_LUT;
+ break;
+ case GAMMA_18:
+ pGammaLUT=(unsigned char*)gmm18_LUT;
+ break;
+ }
+
+ for(j = 0;j < M;j++){
+ p = j*N;q = (j + 1)*N;
+ for(i = p;i < q; i++){
+ y0 = pixelmap[i];
+ x0 = pGammaLUT[y0];
+ pixelmap[i] = x0;
+ }
+ }
+}
+
+#define FILL 255
+
+/*******************************************
+*
+* geometry(..
+*
+* This routine performs geometric
+* transformations on the pixels in an
+* image array. It performs basic
+* displacement, stretching, and rotation.
+*
+* The basic equations are:
+*
+* new x = x.cos(a) + y.sin(a) + x_displace
+* + x.x_stretch +x.y.x_cross
+*
+* new y = y.cos(a) - x.sin(a) + y_displace
+* + y.y_stretch +x.y.y_cross
+*
+*******************************************/
+void geometry(unsigned char *the_image, unsigned char *out_image,
+ float x_angle,
+ float x_stretch, float y_stretch,
+ int x_displace, int y_displace,
+ float x_cross, float y_cross,
+ int bilinear,
+ int rows,
+ int cols)
+{
+ double cosa, sina, radian_angle, tmpx, tmpy;
+ float fi, fj, x_div, y_div, x_num, y_num;
+ int i, j, new_i, new_j;
+
+
+ /******************************
+ *
+ * Load the terms array with
+ * the correct parameters.
+ *
+ *******************************/
+
+ /* the following magic number is from
+ 180 degrees divided by pi */
+ radian_angle = x_angle/57.29577951;
+ cosa = cos(radian_angle);
+ sina = sin(radian_angle);
+
+ /************************************
+ *
+ * NOTE: You divide by the
+ * stretching factors. Therefore, if
+ * they are zero, you divide by 1.
+ * You do this with the x_div y_div
+ * variables. You also need a
+ * numerator term to create a zero
+ * product. You do this with the
+ * x_num and y_num variables.
+ *
+ *************************************/
+
+ if(x_stretch < 0.00001){
+ x_div = 1.0;
+ x_num = 0.0;
+ }
+ else{
+ x_div = x_stretch;
+ x_num = 1.0;
+ }
+
+ if(y_stretch < 0.00001){
+ y_div = 1.0;
+ y_num = 0.0;
+ }
+ else{
+ y_div = y_stretch;
+ y_num = 1.0;
+ }
+
+ /**************************
+ *
+ * Loop over image array
+ *
+ **************************/
+
+ for(i=0; i<rows; i++){
+ for(j=0; j<cols; j++){
+
+ fi = i;
+ fj = j;
+
+ tmpx = (double)(j)*cosa +
+ (double)(i)*sina +
+ (double)(x_displace) +
+ (double)(x_num*fj/x_div) +
+ (double)(x_cross*i*j);
+
+ tmpy = (double)(i)*cosa -
+ (double)(j)*sina +
+ (double)(y_displace) +
+ (double)(y_num*fi/y_div) +
+ (double)(y_cross*i*j);
+
+ if(x_stretch != 0.0)
+ tmpx = tmpx - (double)(fj*cosa + fi*sina);
+ if(y_stretch != 0.0)
+ tmpy = tmpy - (double)(fi*cosa - fj*sina);
+
+ new_j = tmpx;
+ new_i = tmpy;
+
+ if(bilinear == 0){
+ if(new_j < 0 ||
+ new_j >= cols ||
+ new_i < 0 ||
+ new_i >= rows)
+ out_image[j+(i*rows)] = FILL;
+ else
+ out_image[j+(i*rows)] =
+ the_image[new_j+(new_i*rows)];
+ } /* ends if bilinear */
+ else{
+ out_image[j+(i*rows)] =
+ bilinear_interpolate(the_image,
+ tmpx, tmpy,
+ rows, cols);
+ } /* ends bilinear if */
+
+ } /* ends loop over j */
+ } /* ends loop over i */
+
+} /* ends geometry */
+
+
+
+/*******************************************
+*
+* bilinear_interpolate(..
+*
+* This routine performs bi-linear
+* interpolation.
+*
+* If x or y is out of range, i.e. less
+* than zero or greater than rows or cols,
+* this routine returns a zero.
+*
+* If x and y are both in range, this
+* routine interpolates in the horizontal
+* and vertical directions and returns
+* the proper gray level.
+*
+*******************************************/
+unsigned char bilinear_interpolate(unsigned char *the_image, double x, double y, int rows, int cols)
+{
+ double fraction_x, fraction_y,
+ one_minus_x, one_minus_y,
+ tmp_double;
+ int ceil_x, ceil_y, floor_x, floor_y;
+ short p1, p2, p3, result = FILL;
+
+ /******************************
+ *
+ * If x or y is out of range,
+ * return a FILL.
+ *
+ *******************************/
+
+ if(x < 0.0 ||
+ x >= (double)(cols-1) ||
+ y < 0.0 ||
+ y >= (double)(rows-1))
+ return(result);
+
+ tmp_double = floor(x);
+ floor_x = tmp_double;
+ tmp_double = floor(y);
+ floor_y = tmp_double;
+ tmp_double = ceil(x);
+ ceil_x = tmp_double;
+ tmp_double = ceil(y);
+ ceil_y = tmp_double;
+
+ fraction_x = x - floor(x);
+ fraction_y = y - floor(y);
+
+ one_minus_x = 1.0 - fraction_x;
+ one_minus_y = 1.0 - fraction_y;
+
+ tmp_double = one_minus_x *
+ (double)(the_image[floor_x+(floor_y*rows)]) +
+ fraction_x *
+ (double)(the_image[ceil_x+(floor_y*rows)]);
+ p1 = tmp_double;
+
+ tmp_double = one_minus_x *
+ (double)(the_image[floor_x+(ceil_y*rows)]) +
+ fraction_x *
+ (double)(the_image[ceil_x+(ceil_y*rows)]);
+ p2 = tmp_double;
+
+ tmp_double = one_minus_y * (double)(p1) +
+ fraction_y * (double)(p2);
+ p3 = tmp_double;
+
+
+ return(p3);
+
+} /* ends bilinear_interpolate */
+
+
+
+/***************************
+*
+* Directions for the masks
+* 3 2 1
+* 4 x 0
+* 5 6 7
+*
+****************************/
+/* masks for kirsch operator */
+int kirsch_mask_0[9] = {
+ 5, 5, 5,
+ -3, 0, -3,
+ -3, -3, -3};
+
+int kirsch_mask_1[9] = {
+ -3, 5, 5,
+ -3, 0, 5,
+ -3, -3, -3};
+
+int kirsch_mask_2[9] = {
+ -3, -3, 5,
+ -3, 0, 5,
+ -3, -3, 5};
+
+int kirsch_mask_3[9] = {
+ -3, -3, -3,
+ -3, 0, 5,
+ -3, 5, 5};
+
+int kirsch_mask_4[9] = {
+ -3, -3, -3,
+ -3, 0, -3,
+ 5, 5, 5};
+
+int kirsch_mask_5[9] = {
+ -3, -3, -3,
+ 5, 0, -3,
+ 5, 5, -3};
+
+int kirsch_mask_6[9] = {
+ 5, -3, -3,
+ 5, 0, -3,
+ 5, -3, -3};
+
+int kirsch_mask_7[9] = {
+ 5, 5, -3,
+ 5, 0, -3,
+ -3, -3, -3};
+
+
+ /* masks for prewitt operator */
+
+int prewitt_mask_0[9] = {
+ 1, 1, 1,
+ 1, -2, 1
+ -1, -1, -1 };
+
+int prewitt_mask_1[9] = {
+ 1, 1, 1,
+ 1, -2, -1,
+ 1, -1, -1 };
+
+int prewitt_mask_2[9] = {
+ 1, 1, -1,
+ 1, -2, -1,
+ 1, 1, -1 };
+
+int prewitt_mask_3[9] = {
+ 1, -1, -1,
+ 1, -2, -1,
+ 1, 1, 1};
+
+int prewitt_mask_4[9] = {
+ -1, -1, -1,
+ 1, -2, 1,
+ 1, 1, 1};
+
+int prewitt_mask_5[9] = {
+ -1, -1, 1,
+ -1, -2, 1,
+ 1, 1, 1};
+
+int prewitt_mask_6[9] = {
+ -1, 1, 1,
+ -1, -2, 1,
+ -1, 1, 1};
+
+int prewitt_mask_7[9] = {
+ 1, 1, 1,
+ -1, -2, 1,
+ -1, -1, 1};
+
+
+ /* masks for sobel operator */
+
+int sobel_mask_0[9] = {
+ 1, 2, 1,
+ 0, 0, 0,
+ -1, -2, -1};
+
+int sobel_mask_1[9] = {
+ 2, 1, 0,
+ 1, 0, -1,
+ 0, -1, -2 };
+
+int sobel_mask_2[9] = {
+ 1, 0, -1,
+ 2, 0, -2,
+ 1, 0, -1};
+int sobel_mask_3[9] = {
+ 0, -1, -2,
+ 1, 0, -1,
+ 2, 1, 0 };
+int sobel_mask_4[9] = {
+ -1, -2, -1,
+ 0, 0, 0,
+ 1, 2, 1};
+
+int sobel_mask_5[9] = {
+ -2, -1, 0,
+ -1, 0, 1,
+ 0, 1, 2};
+
+int sobel_mask_6[9] = {
+ -1, 0, 1,
+ -2, 0, 2,
+ -1, 0, 1};
+
+int sobel_mask_7[9] = {
+ 0, 1, 2,
+ -1, 0, 1,
+ -2, -1, 0};
+
+
+/***********************************************
+*
+* setup_masks(...
+*
+* This function copies the mask values defined
+* at the top of this file into the mask
+* arrays mask_0 through mask_7.
+*
+***********************************************/
+void setup_masks(unsigned int detect_type, int *mask_0, int *mask_1, int *mask_2, int *mask_3, int *mask_4, int *mask_5, int *mask_6, int *mask_7)
+{
+ int i;
+
+ if(detect_type == KIRSCH){
+ for(i=0; i<9; i++){
+ mask_0[i] = kirsch_mask_0[i];
+ mask_1[i] = kirsch_mask_1[i];
+ mask_2[i] = kirsch_mask_2[i];
+ mask_3[i] = kirsch_mask_3[i];
+ mask_4[i] = kirsch_mask_4[i];
+ mask_5[i] = kirsch_mask_5[i];
+ mask_6[i] = kirsch_mask_6[i];
+ mask_7[i] = kirsch_mask_7[i];
+ }
+ } /* ends if detect_type == KIRSCH */
+
+
+ if(detect_type == PREWITT){
+ for(i=0; i<9; i++){
+ mask_0[i] = prewitt_mask_0[i];
+ mask_1[i] = prewitt_mask_1[i];
+ mask_2[i] = prewitt_mask_2[i];
+ mask_3[i] = prewitt_mask_3[i];
+ mask_4[i] = prewitt_mask_4[i];
+ mask_5[i] = prewitt_mask_5[i];
+ mask_6[i] = prewitt_mask_6[i];
+ mask_7[i] = prewitt_mask_7[i];
+ }
+ } /* ends if detect_type == PREWITT */
+
+
+ if(detect_type == SOBEL){
+ for(i=0; i<9; i++){
+ mask_0[i] = sobel_mask_0[i];
+ mask_1[i] = sobel_mask_1[i];
+ mask_2[i] = sobel_mask_2[i];
+ mask_3[i] = sobel_mask_3[i];
+ mask_4[i] = sobel_mask_4[i];
+ mask_5[i] = sobel_mask_5[i];
+ mask_6[i] = sobel_mask_6[i];
+ mask_7[i] = sobel_mask_7[i];
+ }
+ } /* ends if detect_type == SOBEL */
+
+} /* ends setup_masks */
+
+/**********************************************************
+*
+* perform_convolution(...
+*
+* This function performs convolution between the input
+* image and 8 3x3 masks. The result is placed in
+* the out_image.
+*
+********************************************************/
+void perform_convolution(unsigned char *image, unsigned char *out_image, unsigned char detect_type, unsigned char threshold)
+{
+
+ int b, i, j, sum, p, q, c, k;
+
+ int mask_0[9];
+ int mask_1[9];
+ int mask_2[9];
+ int mask_3[9];
+ int mask_4[9];
+ int mask_5[9];
+ int mask_6[9];
+ int mask_7[9];
+
+ int max,
+ min,
+ new_hi,
+ new_low;
+
+ int M=16, N=16;
+
+ setup_masks(detect_type, &mask_0[0], &mask_1[0],&mask_2[0], &mask_3[0], &mask_4[0], &mask_5[0],&mask_6[0], &mask_7[0]);
+
+ new_hi = 60;
+ new_low = 10;
+
+ min = 10;
+ max = 63;
+
+ /* clear output image array */
+ for(i=0; i<N*M; i++)
+ out_image[i] = 0;
+
+ for( j = 1;j < (M-1);j++){
+ p = j*N; q = (j+1)*N;
+ for( i = (p+1);i < (q-1);i++) {
+
+ /* Convolve for all 8 directions */
+
+ /* 0 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_0[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 1 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_1[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 2 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_2[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 3 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_3[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 4 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_4[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 5 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_5[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 6 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_6[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ /* 7 direction */
+
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + image[k+b] * mask_7[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ if(sum > out_image[i])
+ out_image[i] = sum;
+
+
+ } /* ends loop over j */
+ } /* ends loop over i */
+
+ /* if desired, threshold the output image */
+ if(threshold == 1){
+ for( j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for( i = p;i < q;i++) {
+ if(out_image[i] > 50){
+ out_image[i] = new_hi;
+ }
+ else{
+ out_image[i] = new_low;
+ }
+ }
+ }
+ } /* ends if threshold == 1 */
+
+} /* ends perform_convolution */
+
+
+/*******************************************
+ *
+ * quick_edge(...
+ *
+ * This function finds edges by using
+ * a single 3x3 mask.
+ *
+ *******************************************/
+void quick_edge(unsigned char *pixelmap, unsigned char *outmap, unsigned int threshold)
+{
+ int i, j, k, c, p, q, b;
+ int max, sum;
+
+ int M=16, N=16;
+
+ int quick_mask[9] = {
+ -1, 0, -1,
+ 0, 4, 0,
+ -1, 0, -1 };
+
+ max = 63;
+
+ /* Do convolution over image array */
+ for( j = 1;j < (M-1);j++){
+ p = j*N; q = (j+1)*N;
+ for( i = (p+1);i < (q-1);i++) {
+ sum = 0;
+ c=0;
+ for( k=(i-N); k<=(i+N); k+=N) {
+ for(b=-1; b<2; b++){
+ sum = sum + pixelmap[k+b] * quick_mask[c++];
+ }
+ }
+ if(sum < 0) sum = 0;
+ if(sum > max) sum = max;
+ outmap[i] = sum;
+ } /* ends loop over i */
+ } /* ends loop over j */
+
+ /* if desired, threshold the output image */
+ if(threshold == 1){
+ for( j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for( i = p;i < q;i++) {
+ if(outmap[i] > threshold_val){
+ outmap[i] = new_hi;
+ }
+ else{
+ outmap[i] = new_low;
+ }
+ }
+ }
+ } /* ends if threshold == 1 */
+
+} /* ends quick_edge */
+
+
+
+void edges_enhancement( unsigned char *pixelmap)
+{
+ int i, j, N, M, p, q;
+ unsigned char BufX[256];
+ int y0, x0;
+
+ N=16;
+ M=16;
+
+ for(j = 0;j < 1;j++) { // copy top row
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ BufX[i] = pixelmap[i];
+ }
+ for(j = 0;j < M;j++) { // copy left column
+ p = j*N;
+ BufX[p] = pixelmap[p];
+ }
+ for(j = 1;j < M-1;j++) {
+ p = j*N+1; q = (j+1)*N-1;
+ for(i = p;i < q;i++) {
+ x0 = pixelmap[i]; y0 = pixelmap[i-1];
+ x0 = x0 << 2;
+ x0 = x0 - y0; y0 = pixelmap[i+1];
+ x0 = x0 - y0; y0 = pixelmap[i-N-1];
+ x0 = x0 - y0; y0 = pixelmap[i+N+1];
+ x0 = x0 - y0;
+ x0 = (int) pixelmap[i] + (int) x0*edges_val;
+ if (x0 < 0) x0 = 0;
+ if (x0 > 63) x0 = 63;
+ BufX[i] = (unsigned char) x0;
+ }
+ }
+ //
+ for(j = 0;j < M;j++){
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ pixelmap[i] = BufX[i];
+ }
+}
+
+void color_enhancement( unsigned char *pixelmap)
+{
+ int i, j, N, M, p, q;
+ unsigned char Hist[64];
+ int y0, x0;
+ float x;
+
+ N=16;
+ M=16;
+
+ for(i=0; i<64; i++)
+ Hist[i]=0;
+
+ // Starting the color enhancement
+ //
+ for(j = 0;j < M;j++){
+ p = j*N;
+ q = (j+1)*N;
+ for(i = p;i < q;i++)
+ Hist[ pixelmap[i]] += 1;
+ }
+
+ y0 = 0;
+ for(p = 0;p < 64;p++) {
+ y0+= Hist[p];
+ if (y0 > 32)
+ break;
+ }
+
+ y0=p;
+ x = 0;
+ for(j = 0;j < M;j++) {
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++) {
+ x0 = (int) pixelmap[i] - y0;
+ if (x0 < 0)
+ x0 = 0;
+ if (x0 > 63)
+ x0 = 63;
+ pixelmap[i] = x0;
+ }
+ }
+
+ for(j = 63;j > 0;j--)
+ if (Hist[j] > 0) break;
+
+ x = (float) 64.0/(64-y0 + 63-j);
+
+ for(j = 0;j < M;j++) {
+ p = j*N; q = (j+1)*N;
+ for(i = p;i < q;i++)
+ pixelmap[i] = (unsigned char) ((float) pixelmap[i]*x + 0.5);
+ }
+
+}
+
+int main() {
+
+ char buf[256], c;
+ int i, ii;
+ int thrshld=0;
+ int masktype=1;
+ int gammaval=0; // gamma OFF
+
+ myled = 0;
+ TS_CS=1;
+ //
+ int subidx, idx;
+
+ lcd.lcd_init();
+ lcd.lcd_clear( LCD_WHITE);
+ lcd.backlightset( 1);
+ lcd.lcd_drawstr( "Images from optical mouse: Init", 0, 0, lcd.lcd_RGB( 0, 255, 0));
+
+ while( optical.init() );
+ optical.setframerate();
+
+ sprintf(buf, "Images from optical mouse: PixelDump [Chip rev: 0x%X]", optical.get_revisionID());
+ lcd.lcd_drawstr( buf, 0, 0, lcd.lcd_RGB( 0, 255, 0));
+ wait( 1.0);
+
+ //
+ while( 1) {
+
+ // you can use the serial terminal to change some parameters:
+ // [T/t] threshold ON/OFF
+ // [V/v] threshold value inc/dec
+ // [H/h] high value inc/dec
+ // [E/e] edge enhancement inc/dec
+ // [m] change mask type
+ // [g] change gamma value
+ //
+ if( pc.readable()) {
+ c = pc.getc();
+ if ( c=='t') {
+ thrshld=0;
+ printf("thrshld OFF\r\n");
+ }
+ if ( c=='T') {
+ thrshld=1;
+ printf("thrshld ON\r\n");
+ }
+ // threshold_val, new_hi, new_low
+ if ( c=='V') {
+ threshold_val++;
+ if ( threshold_val>63)
+ threshold_val=63;
+ printf("threshold_val=%d\r\n", threshold_val);
+ }
+ if ( c=='v') {
+ threshold_val--;
+ if ( threshold_val<0)
+ threshold_val=0;
+ printf("threshold_val=%d\r\n", threshold_val);
+ }
+ if ( c=='H') {
+ new_hi++;
+ if ( new_hi>63)
+ new_hi=63;
+ printf("new_hi=%d\r\n", new_hi);
+ }
+ if ( c=='h') {
+ new_hi--;
+ if ( new_hi<0)
+ new_hi=0;
+ printf("new_hi=%d\r\n", new_hi);
+ }
+ /* edges enhancement */
+ if ( c=='e') {
+ edges_val-=0.1;
+ if ( edges_val<0)
+ edges_val=0;
+ printf("edges_val=%1.2f\r\n", edges_val);
+ }
+ if ( c=='E') {
+ edges_val+=0.1;
+ if ( edges_val>1)
+ edges_val=1;
+ printf("edges_val=%1.2f\r\n", edges_val);
+ }
+ //
+ if ( c=='m') {
+ masktype+=1;
+ if ( masktype>3)
+ masktype=1;
+ printf("masktype=%d\r\n", masktype);
+ }
+ //
+ if ( c=='g') {
+ gammaval+=1;
+ if ( gammaval>3)
+ gammaval=0;
+ printf("gammaval=%d\r\n", gammaval);
+ }
+ }
+
+ unsigned char mv=optical.readmotion();
+ sprintf(buf, "SQUAL:%d, dX:%+d, dY:%+d, Motion:0x%X ", optical.surfacequality(), optical.deltaX, optical.deltaY, mv);
+ lcd.lcd_drawstr( buf, 0, 200, lcd.lcd_RGB( 0, 255, 0));
+
+ sprintf(buf, "AvrPxl:%d, MxPxl:%d ", optical.averagepixel(), optical.maxpixelval() );
+ lcd.lcd_drawstr( buf, 0, 220, lcd.lcd_RGB( 0, 255, 0));
+
+ optical.pixeldump( &tmpmap[0]);
+
+ if ( gammaval) {
+ gammacorrection( &tmpmap[0], gammaval);
+ }
+
+ // pixelmap has the correct order: pos 0 is the left,upper image position.
+ // Refer to the DS pag:35 about how to display the array
+ c=0;
+ subidx=0xFF;
+ for( i=0;i<16;i++) {
+ idx=subidx;
+ for ( ii=0; ii<16; ii++) {
+ pxlmap[c++]=tmpmap[idx];
+ idx-=16;
+ }
+ subidx--;
+ }
+
+ // Use the feature geometry only for implementing the bilinear better viewing.
+ geometry( &pxlmap[0], &tmpmap[0],
+ 0.0, // angle
+ 0.0, 0.0, // streatch x, y
+ 0.0, 0.0, // displace x, y
+ 0.0, 0.0, // cross x, y
+ 1, // bilinear ON/OFF
+ 16, 16); // rows, cols
+
+ // I copy the correct image in the array pxlmap to use it as a basis for successive processing.
+ for ( i=0; i<(16*16); i++)
+ pxlmap[i] = tmpmap[i];
+
+ // 1
+ magnify( &tmpmap[0], 20, 20);
+
+ //
+ for( i=0;i<256;i++) {
+ tmpmap[i]=pxlmap[i];
+ }
+
+ // 2
+ color_enhancement( &tmpmap[0]);
+ magnify( &tmpmap[0], 120, 20);
+
+ //
+ for( i=0;i<256;i++) {
+ tmpmap[i]=pxlmap[i];
+ }
+
+ // 3
+ edges_enhancement( &tmpmap[0]);
+ magnify( &tmpmap[0], 220, 20);
+
+ // 4
+ quick_edge( &pxlmap[0], &tmpmap[0], thrshld);
+ magnify( &tmpmap[0], 20, 100);
+
+ // 5
+ perform_convolution( &pxlmap[0], &tmpmap[0], masktype, thrshld);
+ magnify( &tmpmap[0], 120, 100);
+
+ // 6
+ // visualizzo l'immagine originale...
+ magnify( &pxlmap[0], 220, 100);
+
+ }
+
+ while(1) {
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(0.2);
+ }
+}
+
+/* use the geometry function to magnify the image. */
+void magnify( unsigned char *pxlmap, unsigned int x, unsigned int y)
+{
+ unsigned int r, c;
+ float xy_str=(float)64/16;
+ unsigned char tmpmap[256];
+
+ // inizio ciclo...
+ for ( r=0; r<16; r+=4) {
+ for ( c=0; c<16; c+=4) {
+ // eseguo lo zoom sull'immagine...
+ geometry( &pxlmap[0], &tmpmap[0],
+ 0.0, // angle
+ xy_str, xy_str, // streatch x, y
+ (float)c, (float)r, // displace x, y
+ 0.0, 0.0, // cross x, y
+ 1, // bilinear ON/OFF
+ 16, 16); // rows, cols
+ // la visualizzo...
+ int idx=0;
+ for( int i=0;i<16;i++) {
+ for ( int ii=0; ii<16; ii++) {
+ lcd.lcd_drawpixel( x+((c/4)*16)+ii, y+((r/4)*16)+i, lcd.lcd_RGB( tmpmap[idx],tmpmap[idx],tmpmap[idx]) );
+ idx++;
+ }
+ }
+ }
+ }
+}
\ No newline at end of file