Department of Robotics and 

Mechatronics 

Vision Systems  

Subject: lab2_Rapid prototyping of image pre-processing algorithms and 
Frame-grabber card programming using DS1003 board with signal processor.  

Lecturer: Piotr KOHUT , PhD eng. 

Group: 

 

Name and Surname: 

Date: 

Comments: 

 
 
 
 
 
 
 
 
 
 
 
 
 

 

 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

 
1. 

The purpose of exercise

 

 

 Main objective of this exercise is to acquaint with: rapid prototyping of image pre-
processing algorithms, frame grabber card cooperating with DS1003 board equipped 
with signal processor and to make skilled at programming basic image pre-

processing algorithms. 

 
 

2. 

Exercises 

 

Develop real time application and show in the form of report each consecutive steps 
during building the following real time application: 

 
2.1. Test different register settings (05H-Mode status register) for frame-grabber 
operating in varies mode. Develop and explain register settings for frame-grabber 
programming. Develop appropriate user interface using ControlDesk and illustrate 

frame-grabber operate mode (04H -Ready status register). Describe and explain in 
details implemented S-function in C language. 
 

Between analog to digital converter and the FG board main memory there is user 
programmable LookUpTable. The vision data before is written into FG memory goes 
through LUT conversion independent for each of three channels. The LUT can be 

arbitrary programmed from the level of PHS-bus.  

 

 

A/D

LUT_R

A/D

LUT_G

A/D

LUT_B

R

G

B

MUX

MEM

MEM

MEM

MEM

PHSbus

PHSbus

8 bits

8 bits

8 bits

8 bits

8 bits

8 bits

8 bits

8 bits

8 bits

8 bits

FPGA

8 bits

8 bits

8 bits

8 bits

COUNTERS

PHSbus

CONTROL

LOAD/START

START

START

INTRQ

I8259

 

Figure 1. Block diagram of the Frame Grabber board 

 

2.2. Program LUT (fig.1) to enhance image: logarithm, square root – interpret the 
results. Explain the meaning “mdlInitializeConditions”. Use ControlDest to manage 

application. Present results using appropriate m-files in Matlab and MLIB functions.   
 
2.3. Develop program to threshold acquired images. Describe and explain the way 

parameters changing. Create appropriate user interface using ControlDesk.  
 
2.3. Describe and explain in details all implemented S-functions in C language. Use 

appropriate examples to illustrate all steps of implemented procedures.