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userdict/PStoPSxform PStoPSmatrix matrix currentmatrix
 matrix invertmatrix matrix concatmatrix
 matrix invertmatrix put
%%EndSetup
%%Page: (0,1,2,3,4,5,6,7) 1
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
297.500000 631.635689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
 595.000000 0 rlineto 0 842.000000 rlineto -595.000000 0 rlineto
 closepath}put initclip
/showpage{}def/copypage{}def/erasepage{}def
PStoPSxform concat
1 0 bop 857 880 a Fk(Ey)l(eb)t(ot)43 b(image)g(pro)t(cessing)h
(primitiv)l(es)960 1121 y Fj(P)m(etter)34 b(Reinholdtsen)e
Fi(<)p Fj(p)s(ere@td.org.uit.no)p Fi(>)1645 1303 y Fj(2000-04-21)1703
1602 y Fh(Abstract)763 1732 y Fg(This)27 b(do)r(cumen)n(t)f(co)n(v)n
(ers)h(image)g(pro)r(cessing)h(functions)f(a)n(v)l(ailable)h(in)f(Ey)n
(eb)r(ot)648 1824 y(RoBIOS)j(v)n(ersion)i(2.3)g(in)n(ternal)f(patc)n(h)
g(lev)n(el)h(g.)51 b(It)31 b(tries)h(to)f(giv)n(e)h(the)f(reader)g(a)
648 1915 y(go)r(o)r(d)j(start)f(to)h(use)f(the)g(a)n(v)l(ailable)h
(primitiv)n(es)e(as)i(e\013ectiv)n(e)f(as)h(p)r(ossible.)58
b(It)33 b(is)648 2006 y(based)23 b(on)f(the)h(RoBIOS)f(source)i(co)r
(de,)g(to)f(mak)n(e)f(sure)g(the)h(function)g(descriptions)648
2098 y(are)j(as)g(accurate)g(as)h(p)r(ossible.)440 2372
y Ff(1)135 b(In)l(tro)t(duction)440 2554 y Fe(Ey)n(eb)r(ot)26
b(image)g(functions)g(handle)h(4-bit)f(gra)n(y)f(scale)h(images)f(and)h
(24)g(bit)h(color)e(images.)440 2654 y(There)i(are)g(t)n(w)n(o)g
(de\014ned)g(image)g(t)n(yp)r(es,)h(a)n(v)-5 b(ailable)26
b(when)i(including)g("ey)n(eb)r(ot.h":)440 2836 y Fd(#define)41
b(imagecolumns)d(82)440 2936 y(#define)j(imagerows)f(62)440
3036 y(BYTE)i(image[imagerows])o([i)o(mag)o(ec)o(olu)o(mn)o(s];)298
b(/*)87 b(5084)41 b(bytes)h(*/)440 3135 y(BYTE)g(colimage[imagero)o(ws)
o(][i)o(ma)o(gec)o(ol)o(umn)o(s])o([3)o(];)37 b(/*)43
b(15252)e(bytes)h(*/)565 3318 y Fe(The)28 b(image)g(dimensions)g(are)g
(80)g(ro)n(ws)f(and)h(60)g(columns)g(with)h(one)g(b)r(order)e(ro)n(w)h
(on)440 3418 y(all)f(sides.)36 b(The)27 b(color)e(images)h(are)g(R)n
(GB)h(images)e(with)j(red)e(as)h(b)n(yte)f(0,)h(green)f(as)g(b)n(yte)h
(1)440 3517 y(and)g(blue)h(as)f(b)n(yte)h(2.)565 3617
y(The)k(memory)f(la)n(y)n(out)g(of)h(the)h(image)e(t)n(yp)r(es)h(mak)n
(es)g(this)g(the)h(fastest)f(w)n(a)n(y)f(to)h(lo)r(op)440
3716 y(thru)c(the)g(image)f(comp)r(onen)n(ts:)440 3899
y Fd(image)42 b(img;)440 3999 y(int)g(row,)g(column;)440
4098 y(for)g(\(row)g(=)h(1;)g(row)g(<)g(imagerows-1;)38
b(row++\))527 4198 y(for)43 b(\(column)d(=)j(1;)g(column)e(<)i
(imagecolumns-1;)38 b(column++\))614 4298 y(process_pixel\(img)o([r)o
(ow])o([c)o(olu)o(mn)o(]\);)565 4480 y Fe(Note)27 b(that)g(pixels)g(co)
r(ordinates)f(go)g(from)h(1)f(to)h(imagero)n(ws-2)d(and)j
(imagecolumns-2)440 4580 y(inclusiv)n(e)g(to)h(skip)f(the)h(b)r(order)f
(pixels.)565 4680 y(This)c(lo)r(op)g(migh)n(t)h(sometimes)f(b)r(e)h
(faster,)g(but)h(it)f(pro)r(cess)e(the)i(left)h(and)e(righ)n(t)g(b)r
(order)440 4779 y(pixels)k(as)g(w)n(ell.)440 4962 y Fd(image)42
b(img;)440 5061 y(int)g(pos;)440 5161 y(for)g(\(pos)g(=)h
(imagecolumns;)c(pos)j(<)h(imagecolumns*\(ima)o(ge)o(ro)o(ws-)o(1\))o
(;)38 b(pos++\))614 5261 y(process_pixel\(img)o([0)o(][p)o(os)o(]\);)
1851 5662 y Fe(1)p eop
PStoPSsaved restore
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
595.000000 631.635689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
 595.000000 0 rlineto 0 842.000000 rlineto -595.000000 0 rlineto
 closepath}put initclip
/showpage{}def/copypage{}def/erasepage{}def
PStoPSxform concat
2 1 bop 565 531 a Fe(The)25 b(RoBIOS)g(k)n(ernel)g(has)g(a)g(n)n(um)n
(b)r(er)g(of)h(image)e(pro)r(cessing)g(functions)i(a)n(v)-5
b(ailable.)35 b(I)440 631 y(will)27 b(here)g(group)f(them)i(in)n(to)f
(camera,)f(color,)f(grey-scale)g(and)i(LCD)h(displa)n(y)e(functions.)
440 731 y(They)h(are)g(part)g(of)h(the)g(Camera)e(\(CAM\),)j(Image)d
(Pro)r(cessing)g(\(IP\))i(and)f(LCD)h(mo)r(dule)565 830
y(In)d(addition)h(to)g(the)g(k)n(ernel)e(functions,)j(the)f(libimpro)n
(v)f(library)f(pro)n(vides)g(a)i(n)n(um)n(b)r(er)440
930 y(of)i(image)e(op)r(erations.)440 1199 y Ff(2)135
b(Camera)46 b(functions)440 1380 y Fd(#include)40 b("eyebot.h")440
1480 y(int)i(CAMInit)f(\(int)h(zoom\);)440 1580 y(int)g(CAMGetColFrame)
c(\(colimage)i(*)j(buf,)f(int)g(convert\);)440 1679 y(int)g
(CAMGetFrame)d(\(image)i(*)j(buf\);)440 1779 y(int)e(CAMMode)f(\(int)h
(mode\);)440 1879 y(int)g(CAMGet)f(\(int)h(*bright,)f(int)h(*off,)g
(int)g(*cont\);)440 1978 y(int)g(CAMSet)f(\(int)h(bright,)f(int)h(off,)
g(int)h(cont\);)565 2127 y Fe(Ey)n(eb)r(ot/RoBIOS)16
b(curren)n(tly)h(supp)r(orts)h(three)g(di\013eren)n(t)h(cameras;)h
(Greyscale)d(Quic)n(k-)440 2226 y(Cam,)29 b(Color)e(Quic)n(kCam)h(and)g
(Ey)n(eCam)f(\(color\).)39 b(The)29 b(\014rst)g(Ey)n(eb)r(ots)e(used)i
(Greyscale)440 2326 y(Quic)n(kCams,)23 b(while)g(later)g(mo)r(dels)g
(used)g(Color)e(Quic)n(kCams.)35 b(The)23 b(latest)g(mo)r(del)g(uses)g
(a)440 2426 y(lo)r(cally)j(designed)g(Ey)n(eCam,)g(as)g(the)h(older)e
(Quic)n(kCams)h(are)f(no)i(longer)e(pro)r(duced,)i(and)440
2525 y(the)h(sp)r(eci\014cations)f(for)f(the)i(new)n(er)f(Quic)n(kCams)
f(are)g(imp)r(ossible)i(to)f(get)g(from)g(Logitec.)565
2625 y(Both)i(Quic)n(kCam)g(and)g(Ey)n(eCam)g(use)g(the)i(same)e
(lenses,)h(and)f(these)h(lenses)g(can)f(b)r(e)440 2725
y(replaced)g(to)h(c)n(hange)f(viewing-angle.)43 b(Curren)n(tly)29
b(w)n(e)h(ha)n(v)n(e)e(33,)i(41,)g(43)f(and)h(47)f(degree)440
2824 y(lenses.)45 b(When)31 b(c)n(hanging)e(lens)h(on)h(the)f(camera,)g
(mak)n(e)g(sure)g(to)g(get)g(the)h(camera)e(bac)n(k)440
2924 y(to)f(fo)r(cus.)39 b(F)-7 b(o)r(cusing)28 b(is)g(done)g(b)n(y)h
(mo)n(ving)e(the)i(lens)f(bac)n(k)f(or)h(forw)n(ard)e(b)n(y)i(turning)g
(it)h(in)440 3023 y(the)f(so)r(c)n(k)n(et.)36 b(The)27
b(width)i(of)e(the)h(Ey)n(eCam)e(base)h(is)h(1/6)e(inc)n(h.)565
3123 y(The)h(follo)n(wing)g(co)r(de)g(will)h(grab)e(one)i(image)e(from)
i(the)g(camera:)440 3272 y Fd(#include)40 b("eyebot.h")440
3371 y(int)i(camversion,)d(resval,)i(resval2;)440 3471
y(image)h(img;)440 3571 y(colimage)e(colimg;)440 3770
y(while)i(\(INITERROR)d(==)k(\(camversion)c(=)k(CAMInit\(NORMAL\)\))o
(\))527 3870 y(OSWait\(CAMWAIT\);)440 4069 y(if)g(\(NOCAM)e(==)i
(camversion\))571 4168 y(LCDPutString\("No)37 b(camera"\);)440
4268 y(else)42 b(if)h(\(BWCAM)e(<=)i(camversion)c(&&)k(camversion)c(<)k
(COLCAM\))571 4368 y(resval)e(=)i(CAMGetFrame\(&img)o(\);)440
4467 y(else)f(if)h(\(COLCAM)d(<=)j(camversion)d(&&)i(camversion)e(<)j
(0x20\))571 4567 y(resval)e(=)i(CAMGetColFrame\(&)o(col)o(im)o(g,)37
b(0\);)435 b(/*)42 b(color)g(image)g(*/)571 4667 y(resval2)e(=)k
(CAMGetColFrame\()o(\(co)o(li)o(mag)o(e*)o(\)&)o(img)o(,)37
b(1\);)43 b(/*)f(grey)g(image)g(*/)440 4866 y(if)h(\(0)g(!=)f(resval\))
571 4965 y(LCDPutString\("CA)o(MG)o(et)o({Co)o(l})o(Fra)o(me)o(\(\))37
b(failed"\);)565 5114 y Fe(CAMInit\(\))f(accepts)f(parameter)f(WIDE,)h
(NORMAL)h(or)e(TELE,)h(to)g(c)n(hange)f(the)440 5214
y(zo)r(om)39 b(of)g(the)h(camera.)70 b(This)39 b(parameter)f(is)h(used)
h(b)n(y)f(grey-scale)d(Quic)n(kCam)j(only)-7 b(.)440
5313 y(CAMInit\(\))30 b(migh)n(t)e(fail)g(the)g(\014rst)g(times,)h(and)
f(the)g(while)h(lo)r(op)e(mak)n(e)h(sure)f(the)i(camera)440
5413 y(is)e(initialized)h(an)n(yw)n(a)n(y)-7 b(.)35 b(The)28
b(v)n(ersion)e(n)n(um)n(b)r(ers)h(returned)g(from)g(CAMInit\(\))i(are:)
1851 5662 y(2)p eop
PStoPSsaved restore
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
297.500000 421.135689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
 595.000000 0 rlineto 0 842.000000 rlineto -595.000000 0 rlineto
 closepath}put initclip
/showpage{}def/copypage{}def/erasepage{}def
PStoPSxform concat
3 2 bop 1351 452 1043 4 v 1349 551 4 100 v 1442 521 a
Fe(0)p 1532 551 V 99 w(Greyscale)27 b(Quic)n(kCam)p 2392
551 V 1349 651 V 1401 621 a(16)p 1532 651 V 98 w(Color)g(Quic)n(kCam)p
2392 651 V 1349 751 V 1401 721 a(17)p 1532 751 V 98 w(Ey)n(eCam)p
2392 751 V 1351 754 1043 4 v 565 907 a(CAMGetF)-7 b(rame\(\))33
b(returns)f(a)h(80x60)e(4-bit)h(grey-scale)f(image.)52
b(The)33 b(bits)g(o)r(ccup)n(y)440 1007 y(the)28 b(lo)n(w)n(er)e(4)h
(bit)h(of)g(an)f(8-bit)h(BYTE.)565 1107 y(CAMGetColF)-7
b(rame\(\))26 b(returns)f(a)h(24-bit)f(color)f(image)i(if)g(the)h
(second)e(parameter)f(is)440 1206 y(0,)j(and)h(a)f(4-bit)g(grey-scale)e
(image)i(if)h(the)g(second)f(parameter)f(is)i(1.)565
1306 y(Eac)n(h)21 b(grab)g(function)i(returns)e(as)h(so)r(on)g(as)g
(the)g(next)h(complete)f(image)g(is)g(ready)-7 b(.)34
b(The)440 1406 y(Quic)n(kCam)23 b(grey)f(scale)h(deliv)n(ers)g(20)f
(frames)i(p)r(er)f(second.)35 b(The)24 b(Quic)n(kCam)f(color)f(frame)
440 1505 y(rate)i(is)g(normally)f(6.5)g(frames)h(p)r(er)g(second.)35
b(The)24 b(Ey)n(eCam)f(is)i(stable)e(on)h(3.7)g(frames)f(p)r(er)440
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5662 y(5)p eop
PStoPSsaved restore
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
595.000000 210.635689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
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 closepath}put initclip
/showpage{}def/copypage{}def/erasepage{}def
PStoPSxform concat
6 5 bop 565 531 a Fe(There)23 b(is)g(curren)n(tly)g(no)g(w)n(a)n(y)f
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b(20000)20 b(microsecond)440 2652 y(in)28 b(the)g(sim)n(ulator.)440
2884 y Fc(5.2)112 b(LCDPutGraphic)440 3038 y Fd(#include)40
b("eyebot.h")440 3137 y(int)i(LCDPutGraphic)d(\(image)i(*img\);)565
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(scale)h(image)h(in)g(the)g(upp)r(er)h(left)f(corner)f(of)h(the)440
3419 y(blac)n(k)k(and)h(white)g(LCD)g(displa)n(y)-7 b(.)52
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b(20000)17 b(microsecond)440 4017 y(in)28 b(the)g(sim)n(ulator.)440
4292 y Ff(6)135 b(Image)46 b(pro)t(cessing)f(sp)t(eed)440
4474 y Fe(Timings)27 b(are)f(done)g(on)h(35)f(MHz)h(Ey)n(eb)r(ot)f(Mk3)
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4573 y(ran)32 b(on)g(P)n(en)n(tium)g(133)g(MHz)h(MMX.)g(ms)f(is)h(time)
g(in)g(microseconds,)f(ips)h(is)f(iterations)440 4673
y(p)r(er)c(second)f(when)g(run)h(in)g(a)f(lo)r(op.)1851
5662 y(6)p eop
PStoPSsaved restore
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
297.500000 0.135689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
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 closepath}put initclip
/showpage{}def/copypage{}def/erasepage{}def
PStoPSxform concat
7 6 bop 736 452 2273 4 v 734 551 4 100 v 1583 551 V 1634
521 a Fe(Sim)n(ulator)p 2036 551 V 2426 551 V 489 w(Ey)n(eb)r(ot)p
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1583 651 V 559 w(ms)p 2036 651 V 288 w(ips)p 2426 651
V 255 w(ms)p 2783 651 V 122 w(ips)p 3007 651 V 736 654
2273 4 v 734 754 4 100 v 786 724 a(CAMGetColF)-7 b(rame\(\))p
1583 754 V 323 w(n/a)p 2036 754 V 261 w(n/a)p 2426 754
V 106 w(270000)p 2783 754 V 116 w(3.7)p 3007 754 V 734
853 V 786 824 a(IPColor2Grey\(\))p 1583 853 V 505 w(350)p
2036 853 V 223 w(2900)p 2426 853 V 188 w(9200)p 2783
853 V 98 w(110)p 3007 853 V 734 953 V 786 923 a(IPDither\(\))p
1583 953 V 669 w(0.31)p 2036 953 V 98 w(3200000)p 2426
953 V 187 w(4400)p 2783 953 V 98 w(230)p 3007 953 V 734
1053 V 786 1023 a(IPLaplace\(\))p 1583 1053 V 624 w(0.11)p
2036 1053 V 98 w(9100000)p 2426 1053 V 146 w(21000)p
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V 98 w(2400000)p 2426 1152 V 146 w(35000)p 2783 1152
V 139 w(28)p 3007 1152 V 734 1252 V 786 1222 a(IPDi\013er\(\))p
1583 1252 V 699 w(0.11)p 2036 1252 V 98 w(9100000)p 2426
1252 V 187 w(8200)p 2783 1252 V 98 w(120)p 3007 1252
V 734 1352 V 786 1322 a(LCDPutImage\(\))p 1583 1352 V
400 w(20000)p 2036 1352 V 305 w(50)p 2426 1352 V 189
w(5500)p 2783 1352 V 98 w(180)p 3007 1352 V 734 1451
V 786 1421 a(LCDPutGraphic\(\))p 1583 1451 V 328 w(35000)p
2036 1451 V 305 w(29)p 2426 1451 V 148 w(13000)p 2783
1451 V 139 w(76)p 3007 1451 V 736 1455 2273 4 v 440 1671
a Ff(7)135 b(References)482 1853 y Fe(Ey)n(eb)r(ot)35
b(RoBIOS)h(library)f(do)r(cumen)n(tation,)j(T.)f(Br\177)-42
b(aunl,)37 b(K.)f(Sc)n(hmitt,)k(T)c(Lampart)648 1952
y(1998.)648 2052 y(h)n(ttp://www.ee.u)n(w)n(a.edu.au/)25
b(braunl/ey)n(eb)r(ot/ftp/R)n(OBIOS/library)-7 b(.h)n(tml)482
2218 y(Ey)n(esim)26 b(-)h(Ey)n(eb)r(ot)g(sim)n(ulator,)g(N.)h(T)-7
b(a)n(y)g(,)27 b(E.)g(Nic)n(hols,)g(G.)h(Ong)f(1999.)648
2318 y(h)n(ttp://www.ee.u)n(w)n(a.edu.au/)e(braunl/ey)n(eb)r
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(R.)g(C.)h(Gonzales)e(and)h(R.)h(E.)f(W)-7 b(o)r(o)r(ds,)32
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b(Changelog)482 3040 y Fe(2000-04-21)30 b(Con)n(v)n(erted)k(base)g(do)r
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3139 y(Ey)n(eCam)26 b(from)h(Ey)n(eb)r(ot.)482 3305 y(2000-01-17)21
b(Remo)n(v)n(ed)k(some)g(sp)r(elling)g(errors)f(and)i(corrected)e(the)i
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y(2000-01-10)d(First)k(v)n(ersion)f(released)g(to)i(the)g(public.)1851
5662 y(7)p eop
PStoPSsaved restore
userdict/PStoPSsaved save put
PStoPSmatrix setmatrix
595.000000 0.135689 translate
90 rotate
0.353325 dup scale
userdict/PStoPSmatrix matrix currentmatrix put
userdict/PStoPSclip{0 0 moveto
 595.000000 0 rlineto 0 842.000000 rlineto -595.000000 0 rlineto
 closepath}put initclip
PStoPSxform concat
showpage
PStoPSsaved restore
%%Trailer
end
userdict /end-hook known{end-hook}if
%%EOF