void software_3x3_filter(const char *input)
{
filter_params filter;
Image iImage = IMAGE_INITIALIZER;
Image oImage = IMAGE_INITIALIZER;
Benchmark b;
int val = 0;
initBenchmark(&b, "Software 3x3 Filter", "");
filter_Init(&filter, 4, 2, 1, 4);
ImageRead(input, &iImage);
startBenchmark(&b);
val = filter_Execute(&filter, &iImage, &oImage);
stopBenchmark(&b);
if(val != 0) {
fprintf(stderr, "software_3x3_filter: ERROR: Filter failed.\n");
}
printBenchmark(&b);
ImageWrite("software_3x3.tif",&oImage);
ImageCleanup(&oImage);
ImageCleanup(&iImage);
}
//IMU初始化
void IMU_Init()
{
//滤波器参数初始化
filter_Init();
//传感器初始化
Sensor_Init("mpu6050",ORIENT_TOP_0DEG);
}
//IMU初始化
void ANO_IMU::Init()
{
//滤波器参数初始化
filter_Init();
//传感器初始化
sensor_Init();
}
void software_hardware_exhaustive(const char *input)
{
#ifdef ZYNQ
const int nRuns = 500;
int i = 0;
hardware_config hard_config;
filter_params filter;
Image iImage = IMAGE_INITIALIZER;
Image oImage = IMAGE_INITIALIZER;
int val = 0;
volatile int j = 0;
Benchmark b_software;
Benchmark b_hardware;
initBenchmark(&b_software, "Software 3x3 filter", "");
initBenchmark(&b_hardware, "Hardware 3x3 filter", "");
ImageRead(input, &iImage);
filter_Init(&filter, 4, 2, 1, 4);
val = hardware_filter_init(&iImage, &hard_config);
fprintf(stdout, "Running hardware %d times\n", nRuns);
startBenchmark(&b_hardware);
for(i = 0; i < nRuns; i++) {
val = hardware_filter_execute(&hard_config);
}
stopBenchmark(&b_hardware);
val = hardware_filter_cleanup(&iImage, &oImage, &hard_config);
fprintf(stdout, "Hardware runs complete\n");
fprintf(stdout, "Runnning software %d times\n", nRuns);
for(i = 0; i < nRuns; i++) {
val = filter_Execute(&filter, &iImage, &oImage);
}
stopBenchmark(&b_software);
fprintf(stdout, "Software runs complete\n");
printBenchmarkAvg(&b_hardware,nRuns);
printBenchmarkAvg(&b_software,nRuns);
#else
fprintf(stderr, "Hardware exhaustive run not supported on x86 platform\n");
#endif
}
void verify_hardware(const char *input)
{
#ifdef ZYNQ
hardware_config hard_config;
filter_params filter;
Image iImage = IMAGE_INITIALIZER;
Image oImage_software = IMAGE_INITIALIZER;
Image oImage_hardware = IMAGE_INITIALIZER;
unsigned char *hImage = NULL;
unsigned char *sImage = NULL;
int i = 0;
int val = 0;
int r = 0;
int c = 0;
int error = 0;
ImageRead(input, &iImage);
filter_Init(&filter, 4, 2, 1, 4);
if(hardware_filter_init(&iImage, &hard_config) != 0) {
fprintf(stderr, "hardware_3x3_filter: ERROR: Failed to initialize hardware driver\n");
return;
}
val = hardware_filter_execute(&hard_config);
if(val != 0) {
fprintf(stderr, "hardwaree_3x3_filter: ERROR: Filter failed.\n");
}
val = hardware_filter_cleanup(&iImage, &oImage_hardware, &hard_config);
val = filter_Execute(&filter, &iImage, &oImage_software);
if(val != 0) {
fprintf(stderr, "software_3x3_filter: ERROR: Filter failed.\n");
}
hImage = oImage_hardware.data;
sImage = oImage_software.data;
for(r = 0; r < oImage_software.height; r++) {
for(c = 0; c < oImage_software.width; c++, sImage++, hImage++) {
if((r <= 2) || (r >= oImage_software.height-3)) {
continue;
}
if((c <= 2) || (c >= oImage_software.width-3)) {
continue;
}
if(*(hImage) != *(sImage)) {
fprintf(stderr, "Mismatch: Row %d, Col %d, %d != %d\n", r, c, *sImage, *hImage);
error = 1;
}
}
}
if(!error) {
fprintf(stdout, "Images verified correct!\n");
}
ImageCleanup(&oImage_software);
ImageCleanup(&oImage_hardware);
ImageCleanup(&iImage);
#else
fprintf(stderr, "Hardware verification of 3x3 filter not supported on x86 platform\n");
#endif
}
