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1 OpenCV & Custm Bards. Cncurrent Cmputer Crpratin. Prfessinal Service Dept. Cncurrent Cmputer Crpratin 2013/5/15 1

PEX 530215 5-Channel NTSC Frame Grabber PCI

2 PEX Channel NTSC Frame Grabber PCI Express Prduct Cncurrent Cmputer Crpratin 2013/5/15 2

3 VCC F22V39APCL VCC-F22V39APCL is a high-reslutin industrial clr digital vide camera mdule utilizing a 1/3 type PS IT CCD. 330K CCD image sensr with n-chip micr-lenses realizes high sensitivity and high reslutin. At Full Frame Scan Mde, entire pixels can be read ut within apprx. 1/120s. Interface f F22V39APCL cmplies with camera link standard. Cncurrent Cmputer Crpratin 2013/5/15 3

4 VCC F22V39APCL Key Features Either PCL r PCL-Lite interface utput can be selectable. Camera settings can be changed via serial cmmunicatins. Selectable RGB and RAW 8 bit r 10 bit. 1/120~1/100,000s shutter speeds can be set per 1H. Full frame scan mde and three different partial scan mdes are available. Apprx. 120 fps at full frame scan mde. Only 29mm cubic in size (excluding prjectin), light weight 50g, and speed makes it a best match fr use in embedded systems. Cncurrent Cmputer Crpratin 2013/5/15 4

5 APX 3312 CameraLink I/F Cncurrent Cmputer Crpratin 2013/5/15 5

6 Mdel Supprted Cameras APX 3312 Specificatin APX 3312 CameraLink Mnchrme/Clr camera Area/Line scan camera PCL Safe Pwer mde Acquisitin I/F: CameraLink Base Cnfiguratin 2ch Sampling Clck 85MHz(MAX)24bit(MAX) Image Input Frmats RGB clr: 24bit Mnchrme: 8/10/12bit(1/2TAP) *1 Synchrnus Output (Camera cntrl signals) Synchrnus Input Encder CC1 t CC4 GPOUT 2ch asynchrnus External trigger (TTL/Open cllectr/differential signal RS 422) RS 422(Line driver) A/B/Z phase 1MHz(MAX) 32 bit cunter, 32 bit/16 bit cmparatr (each ne set ) (Generates image capture trigger when cmparatr matched) Cncurrent Cmputer Crpratin 2013/5/15 6

7 APX 3312 Specificatin Cnt. GPIN Memry Other Functins TTL/Open cllectr 128MByte Serial cmmunicatin fr camera cntrl(virtual COM) System Bus PCI Express 1.0a Gen1(2.5GT/s) 4 lane *2 Pwer Requirements +12V 0.9A *3 Envirnment Operating temperature: 0 t 50 Humidity: 35% t 85% (nn cndensing) Dimensin OS Sftware(Optin) 168mm 112mm, Panel width 20mm (nn prjectin) WindwsXP/Vista/7 (32/64bit) r linux (32/64bit) Develpment kit: SDK AcapLib2 Cncurrent Cmputer Crpratin 2013/5/15 7

8 Summary ID Interface Pixel Clck Ch r Size PCL e.t.c. PEX #0 NTSC MHz 5(multiplex) 640x x240 32bit DMA 30 Hz APX 3312 #0 Camera Link Base 85 MHz (max) 2 Yes 64Bit DMA Nrmal F22V39 Camera Link 1Tap Base MHz 640x480 1Tap APCL: Yes CL: N 120 Hz PCL : Pwer ver Camera Link Cncurrent Cmputer Crpratin 2013/5/15 8

9 Perfrmance APX 3312,3313,3318 Camera PEX Camera Camera On Bard Memry 32bits DMA Reserved Memry 32bits DMA On Bard Memry 64bits DMA User Buffer memcpy() memcpy() User Buffer User Buffer H i S p e e d Nt Supprt Cncurrent Cmputer Crpratin 2013/5/15 9

10 OpenCV OpenCV (Open Surce Cmputer Visin) is a library f prgramming functins fr real time cmputer visin. OpenCV is released under a BSD license and hence it s free fr bth academic and cmmercial use. It has C++, C, Pythn and Java interfaces and supprts Windws, Linux, Mac OS, ios and Andrid. OpenCV was designed fr cmputatinal efficiency and with a strng fcus n real-time applicatins. Written in ptimized C/C++, the library can take advantage f multi-cre prcessing. Adpted all arund the wrld, OpenCV has mre than 47 thusand peple f user cmmunity and estimated number f dwnlads exceeding 5.5 millin. Usage ranges frm interactive art, t mines inspectin, stitching maps n the web r thrugh advanced rbtics. Cncurrent Cmputer Crpratin 2013/5/15 10

11 OpenCV dcumentatin Welcme t pencv dcumentatin! OpenCV API Reference Intrductin cre. The Cre Functinality imgprc. Image Prcessing highgui. High-level GUI and Media I/O vide. Vide Analysis calib3d. Camera Calibratin and 3D Recnstructin features2d. 2D Features Framewrk bjdetect. Object Detectin ml. Machine Learning flann. Clustering and Search in Multi-Dimensinal Spaces gpu. GPU-accelerated Cmputer Visin pht. Cmputatinal Phtgraphy stitching. Images stitching nnfree. Nn-free functinality cntrib. Cntributed/Experimental Stuff legacy. Deprecated stuff cl. OpenCL-accelerated Cmputer Visin OpenCV4Andrid Reference Andrid OpenCV Manager Java API OpenCV User Guide Operatins with images Features2d HighGUI Cascade Classifier Training OpenCV Tutrials Cncurrent Cmputer Crpratin 2013/5/15 11

12 High level GUI and Media I/O Add 4 Bards Interface INTEFACE PEX NTSC signal Input AVAL DATA APX-3312 (PCL) APX-3313 (Nt PCL) APX-3318 (Nt PCL) Tested 2 Camera Link Device VCC-F22V39APCL(PCL) with AVALDATA APX3312&3313 IMPERX DVICL (nt PCL) AVALDATA APX3312&3313 VGA,XGA, Cncurrent Cmputer Crpratin 2013/5/15 12

13 OpenCV s Structure High level GUI and Media I/O Class library APX library PEX library OpenCV Appricatins OpenCV library Other Class library Other OpenCV Class library Cncurrent Cmputer Crpratin 2013/5/15 13

$h> using namespace cv; int main (int argc, char **argv) { cnst duble WIDTH = 640; cnst duble HEIGHT = 480; cnst int CAMERANUM = CV_CAP_AVALDATA3312+0; CvCapture *capture = NULL; IplImage *frame = 0;$

14 OpenCV : Example0 #include <cv.h> #include <highgui.h> using namespace cv; int main (int argc, char **argv) { cnst duble WIDTH = 640; cnst duble HEIGHT = 480; cnst int CAMERANUM = CV_CAP_AVALDATA3312+0; CvCapture *capture = NULL; IplImage *frame = 0; int ch; CV_CAP_AVALDATA // #0 fr F22V39APC CV_CAP_AVALDATA // #1 fr DVI CL VGA CV_CAP_PEX // fr NTSC capture = cvcreatecameracapture(cameranum); cvsetcaptureprperty (capture, CV_CAP_PROP_FRAME_WIDTH, WIDTH); cvsetcaptureprperty (capture, CV_CAP_PROP_FRAME_HEIGHT, HEIGHT); namedwindw ("Capture", CV_WINDOW_AUTOSIZE CV_WINDOW_FREERATIO); while (1) { frame = cvqueryframe (capture); cvshwimage ("Capture", frame); ch = cvwaitkey ( 5 ); if (ch == ' x1b') { break; } } cvreleasecapture (&capture); cvdestrywindw ("Capture"); return 0; } Display Speed (Hz) Cncurrent Cmputer Crpratin 2013/5/15 14

15 OpenCV:Makefile OPTIMIZE = -O4 CCFLAGS = $(OPTIMIZE) -I/usr/lcal/include/pencv2 -I/usr/lcal/include/pencv LDFLAGS = -L/usr/lcal/lib LDLIBS = -lpencv_highgui -lpencv_cre EX0 all: TEMPFILES EX0_SRC $(EX0): clean:: ### ex1.: = ex0 $(EX0) = cre cre.* *. = ex0.cc g++ $(CCFLAGS) $(LDFLAGS) - $@ $(EX0_SRC) $(LDLIBS) rm -f $(EX0) ex1.cc Cncurrent Cmputer Crpratin 2013/5/15 15

16 Supprt Capture Prperty Only Size cvsetcaptureprperty (capture, CV_CAP_PROP_FRAME_WIDTH, WIDTH); cvsetcaptureprperty (capture, CV_CAP_PROP_FRAME_HEIGHT, HEIGHT); WIDTH, HEIGHT 320,240 r 640,480 r 1024x768 Default 640x480 Cncurrent Cmputer Crpratin 2013/5/15 16

Image file read & display #include <cv.h> #include <highgui.h> using namespace cv; int main( int argc, char** argv ) { Mat rgb; rgb = imread( "/usr/lcal/opencv-2.4.3/samples/c/fruits.

17 Image file read & display #include <cv.h> #include <highgui.h> using namespace cv; int main( int argc, char** argv ) { Mat rgb; rgb = imread( "/usr/lcal/opencv-2.4.3/samples/c/fruits.jpg", /* 3-channel clr image */ 1 ); namedwindw( "Display Image", CV_WINDOW_AUTOSIZE CV_WINDOW_FREERATIO ); imshw( "Display Image", rgb ); waitkey(0); return 0; } Cncurrent Cmputer Crpratin 2013/5/15 17

18 Cnversin in the gray scale picture f a clr image #include <cv.h> #include <highgui.h> using namespace cv; int main( int argc, char** argv ) { Mat rgb, gray; rgb = imread( "/usr/lcal/opencv-2.4.3/samples/c/fruits.jpg", /* 3-channel clr image */ 1 ); cvtclr(rgb, gray, CV_BGR2GRAY); namedwindw( "Display Image", CV_WINDOW_AUTOSIZE CV_WINDOW_FREERATIO ); imshw( "Display Image", gray ); waitkey(0); return 0; } Cncurrent Cmputer Crpratin 2013/5/15 18

19 Mrphlgic peratin using a structural element. r - use rectangle structuring element Cncurrent Cmputer Crpratin 2013/5/15 19

20 Cnt. e - use elliptic structuring element Cncurrent Cmputer Crpratin 2013/5/15 20

21 Cnt. c - use crss-shaped structuring element Cncurrent Cmputer Crpratin 2013/5/15 21

22 Maximal External Regins interest pint detect. Cncurrent Cmputer Crpratin 2013/5/15 22

23 Camera Input Dynamic Display & Optical Flw. This prgram demnstrate dense Farneback ptical flw. It read frm camera 0, and shws hw t use and display dense Franeback ptical flw Cncurrent Cmputer Crpratin 2013/5/15 23

24 Camera Cnfiguratin file /usr/lcal/share/avaldata apx ch0.ini Linked VCC-F22V39APCL.ini apx ch1.ini Linked VGA.ini Cncurrent Cmputer Crpratin 2013/5/15 24

25 Other Sample Prgrams Device library Direct call /usr/lcal/acplib2/sample_x/sample_x.c /usr/lcal/cnc/drivers/pex530215/util/pex530215_example.c Real time example prgram /hme/prgram/* Cncurrent Cmputer Crpratin 2013/5/15 25

26 Easy tunings run b0 u0 all user0 prcess assigned by CPU 0 run b0 g0 all grup0 prcess assigned by CPU 0 shield a 1-11 all IRQ, Lcal Interrupt, Daemn assigned by CPU 0 run b 1-11 s fif(rr) P 99 realtime_prcess mre tunings.( IRQ assigned by CPU X) ech 2 > /prc/irq/*/smp_affinity 1 is CPU0 2 is CPU1 : IRQ Number Cncurrent Cmputer Crpratin 2013/5/15 26

27 Traffics VCC-F22V39APCL.ini 640x480x4(bytes)x120Hz = Mbytes/sec 120Hz VGA 640x480x4(bytes)x 60Hz = Mbytes/sec 60Hz NTSC( Interlace ) 640x480x4(bytes)x 30Hz = Mbytes/sec 320Hz All Interrupts Assigned by CPU 0 Ttal Mbytes/sec 2 mre than 500Hz Interrupts Camera VGA Main memry Nvidia NTSC Cncurrent Cmputer Crpratin 2013/5/15 27

28 Remark APX 3312(3threads/Prcess) Camera On Bard Memry 64bitsAddres DMA OpenCV Buffer PEX (1thread/Prcess) Camera Scramnet On Bard Memry 32bitsAddress DMA 32bitsAddress DMA Reserved Memry 64bitsAddress memcpy() Reserved Memry 64bitsAddress memcpy() OpenCV Buffer Only Supprt SimWB 4MB/sec 64bitsAddress memcpy() User Buffer S i m W B Cncurrent Cmputer Crpratin 2013/5/15 28

29 Thanks. Questins? Cncurrent Cmputer Crpratin 2013/5/15 29

PCI Multiple I/O Host Adapter 1. Introduction

PCI Multiple I/O Host Adapter 1. Introduction PCI Multiple I/O Hst Adapter 1. Intrductin This PCI Hst Adapter is a PCI cntrller bard which can upgrade yur desktp cmputer t have Multiple RS232 (UART) prts. This Lw Prfile Frm factr can supprt Lw prfile