Shaoquan Wang
Final demo of doing Gauge Needle Detection on F429.
Dependencies: BSP_DISCO_F429ZI SDFileSystem SDRAM_DISCO_F429ZI mbed
Fork of
DISCO-F429ZI_SDRAM_demo
by 
Brady Greiner
Revision 1:8b8a77b7d715, committed 2016-05-03
- Comitter:
- wsquan171
- Date:
- Tue May 03 08:52:52 2016 +0000
- Parent:
- 0:d3bf1776d1c6
- Commit message:
- Final demo for doing gauge needle detection on F429.
Changed in this revision
| SDFileSystem.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r d3bf1776d1c6 -r 8b8a77b7d715 SDFileSystem.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Tue May 03 08:52:52 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/mbed/code/SDFileSystem/#7b35d1709458
diff -r d3bf1776d1c6 -r 8b8a77b7d715 main.cpp
--- a/main.cpp Sun May 01 19:12:13 2016 +0000
+++ b/main.cpp Tue May 03 08:52:52 2016 +0000
@@ -1,113 +1,1177 @@
#include "mbed.h"
#include "SDRAM_DISCO_F429ZI.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "SDFileSystem.h"
+
+#define M_PI 3.14159265358979323846
SDRAM_DISCO_F429ZI sdram;
-
+SDFileSystem sd(PC_12, PC_11, PC_10, PB_2, "sd");// MOSI, MISO, SCK, CS
DigitalOut led_green(LED1);
DigitalOut led_red(LED2);
-
+SPI spi(PC_12, PC_11, PC_10); // mosi, miso, sclk
+DigitalOut cs(PB_2);
Serial pc(USBTX, USBRX);
-#define BUFFER_SIZE ((uint32_t)0x0100)
-#define WRITE_READ_ADDR ((uint32_t)0x0800)
+#define line_limit 10 // limit on # of lines to be returned by HoughLines
+
+
+typedef struct
+{
+ int x;
+ int y;
+} ptvec;
+
+typedef struct
+{
+ float rho, theta;
+ double a, b;
+ double x0, y0;
+ ptvec ptvec1, ptvec2;
+ unsigned int strength;
+} trans_line;
+
+typedef struct
+{
+ unsigned int rows;
+ unsigned int cols;
+ unsigned int channels;
+ uint32_t data;
+} Image;
+
+typedef struct
+{
+ int rho;
+ int theta;
+ unsigned int strength;
+} line_polar;
+
-void FillBuffer(uint32_t *pBuffer, uint32_t BufferLength, uint32_t Offset);
-uint8_t CompareBuffer(uint32_t* pBuffer1, uint32_t* pBuffer2, uint16_t BufferLength);
+int bmpread(char *filename, Image *dst)
+{
+ pc.printf("Reading Image file: %s\r\n", filename);
+ FILE *file;
+ unsigned char tempSize4[4];
+ unsigned int width, height;
+ unsigned short planes, bpp;
+
+ if ((file = fopen(filename, "rb"))==NULL)
+ {
+ pc.printf("File Not Found : %s\r\n", filename);
+ return 0;
+ }
+
+ // seek through the bmp header, up to the width/height:
+ fseek(file, 18, SEEK_CUR);
+ if ( fread( tempSize4, 1, 4, file) < 4 )
+ return 0;
+ width = (tempSize4[3]<<24) | (tempSize4[2]<<16) | (tempSize4[1]<<8) | tempSize4[0]; // big endian
+ if ( fread( tempSize4, 1, 4, file) < 4 )
+ return 0;
+ height = (tempSize4[3]<<24) | (tempSize4[2]<<16) | (tempSize4[1]<<8) | tempSize4[0];;
+
+ pc.printf("width: %d, height: %d\r\n", width, height);
+
+ dst->rows = height;
+ dst->cols = width;
+
+
+ if ( fread( tempSize4, 1, 2, file) < 2 )
+ return 0;
+ planes = (tempSize4[1]<<8) | tempSize4[0]; // big endian
+ dst->channels = planes;
+
+ if ( fread( tempSize4, 1, 2, file) < 2 )
+ return 0;
+ bpp = (tempSize4[1]<<8) | tempSize4[0]; // big endian
+ pc.printf("planes: %d, bpp: %d\r\n", planes, bpp);
+
+ fseek(file, 24, SEEK_CUR);
+ unsigned char *readline;
+ unsigned int padding=0; while ((width*3+padding) % 4!=0) padding++;
+ unsigned int linewidth = width * 3 + padding;
+ readline = (unsigned char*)malloc(linewidth * sizeof(unsigned char));
+ unsigned char R, G, B;
+ int i, j;
+
+ dst->data = 1;
+ unsigned char *dst_buf= (unsigned char *) malloc(width * sizeof(unsigned char));
+ uint32_t buffer[width/4];
+
+ pc.printf("Converting to grayscale and Storing to SDRAM\r\n");
+ for(i = height-1; i >= 0; i--)
+ {
+ fread(readline, sizeof(unsigned char), linewidth, file);
+ for(j = 0; j < width; j++)
+ {
+ B = readline[3*j];
+ G = readline[3*j+1];
+ R = readline[3*j+2];
+ dst_buf[j] = (0.299*R) + (0.587*G) + (0.114*B);
+ }
+ for(j = 0; j < width/4; j++)
+ {
+ buffer[j] = (16777216*dst_buf[j*4]) + (65536*dst_buf[j*4+1]) + (dst_buf[j*4+2]*256) + dst_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + dst->data + (i*width), buffer, width/4);
+ j = height / 10;
+ if(i%j == 0)
+ pc.printf("%d%%...",(100 - (i/j*10)));
+ }
+ pc.printf("\r\nImage loaded\r\n");
+ free(readline);
+ free(dst_buf);
+ fclose(file);
+
+ return 1;
+}
+
+int Round(double number)
+{
+ double diff_down, diff_up;
+ diff_down = number - (int)number;
+ diff_up = 1 - diff_down;
+ if(diff_down < diff_up)
+ return (int)number;
+ else
+ return 1+(int)number;
+}
-int main()
+void matrix_convolution(Image *src, Image *dst, double **mask, int width)
{
- uint32_t WriteBuffer[BUFFER_SIZE];
- uint32_t ReadBuffer[BUFFER_SIZE];
- FMC_SDRAM_CommandTypeDef SDRAMCommandStructure;
-
- pc.printf("\n\nSDRAM demo started\n");
- led_red = 0;
+ unsigned char lines[width][src->cols];
+ unsigned char result[src->cols];
+ uint32_t buffer[src->cols/4];
+ int i, j, k, r, c, actual_r, actual_c, scope;
+ double gaussian_sum;
+ //int flag = 1;
+ scope = width/2;
+ for(i = 0; i < src->rows; i++)
+ {
+ if(i < scope || (src->rows - i <= scope))
+ {
+ sdram.ReadData(i*(src->cols) + SDRAM_DEVICE_ADDR + (src->data), buffer, src->cols/4);
+ sdram.WriteData(i*(src->cols) + SDRAM_DEVICE_ADDR + (dst->data), buffer, src->cols/4);
+ continue;
+ }
+ for(j = 0; j < width; j++)
+ {
+ sdram.ReadData((i-scope+j)*(src->cols) + SDRAM_DEVICE_ADDR + (src->data), buffer, src->cols/4);
+ for(k = 0; k < src->cols/4; k++)
+ {
+ lines[j][k*4+3] = buffer[k];
+ lines[j][k*4+2] = buffer[k] >> 8;
+ lines[j][k*4+1] = buffer[k] >> 16;
+ lines[j][k*4] = buffer[k] >> 24;
+ }
+ }
+ //pc.printf("line %d, data = %d\r\n", i, (int)lines[scope][0]);
+
+ for(j = 0; j < src->cols; j++)
+ {
+ if( (j < scope) || (src->cols - j <= scope))
+ {
+ result[j] = lines[scope][j];
+ continue;
+ }
+ gaussian_sum = 0;
+ for(r = 0; r < width; r++)
+ {
+ for(c = 0; c < width; c++)
+ {
+ actual_r = r;
+ actual_c = j + c - scope;
+ /*
+ if(flag == 1)
+ {
+ pc.printf("%d, %d mask = %.4f, value = %d\r\n", r,c,mask[r][c],(int)lines[actual_r][actual_c]);
+ }
+ */
+ double op1 = mask[r][c];
+ double op2 = (double) lines[actual_r][actual_c];
+ double temp = op1 * op2;
+ gaussian_sum = gaussian_sum + temp;
+ }
+ }
+ //flag = 0;
+ if(gaussian_sum > 255) gaussian_sum = 255;
+ if(gaussian_sum < 0) gaussian_sum = 0;
+ result[j] = (unsigned char)Round(gaussian_sum);
+ //pc.printf("%d ", result[j]);
+ }
+ //pc.printf("\r\n");
+ for(j = 0; j < src->cols/4; j++)
+ {
+ buffer[j] = (16777216*result[j*4]) + (65536*result[j*4+1]) + (result[j*4+2]*256) + result[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + dst->data + (i*src->cols), buffer, src->cols/4);
+ j = src->rows / 10;
+ if(i%j == 0)
+ pc.printf("%d%%...",i/j*10);
+ }
+ pc.printf("\r\n");
+ return;
+}
+
+
+void myGaussianBlur(Image *src, Image *dst, int width, double sigma)
+{
+ // build the Gaussian Kernal
+ // ref: http://stackoverflow.com/questions/8204645/implementing-gaussian-blur-how-to-calculate-convolution-matrix-kernel
+
+ pc.printf("\r\nGaussian Blur Module Invoked\r\n");
+ dst->rows = src->rows;
+ dst->cols = src->cols;
+ dst->channels = src->channels;
+ dst->data = src->data + (src->rows * src->cols);
+
+ int W = width;
+ int i, x, y;
+ double **kernel;
+ kernel = (double **) malloc(W * sizeof(double *));
+ for(i = 0; i < W; i++)
+ kernel[i] = (double *) malloc(W * sizeof(double));
+ double mean = W/2;
+ double sum = 0.0; // For accumulating the kernel values
+ for (x = 0; x < W; ++x)
+ {
+ for (y = 0; y < W; ++y)
+ {
+ kernel[x][y] = exp( -0.5 * (pow((x-mean)/sigma, 2.0) + pow((y-mean)/sigma,2.0)) )
+ / (2 * M_PI * sigma * sigma);
+
+ // Accumulate the kernel values
+ sum += kernel[x][y];
+ }
+ }
+ // Normalize the kernel
+ //pc.printf("Gaussian Kernal in use:\r\n");
+ for (x = 0; x < W; ++x)
+ {
+ for (y = 0; y < W; ++y)
+ {
+ kernel[x][y] /= sum;
+ //pc.printf("%.7f ", kernel[x][y]);
+ }
+ //pc.printf("\r\n");
+ }
+
+ // do matrix convolution
+ matrix_convolution(src, dst, kernel, width);
+
+
+ for(i = 0; i < W; i++)
+ free(kernel[i]);
+ free(kernel);
+ return;
+}
- // Fill the write buffer
- FillBuffer(WriteBuffer, BUFFER_SIZE, 0xA244250F);
-
- // Write buffer
- sdram.WriteData(SDRAM_DEVICE_ADDR + WRITE_READ_ADDR, WriteBuffer, BUFFER_SIZE);
- pc.printf("Write data DONE\n");
+void myCanny(Image *src, Image *dst, double min_threshold, double max_threshold)
+{
+ // ref:
+ // http://dasl.mem.drexel.edu/alumni/bGreen/www.pages.drexel.edu/_weg22/can_tut.html
+ // https://en.wikipedia.org/wiki/Canny_edge_detector
+
+ pc.printf("\r\nCanny Edge Detection Module Invoked\r\n");
+
+ dst->rows = src->rows;
+ dst->cols = src->cols;
+ dst->channels = src->channels;
+ dst->data = src->data + (src->rows * src->cols);
+
+ // de-noise using local Gaussian Blur, simulating size = 5, sigma = 1.4
+ pc.printf("Smoothing image...\r\n");
+ double mask[5][5] =
+ {
+ {2, 4, 5, 4, 2},
+ {4, 9, 12, 9, 4},
+ {5, 12, 15, 12, 5},
+ {4, 9, 12, 9, 4},
+ {2, 4, 5, 4, 2}
+ };
+ double **kernel;
+ int i, j;
+ kernel = (double **) malloc(5 * sizeof(double *));
+ for(i = 0; i < 5; i++)
+ kernel[i] = (double *) malloc(5 * sizeof(double));
+ for(i = 0; i < 5; i++)
+ {
+ for(j = 0; j < 5; j++)
+ {
+ kernel[i][j] = mask[i][j] / 159;
+ //printf("%.7f ", kernel[i][j]);
+ }
+ //printf("\n");
+ }
+ matrix_convolution(src, dst, kernel, 5);
+ for(i = 0; i < 5; i++)
+ free(kernel[i]);
+ free(kernel);
+
+ // find gradient x and gradient y
+ pc.printf("Finding gradient in x and y for each pixel...\r\n");
+ Image Gx, Gy; // Gx and Gy are used to store x-gradient and y-gradient
+ Gx.cols = src->cols;
+ Gx.rows = src->rows;
+ Gx.data = dst->data + (dst->cols * dst->rows);
+ Gy.cols = src->cols;
+ Gy.rows = src->rows;
+ Gy.data = Gx.data + (dst->cols * dst->rows);
+
+ // size-3 Sobel mask
+ double sobel_x[3][3] = {{-1, 0, 1}, {-2, 0, 2}, {-1, 0, 1}};
+ double sobel_y[3][3] = {{-1, -2, -1}, {0, 0, 0}, {1, 2, 1}};
+ double **mask_x, **mask_y;
+ mask_x = (double **) malloc(3 * sizeof(double *));
+ for(i = 0; i < 3; i++)
+ mask_x[i] = (double *) malloc(3 * sizeof(double));
+ mask_y = (double **) malloc(3 * sizeof(double *));
+ for(i = 0; i < 3; i++)
+ mask_y[i] = (double *) malloc(3 * sizeof(double));
+ for(i = 0; i < 3; i++)
+ {
+ for(j = 0; j < 3; j++)
+ {
+ mask_x[i][j] = sobel_x[i][j];
+ mask_y[i][j] = sobel_y[i][j];
+ }
+ }
+ pc.printf("in x: ");
+ matrix_convolution(src, &Gx, mask_x, 3);
+ pc.printf("in y: ");
+ matrix_convolution(src, &Gy, mask_y, 3);
+ for(i = 0; i < 3; i++)
+ {
+ free(mask_x[i]);
+ free(mask_y[i]);
+ }
+ free(mask_x);
+ free(mask_y);
+ //pc.printf("dst at %d, Gx at %d, Gy at %d\r\n", dst->data, Gx.data, Gy.data);
+
+ // calculate gradient strength (store in Gx) and direction (store in Gy)
+ pc.printf("Calculating gradient strength and direction...\r\n");
+ double gx_val, gy_val;
+ double arctan_val;
+ int over_threshold_count = 0; // number used for adaptive non-max suppression
+ uint32_t buffer[src->cols/4];
+ unsigned char Gx_buf[src->cols], Gy_buf[src->cols];
+ //pc.printf("%d %d %d %d %d %d", src->rows, src->cols, Gx.cols, Gx.rows, Gy.cols, Gy.rows);
+ for(i = 0; i < src->rows; i++)
+ {
+ sdram.ReadData(i*(Gx.cols) + SDRAM_DEVICE_ADDR + (Gx.data), buffer, Gx.cols/4);
+ for(j = 0; j < Gx.cols/4; j++)
+ {
+ Gx_buf[j*4+3] = buffer[j];
+ Gx_buf[j*4+2] = buffer[j] >> 8;
+ Gx_buf[j*4+1] = buffer[j] >> 16;
+ Gx_buf[j*4] = buffer[j] >> 24;
+ }
+ sdram.ReadData(i*(Gy.cols) + SDRAM_DEVICE_ADDR + (Gy.data), buffer, Gy.cols/4);
+ for(j = 0; j < Gy.cols/4; j++)
+ {
+ Gy_buf[j*4+3] = buffer[j];
+ Gy_buf[j*4+2] = buffer[j] >> 8;
+ Gy_buf[j*4+1] = buffer[j] >> 16;
+ Gy_buf[j*4] = buffer[j] >> 24;
+ }
+
+ for(j = 0; j < src->cols; j++)
+ {
+ gx_val = Gx_buf[j];
+ gy_val = Gy_buf[j];
+
+ Gx_buf[j] = (unsigned char)sqrt(pow(gx_val, 2) + pow(gy_val, 2));
+ if(Gx_buf[j] > max_threshold)
+ over_threshold_count++;
+ arctan_val = atan(gy_val / gx_val);
+ if(arctan_val >= 0.41421 && arctan_val < 2.414421) // 22.5 to 67.5 deg
+ Gy_buf[j] = 45;
+ else if(arctan_val >= 2.41421 || arctan_val < -2.41421) // 67.5 to 112.5 deg
+ Gy_buf[j] = 90;
+ else if(arctan_val >= -2.41421 && arctan_val < 0.41421) // 112.5 to 157.5 deg
+ Gy_buf[j] = 135;
+ else // 0 to 22.5 and 157.5 to 180 deg
+ Gy_buf[j] = 0;
+ }
+
+ for(j = 0; j < Gx.cols/4; j++)
+ {
+ buffer[j] = (16777216*Gx_buf[j*4]) + (65536*Gx_buf[j*4+1]) + (Gx_buf[j*4+2]*256) + Gx_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + Gx.data + (i*Gx.cols), buffer, Gx.cols/4);
+ for(j = 0; j < Gy.cols/4; j++)
+ {
+ buffer[j] = (16777216*Gy_buf[j*4]) + (65536*Gy_buf[j*4+1]) + (Gy_buf[j*4+2]*256) + Gy_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + Gy.data + (i*Gy.cols), buffer, Gy.cols/4);
+ }
+
+ // Non-maximum suppression. Aim is to shrink the edge width
+ pc.printf("Non-maximum suppression...\r\n");
+ int mask_radius = 1; // hard-coded parameter
+ int r, c, not_max_flag, vertical_neighbor;
+ Image sup_matrix; // maxtrix used to keep track of local maxima stutas for each pixel
+ sup_matrix.cols = dst->cols;
+ sup_matrix.rows = dst->rows;
+ sup_matrix.data = Gy.data + (dst->cols * dst->rows);
+ double skip_sup_ratio = (double)over_threshold_count/8800; // 10000 pixels should be found in a 800x600 pic
+ if(skip_sup_ratio < 1)
+ skip_sup_ratio = 1;
+ else if(skip_sup_ratio > 1.8)
+ skip_sup_ratio = 1.8;
+ pc.printf("Over max threshold count: %d\r\n", over_threshold_count);
+ //pc.printf("Skip suppression ratio: %.2f\r\n", skip_sup_ratio);
+ unsigned char sup_buf[dst->cols], Gx_buf_array[3][dst->cols], Gy_buf_array[3][dst->cols];
+ for(i = mask_radius; i < src->rows - mask_radius; i++)
+ {
+ sup_buf[j] = 0; // in sup_matrix, 0 is default value
+ for(r = 0; r < 3; r++)
+ {
+ sdram.ReadData((i+r-1)*(Gx.cols) + SDRAM_DEVICE_ADDR + (Gx.data), buffer, Gx.cols/4);
+ for(j = 0; j < Gx.cols/4; j++)
+ {
+ Gx_buf_array[r][j*4+3] = buffer[j];
+ Gx_buf_array[r][j*4+2] = buffer[j] >> 8;
+ Gx_buf_array[r][j*4+1] = buffer[j] >> 16;
+ Gx_buf_array[r][j*4] = buffer[j] >> 24;
+ }
+ }
+ for(r = 0; r < 3; r++)
+ {
+ sdram.ReadData((i+r-1)*(Gy.cols) + SDRAM_DEVICE_ADDR + (Gy.data), buffer, Gy.cols/4);
+ for(j = 0; j < Gy.cols/4; j++)
+ {
+ Gy_buf_array[r][j*4+3] = buffer[j];
+ Gy_buf_array[r][j*4+2] = buffer[j] >> 8;
+ Gy_buf_array[r][j*4+1] = buffer[j] >> 16;
+ Gy_buf_array[r][j*4] = buffer[j] >> 24;
+ }
+ }
+
+ for(j = mask_radius; j < src->cols - mask_radius; j++)
+ {
+ if( j < mask_radius || (j >= src->rows - mask_radius))
+ {
+ sup_buf[j] = 1;
+ continue;
+ }
+ not_max_flag = 0;
+
+ // pixels with significant high magnitute will never be suppressed
+ if(Gx_buf_array[1][j] > 1.8 * max_threshold)
+ {
+ sup_buf[j] = 2; // in sup matrix, 2 means maxima's
+ continue;
+ }
+
+ // for other pixels, compare its gradient magnitute with its neighbor
+ for(r = -mask_radius; r <= mask_radius; r++)
+ {
+ if(not_max_flag == 1)
+ break;
+ for(c = -mask_radius; c <= mask_radius; c++)
+ {
+ vertical_neighbor = 0;
+ // only neighbors vertical to the gradient direction will be checked
+ switch (Gy_buf_array[1][j])
+ {
+ case 0:
+ if(c == 0 && (r == -1 || r ==1))
+ vertical_neighbor = 1;
+ break;
+ case 45:
+ if((r == 1 && c == -1) || (r == -1 && c == 1))
+ vertical_neighbor = 1;
+ break;
+ case 90:
+ if(r == 0 && (c == -1 || c == 1))
+ vertical_neighbor = 1;
+ case 135:
+ if((r == 1 && c == 1) || (r == -1 && c == -1))
+ vertical_neighbor = 1;
+ default:
+ break;
+ }
+ if(vertical_neighbor != 1)
+ continue;
+
+ if(Gy_buf_array[1][j] == Gy_buf_array[1+r][j+c])
+ {
+ if(Gx_buf_array[1][j] < Gx_buf_array[1+r][j+c])
+ {
+ not_max_flag = 1;
+ sup_buf[j] = 1;
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ for(j = 0; j < sup_matrix.cols/4; j++)
+ {
+ buffer[j] = (16777216*sup_buf[j*4]) + (65536*sup_buf[j*4+1]) + (sup_buf[j*4+2]*256) + sup_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + sup_matrix.data + (i*sup_matrix.cols), buffer, sup_matrix.cols/4);
+ }
+
+ // Gy is no longer used
+
+ // Double threshold
+ pc.printf("Double threshold...\r\n");
+ unsigned char dst_buf[dst->cols];
+ int a = 0, b = 0, d = 0;
+ for(i = 0; i < src->rows; i++)
+ {
+ sdram.ReadData(i*(Gx.cols) + SDRAM_DEVICE_ADDR + (Gx.data), buffer, Gx.cols/4);
+ for(j = 0; j < Gx.cols/4; j++)
+ {
+ Gx_buf[j*4+3] = buffer[j];
+ Gx_buf[j*4+2] = buffer[j] >> 8;
+ Gx_buf[j*4+1] = buffer[j] >> 16;
+ Gx_buf[j*4] = buffer[j] >> 24;
+ }
+ sdram.ReadData(i*(sup_matrix.cols) + SDRAM_DEVICE_ADDR + (sup_matrix.data), buffer, sup_matrix.cols/4);
+ for(j = 0; j < Gx.cols/4; j++)
+ {
+ sup_buf[j*4+3] = buffer[j];
+ sup_buf[j*4+2] = buffer[j] >> 8;
+ sup_buf[j*4+1] = buffer[j] >> 16;
+ sup_buf[j*4] = buffer[j] >> 24;
+ }
+
+ for(j = 0; j < src->cols; j++)
+ {
+ if(i == 0 || j == 0 || i == src->rows-1 || j == src->cols-1)
+ {
+ dst_buf[j] = 0;
+ b++;
+ continue;
+ }
+ if(sup_buf[j] == 1)
+ Gx_buf[j] = 0;
+ if(Gx_buf[j] > max_threshold) // strong edge
+ {
+ dst_buf[j] = 255;
+ a++;
+ }
+ else if(Gx_buf[j] < min_threshold) // weak edge
+ {
+ dst_buf[j] = 0;
+ b++;
+ }
+ else // in middle: later check if it is connected to a strong edge
+ {
+ dst_buf[j] = Gx_buf[j];
+ d++;
+ }
+ }
+ for(j = 0; j < dst->cols/4; j++)
+ {
+ buffer[j] = (16777216*dst_buf[j*4]) + (65536*dst_buf[j*4+1]) + (dst_buf[j*4+2]*256) + dst_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + dst->data + (i*dst->cols), buffer, dst->cols/4);
+ }
+ pc.printf("strong = %d, weak = %d, middle = %d\r\n", a, b, d);
+
+ int k;
+ // Gx and sup_matrix is no longer used
+
+ // pixel which has magnitude in-middle will be preserved if connected to a strong edge
+ pc.printf("Edge tracking by hysteresis...\r\n");
+ short min_neighbor;
+ unsigned char dst_buf_array[3][dst->cols];
+ for(i = 0; i < 10; i++)
+ {
+ for(j = 1; j < dst->rows-1; j++)
+ {
+ for(r = 0; r < 3; r++)
+ {
+ sdram.ReadData((i+r-1)*(dst->cols) + SDRAM_DEVICE_ADDR + (dst->data), buffer, dst->cols/4);
+ for(k = 0; k < dst->cols/4; k++)
+ {
+ dst_buf_array[r][k*4+3] = buffer[k];
+ dst_buf_array[r][k*4+2] = buffer[k] >> 8;
+ dst_buf_array[r][k*4+1] = buffer[k] >> 16;
+ dst_buf_array[r][k*4] = buffer[k] >> 24;
+ }
+ }
+ for(k = 1; k < dst->cols - 1; k++)
+ {
+ if(dst_buf_array[1][j] == 0 || dst_buf_array[1][j] == 255)
+ continue;
+ min_neighbor = 0;
+ for(r = -1; r <= 1; r++)
+ {
+ for(c = -1; c <= 1; c++)
+ {
+ if(dst_buf_array[1+r][j+c] > max_threshold)
+ dst_buf_array[1][j] = 255;
+ else if(dst_buf_array[1+r][j+c] < min_threshold)
+ min_neighbor++;
+ }
+ }
+ if(min_neighbor == 8)
+ dst_buf_array[1][j] = 0;
+ }
+ for(k = 0; k < dst->cols/4; k++)
+ {
+ buffer[j] = (16777216*dst_buf_array[1][k*4]) + (65536*dst_buf_array[1][k*4+1]) + (dst_buf_array[1][k*4+2]*256) + dst_buf_array[1][k*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + dst->data + (i*dst->cols), buffer, dst->cols/4);
+ }
+ }
+
+ // those can't reach to a strong edge in 10 pixels will be supressed
+ for(i = 0; i < src->rows; i++)
+ {
+ sdram.ReadData((i)*(dst->cols) + SDRAM_DEVICE_ADDR + (dst->data), buffer, dst->cols/4);
+ for(k = 0; k < dst->cols/4; k++)
+ {
+ dst_buf[k*4+3] = buffer[k];
+ dst_buf[k*4+2] = buffer[k] >> 8;
+ dst_buf[k*4+1] = buffer[k] >> 16;
+ dst_buf[k*4] = buffer[k] >> 24;
+ }
+ for(j = 0; j < src->cols; j++)
+ {
+ if((dst_buf[j] == 255) || (dst_buf[j] == 0))
+ continue;
+ else
+ dst_buf[j] = 0;
+ }
+ for(j = 0; j < dst->cols/4; j++)
+ {
+ buffer[j] = (16777216*dst_buf[j*4]) + (65536*dst_buf[j*4+1]) + (dst_buf[j*4+2]*256) + dst_buf[j*4+3];
+ }
+ sdram.WriteData(SDRAM_DEVICE_ADDR + dst->data + (i*dst->cols), buffer, dst->cols/4);
+ }
+
+ int zero = 0, max = 0, in_middle = 0;
+ for(i = 0; i < src->rows; ++i)
+ {
+
+ sdram.ReadData((i)*(dst->cols) + SDRAM_DEVICE_ADDR + (dst->data), buffer, dst->cols/4);
+ for(k = 0; k < dst->cols/4; k++)
+ {
+ dst_buf[k*4+3] = buffer[k];
+ dst_buf[k*4+2] = buffer[k] >> 8;
+ dst_buf[k*4+1] = buffer[k] >> 16;
+ dst_buf[k*4] = buffer[k] >> 24;
+ }
+
+ for ( j = 0; j < src->cols; ++j)
+ {
+ if(dst_buf[j] == 0)
+ zero++;
+ else if(dst_buf[j] == 255)
+ max++;
+ else
+ in_middle++;
+ }
+ }
+ pc.printf("zero = %ld, max = %ld, in_middle = %ld\r\n", zero, max, in_middle);
+ pc.printf("SDRAM peak usage %ld\r\n", sup_matrix.data + (src->cols * src->rows) -1);
+
+ return;
+}
- // Issue self-refresh command to SDRAM device
- SDRAMCommandStructure.CommandMode = FMC_SDRAM_CMD_SELFREFRESH_MODE;
+int myHoughLines(Image *src, line_polar *line_list, int threshold, int number)
+{
+ // ref:
+ // http://www.keymolen.com/2013/05/hough-transformation-c-implementation.html
+ // https://en.wikipedia.org/wiki/Hough_transform
+
+ pc.printf("\r\nHoughLines Module Invoked\r\n");
+
+ // initialize the accumulator for lines. rho and theta are resolutions in distance and angle (all set to 1)
+ unsigned int dimension_r, dimension_t, i, j;
+ //if(src->channels != 1) // only accept grayscal images
+ // return -1;
+ if(src->rows >= src->cols)
+ dimension_r = src->rows;
+ else
+ dimension_r = src->cols;
+ dimension_r = (unsigned int) ((double)dimension_r * sqrt((double)2)) + 1;
+ dimension_t = 360;
+
+ uint32_t error_count = 0, addr = src->data + (src->rows * src->cols);
+ pc.printf("accumulator start at %ld\r\n", addr-1);
+ uint32_t *accumulator = (uint32_t*)malloc(dimension_t*sizeof(uint32_t));
+ for(i = 0; i < dimension_r; i++)
+ {
+ for(j = 0; j < dimension_t; j++)
+ accumulator[j] = 0;
+ sdram.WriteData(SDRAM_DEVICE_ADDR + (4*i*dimension_t) + addr, accumulator, dimension_t);
+ }
+ for(i = 0; i < dimension_r;i++)
+ {
+ sdram.ReadData(SDRAM_DEVICE_ADDR + (4*i*dimension_t) + addr, accumulator, dimension_t);
+ for(j = 0; j < dimension_t; j++)
+ {
+ if(accumulator[j] != 0)
+ {
+ error_count++;
+ }
+ }
+ }
+ pc.printf("error_count = %ld\r\n", error_count);
+
+ pc.printf("Accumulator dimension: %d(rho) by %d(theta)\r\n", dimension_r, dimension_t);
+
+ // scan through all edge pixels.
+ int t, neg_r = 0, round_up = 0, round_down = 0, pixel_count = 0;
+ double new_x, new_y, theta_rad, r;
+ unsigned char src_buf[src->cols];
+ uint32_t buffer[src->cols/4], tmp_accu;
+
+ for(i = 0; i < src->rows; i++)
+ {
+ sdram.ReadData(i*(src->cols) + SDRAM_DEVICE_ADDR + (src->data), buffer, src->cols/4);
+ for(j = 0; j < src->cols/4; j++)
+ {
+ src_buf[j*4+3] = buffer[j];
+ src_buf[j*4+2] = buffer[j] >> 8;
+ src_buf[j*4+1] = buffer[j] >> 16;
+ src_buf[j*4] = buffer[j] >> 24;
+ }
+ for(j = 0; j < src->cols; j++)
+ {
+ if(src_buf[j] != 255) // only consider edge pixels (who have value of 255)
+ continue;
+ pixel_count++;
+ for(t = 0; t < dimension_t; t++) // for each theta, calc the corresponding rho
+ {
+ new_x = (double)i;
+ new_y = (double)j;
+ theta_rad = (double)t * (M_PI / 180);
+ r = (new_y * cos(theta_rad)) + (new_x * sin(theta_rad));
+
+ if(r <= 0) // negative rho = positive rho, they are duplicated lines that can be discarded
+ {
+ neg_r++;
+ continue;
+ }
+
+ if( r - (int)r >= 0.5) // round up to the bin
+ {
+ round_up++;
+ sdram.ReadData(4*dimension_t*((int)r +1) + SDRAM_DEVICE_ADDR + (addr) + (4*t), &tmp_accu, 1);
+ tmp_accu++;
+ if(tmp_accu > 503640)
+ printf("(%d, %d)\r\n", (int)r +1, t);
+ sdram.WriteData(4*dimension_t*((int)r +1) + SDRAM_DEVICE_ADDR + (addr) + (4*t), &tmp_accu, 1);
+ }
+ else // round down to the bin
+ {
+ round_down++;
+ sdram.ReadData(4*dimension_t*((int)r) + SDRAM_DEVICE_ADDR + (addr) + (4*t), &tmp_accu, 1);
+ tmp_accu++;
+ sdram.WriteData(4*dimension_t*((int)r) + SDRAM_DEVICE_ADDR + (addr) + (4*t), &tmp_accu, 1);
+ }
+ }
+ }
+ j = src->rows / 10;
+ if(i%j == 0)
+ pc.printf("%d%%...",i/j*10);
+ }
+ pc.printf("\r\n");
+ pc.printf("negatve rho = %d\r\nround up = %d, round down = %d\r\n", neg_r, round_up, round_down);
+ pc.printf("pixel count = %d\r\n", pixel_count);
+ // find top x lines in rho-theta space
+ int weakest = 0, count = 0, weakest_pt = 0;
+ line_polar local_line_list[number];
+ for(i = 0; i < dimension_r; i++)
+ {
+ sdram.ReadData(4*i*dimension_t + SDRAM_DEVICE_ADDR + (addr), accumulator, dimension_t);
+ for(j = 0; j < dimension_t; j++)
+ {
+ if(accumulator[j] < threshold || accumulator[j] <= weakest)
+ continue;
+
+ local_line_list[weakest_pt].rho = i;
+ local_line_list[weakest_pt].theta = j;
+ sdram.ReadData(4*dimension_t*i + SDRAM_DEVICE_ADDR + (addr) + (4*j), &tmp_accu, 1);
+ local_line_list[weakest_pt].strength = tmp_accu;
+ count++;
+
+ if(count < number)
+ {
+ weakest_pt++;
+ weakest = 0;
+ }
+ else
+ {
+ weakest = local_line_list[0].strength;
+ weakest_pt = 0;
+ for(t = 1; t < number; t++)
+ {
+ if(local_line_list[t].strength < weakest)
+ {
+ weakest = local_line_list[t].strength;
+ weakest_pt = t;
+ }
+ }
+ }
+ }
+ }
+
+ // copy those found lines baack to main's stack
+ memcpy(line_list, local_line_list, number*sizeof(line_polar));
+
+ for(i = 0; i < number; i++)
+ {
+ if(count == i)
+ break;
+ printf("line %d: rho = %d, theta = %d, strength = %d\r\n", i, local_line_list[i].rho, local_line_list[i].theta, local_line_list[i].strength);
+ }
+ printf("\r\n");
+ free(accumulator);
+ // return the actual number of lines found above threshold
+ return count;
+}
+
+int det(ptvec a, ptvec b)
+{
+ return (a.x * b.y) - (a.y * b.x);
+}
+
+int line_intersection(trans_line line1, trans_line line2, ptvec *result)
+{
+ ptvec xdiff, ydiff, d;
+ xdiff.x = line1.ptvec1.x - line1.ptvec2.x;
+ xdiff.y = line2.ptvec1.x - line2.ptvec2.x;
+ ydiff.x = line1.ptvec1.y - line1.ptvec2.y;
+ ydiff.y = line2.ptvec1.y - line2.ptvec2.y;
+
+ int div = det(xdiff, ydiff);
+ if(div == 0)
+ {
+ // Lines don't intersect
+ return 0;
+ }
+
+ d.x = det(line1.ptvec1, line1.ptvec2);
+ d.y = det(line2.ptvec1, line2.ptvec2);
+ result->x = (int) det(d, xdiff) / div;
+ result->y = (int) det(d, ydiff) / div;
+ return 1;
+}
+
+double LineAnalysis(trans_line *line_list, int line_count, int dim_x, int dim_y)
+{
+ printf("Needle Position Detection Module Invoked.\r\n");
+ int strongest_pt = 0, i = 0, j = 0, upper_count = 0, lower_count = 0;
+ int upper_bin[line_count];
+ int lower_bin[line_count];
+ double average_deg = 0, diff, theta_deg;
+
+ // find the line with highest confidence
+ for(i = 0; i < line_count; i++)
+ {
+ if(line_list[i].strength > line_list[strongest_pt].strength)
+ strongest_pt = i;
+ }
+ printf("Line used as reference of de-noise: rho = %d, ", (int)line_list[strongest_pt].rho);
+ printf("theta = %d\r\n", (int) (line_list[strongest_pt].theta * 180 / M_PI));
+
+ // delete lines whose theta varies > 10 deg from the strongest line
+ for(i = 0; i < line_count; i++)
+ {
+ diff = 180 * line_list[strongest_pt].theta / M_PI;
+ diff = diff - (180 * line_list[i].theta / M_PI);
+ if(diff >= 10 || diff <= -10)
+ {
+ printf("Line with confidence of %d is suppressed.\r\n", line_list[i].strength);
+ line_list[i].strength = 0;
+ continue;
+ }
+ average_deg = (180 * line_list[i].theta / M_PI) + average_deg;
+ j++;
+ }
+ average_deg = average_deg / j;
+ printf("Theta used to divide lines into bins: %.2f\r\n", average_deg);
+
+ // categorize all lines into 2 bins depends on whether its theta is higher than average.
+ for(i = 0; i < line_count; i++)
+ {
+ if(line_list[i].strength == 0)
+ continue;
+
+ theta_deg = line_list[i].theta * 180 / M_PI;
+ if(theta_deg > average_deg)
+ {
+ upper_bin[upper_count] = i;
+ upper_count++;
+ }
+ else
+ {
+ lower_bin[lower_count] = i;
+ lower_count++;
+ }
+ }
+
+ // choose the bin with minority of lines.
+ // find a line in the bin with highest / lowest theta if we chose upper / lower bin
+ // the chosen line is considered as the line mostly diverted from the other lines but yet near needle
+ // find all intersections between this line and the lines in the bin with majority of lines
+ // since this line is well seperated from others, points found should be far enough from gauge center
+ int ref_pt = 0, inter_count = 0;
+ ptvec intersect_list[line_count];
+ if(lower_count < upper_count)
+ {
+ for(i = 0; i < lower_count; i++)
+ {
+ if(line_list[lower_bin[i]].theta < line_list[lower_bin[ref_pt]].theta)
+ ref_pt = i;
+ }
+ average_deg = (180 * line_list[lower_bin[ref_pt]].theta / M_PI);
+ printf("Line in lower_bin is used to find intersections:\r\n");
+ printf("rho = %d, ", (int) (line_list[lower_bin[ref_pt]].rho));
+ printf("theta = %d ", (int) (line_list[lower_bin[ref_pt]].theta * 180 / (M_PI)));
+ printf("strength = %d\r\n", (int) (line_list[lower_bin[ref_pt]].strength));
+ for(i = 0; i < upper_count; i++)
+ {
+ if(line_intersection(line_list[lower_bin[ref_pt]], line_list[upper_bin[i]], &intersect_list[inter_count]) == 1)
+ inter_count++;
+ }
+ ref_pt = 0;
+ for(i = 0; i < upper_count; i++)
+ {
+ if(line_list[upper_bin[i]].theta > line_list[upper_bin[ref_pt]].theta)
+ ref_pt = i;
+ }
+ average_deg = (180 * line_list[upper_bin[ref_pt]].theta / M_PI) + average_deg;
+ average_deg = average_deg / 2;
+ }
+ else
+ {
+ for(i = 0; i < upper_count; i++)
+ {
+ if(line_list[upper_bin[i]].theta > line_list[upper_bin[ref_pt]].theta)
+ ref_pt = i;
+ }
+ average_deg = (180 * line_list[upper_bin[ref_pt]].theta / M_PI);
+ printf("Line in upper_bin is used to find intersections:\r\n");
+ printf("rho = %d, ", (int) (line_list[upper_bin[ref_pt]].rho));
+ printf("theta = %d ", (int) (line_list[upper_bin[ref_pt]].theta * 180 / (M_PI)));
+ printf("strength = %d\r\n", (int) (line_list[upper_bin[ref_pt]].strength));
+ for(i = 0; i < lower_count; i++)
+ {
+ if(line_intersection(line_list[upper_bin[ref_pt]], line_list[lower_bin[i]], &intersect_list[inter_count]) == 1)
+ inter_count++;
+ }
+ ref_pt = 0;
+ for(i = 0; i < lower_count; i++)
+ {
+ if(line_list[lower_bin[i]].theta < line_list[lower_bin[ref_pt]].theta)
+ ref_pt = i;
+ }
+ average_deg = (180 * line_list[lower_bin[ref_pt]].theta / M_PI) + average_deg;
+ average_deg = average_deg / 2;
+ }
+
+ // categorize all intersections points into 4 bins
+ // ----------------> x
+ // | |
+ // | III | IV
+ // | |
+ // |---------------
+ // | |
+ // | II | I
+ // v |
+ // y
+ // the reason is that the center of the pic should be close to the center of the gauge.
+ // the angle of the needle is already detected. we don't need actually find the center
+ // to tell the direction of the needle. the distribution of intersections can provide
+ // enough info to do the desicion.
+
+ int cor_count[4] = {0, 0, 0, 0};
+ int var_x = 0, var_y = 0;
+ printf("Intersections:\r\n");
+ for(i = 0; i < inter_count; i++)
+ {
+ if(intersect_list[i].x > dim_x /2)
+ {
+ if(intersect_list[i].y > dim_y/2)
+ cor_count[0]++;
+ else
+ cor_count[3]++;
+ }
+ else
+ {
+ if(intersect_list[i].y > dim_y/2)
+ cor_count[1]++;
+ else
+ cor_count[2]++;
+ }
+ var_x = var_x + abs(intersect_list[i].x - dim_x/2);
+ var_y = var_y + abs(intersect_list[i].y - dim_y/2);
+ printf("(%d, %d)\r\n", intersect_list[i].x, intersect_list[i].y);
+ }
+ printf("Variation in x: %d, in y: %d\r\n", var_x, var_y);
+
+ int most_cor_pt = 0;
+ printf("Intersection points distribution: \r\n");
+ for(i = 0; i < 4; i++)
+ {
+ if(cor_count[i] > cor_count[most_cor_pt])
+ most_cor_pt = i;
+ printf("Cor %d: %d\r\n", i+1, cor_count[i]);
+ }
+
+ int correct_vote = 0, revert_vote = 0;
+ if(average_deg >= 0 && average_deg < 90) // intersections are expected to be in II or IV
+ {
+ if(var_x < var_y) // variance in x is smaller, I+II should > III+IV
+ {
+ if((cor_count[0]+cor_count[1]) > (cor_count[2]+cor_count[3]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ else // variance in y is smaller, II+III should > IV+I
+ {
+ if((cor_count[1]+cor_count[2]) > (cor_count[3]+cor_count[0]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ if(correct_vote > revert_vote)
+ printf("Original detected angle is correct.\r\n");
+ else
+ {
+ average_deg = average_deg + 180;
+ printf("Reverted angle is correct.\r\n");
+ }
+ }
+ else if(average_deg >= 90 && average_deg < 180) // intersections are expected to be in III or I
+ {
+ if(var_x < var_y) // variance in x is smaller, I+II should < III+IV
+ {
+ if((cor_count[0]+cor_count[1]) < (cor_count[2]+cor_count[3]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ else // variance in y is smaller, II+III should > IV+I
+ {
+ if((cor_count[1]+cor_count[2]) > (cor_count[3]+cor_count[0]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ if(correct_vote > revert_vote)
+ printf("Original detected angle is correct.\r\n");
+ else
+ {
+ average_deg = average_deg + 180;
+ printf("Reverted angle is correct.\r\n");
+ }
+ }
+ else if(average_deg >= 180 && average_deg < 270) // intersections are expected to be in II or IV
+ {
+ if(var_x < var_y) // variance in x is smaller, I+II should < III+IV
+ {
+ if((cor_count[0]+cor_count[1]) < (cor_count[2]+cor_count[3]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ else // variance in y is smaller, II+III should < IV+I
+ {
+ if((cor_count[1]+cor_count[2]) < (cor_count[3]+cor_count[0]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ if(correct_vote > revert_vote)
+ printf("Original detected angle is correct.\r\n");
+ else
+ {
+ average_deg = average_deg - 180;
+ printf("Reverted angle is correct.\r\n");
+ }
+ }
+ else if(average_deg >= 270 && average_deg < 360) // intersections are expected to be in III or I
+ {
+ if(var_x < var_y) // variance in x is smaller, I+II should > III+IV
+ {
+ if((cor_count[0]+cor_count[1]) > (cor_count[2]+cor_count[3]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ else // variance in y is smaller, II+III should < IV+I
+ {
+ if((cor_count[1]+cor_count[2]) < (cor_count[3]+cor_count[0]))
+ correct_vote++;
+ else
+ revert_vote++;
+ }
+ if(correct_vote > revert_vote)
+ printf("Original detected angle is correct.\r\n");
+ else
+ {
+ average_deg = average_deg - 180;
+ printf("Reverted angle is correct.\r\n");
+ }
+ }
+ else
+ {
+ printf("Detection failed. The result may not be correct.\r\n");
+ }
+ return average_deg;
+}
+
+
+int main(void)
+{
+ pc.baud(115200);
+ int i, j;
+ led_red = 0;
+ led_green = 0;
+
+ FMC_SDRAM_CommandTypeDef SDRAMCommandStructure;
SDRAMCommandStructure.CommandTarget = FMC_SDRAM_CMD_TARGET_BANK2;
- SDRAMCommandStructure.AutoRefreshNumber = 1;
- SDRAMCommandStructure.ModeRegisterDefinition = 0;
- if (sdram.Sendcmd(&SDRAMCommandStructure) != HAL_OK)
+
+ pc.printf("\r\nSDRAM demo started\r\n");
+
+ Image src, dst, bin;
+ if (bmpread("/sd/1.bmp", &src) == 0)
+ return 0;
+
+ // smooth the picture using GaussianBlur: void GaussianBlur(Image *src, Image *dst, int width, double sigma)
+ myGaussianBlur(&src, &dst, 5, 1.5);
+ myCanny(&dst, &bin, 20, 60);
+ line_polar my_line_list[10];
+ int line_count;
+ line_count = myHoughLines(&bin, my_line_list, 40, line_limit);
+ if(line_count >= line_limit)
+ line_count = line_limit;
+
+ trans_line line_list[line_limit];
+ unsigned int m = src.rows, n = src.cols;
+ for(i = 0; i < line_count; i++) // combined for loops at #64, #73, #83, #92, #101
{
- led_red = 1;
- error("BSP_SDRAM_Sendcmd FAILED\n");
- }
-
- // SDRAM memory read back access
- SDRAMCommandStructure.CommandMode = FMC_SDRAM_CMD_NORMAL_MODE;
- if (sdram.Sendcmd(&SDRAMCommandStructure) != HAL_OK)
- {
- led_red = 1;
- error("BSP_SDRAM_Sendcmd FAILED\n");
+ line_list[i].rho = my_line_list[i].rho;
+ line_list[i].theta = my_line_list[i].theta * (M_PI / 180);
+ line_list[i].strength = my_line_list[i].strength;
+ line_list[i].a = cos(line_list[i].theta);
+ line_list[i].b = sin(line_list[i].theta);
+ line_list[i].x0 = line_list[i].a * line_list[i].rho;
+ line_list[i].y0 = line_list[i].b * line_list[i].rho;
+ line_list[i].ptvec1.x = Round(line_list[i].x0 + (m+n)*(-line_list[i].b));
+ line_list[i].ptvec1.y = Round(line_list[i].y0 + (m+n)*line_list[i].a);
+ line_list[i].ptvec2.x = Round(line_list[i].x0 - (m+n)*(-line_list[i].b));
+ line_list[i].ptvec2.y = Round(line_list[i].y0 - (m+n)*line_list[i].a);
}
- while(1) {
-
- // Read back data from the SDRAM memory
- sdram.ReadData(SDRAM_DEVICE_ADDR + WRITE_READ_ADDR, ReadBuffer, BUFFER_SIZE);
- pc.printf("\nRead data DONE\n");
-
- // Checking data integrity
- if (CompareBuffer(WriteBuffer, ReadBuffer, BUFFER_SIZE) != 0)
- {
- led_red = !led_red;
- pc.printf("Write/Read buffers are different\n");
- }
- else
- {
- led_green = !led_green;
- pc.printf("Write/Read buffers are identical\n");
- }
-
- wait(1);
- }
+ double angle = LineAnalysis(line_list, line_count, src.cols, src.rows);
+ double value = (angle - 42) / 270 * 50;
+ pc.printf("Detected angle = %.2f\r\nEstimated value = %.2f\r\n", angle, value);
}
-
-/**
- * @brief Fills buffer with user predefined data.
- * @param pBuffer: pointer on the buffer to fill
- * @param BufferLength: size of the buffer to fill
- * @param Value: first value to fill on the buffer
- * @retval None
- */
-void FillBuffer(uint32_t *pBuffer, uint32_t BufferLength, uint32_t Value)
-{
- uint32_t tmpIndex = 0;
-
- /* Put in global buffer different values */
- for (tmpIndex = 0; tmpIndex < BufferLength; tmpIndex++ )
- {
- pBuffer[tmpIndex] = tmpIndex + Value;
- }
-}
-
-/**
- * @brief Compares two buffers.
- * @param pBuffer1, pBuffer2: buffers to be compared.
- * @param BufferLength: buffer's length
- * @retval 0: pBuffer2 identical to pBuffer1
- * 1: pBuffer2 differs from pBuffer1
- */
-uint8_t CompareBuffer(uint32_t* pBuffer1, uint32_t* pBuffer2, uint16_t BufferLength)
-{
- while (BufferLength--)
- {
- if (*pBuffer1 != *pBuffer2)
- {
- return 1;
- }
-
- pBuffer1++;
- pBuffer2++;
- }
-
- return 0;
-}