Program Listing for File xf_fast.hpp
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/*
* Copyright 2019 Xilinx, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef _XF_FAST_HPP_
#define _XF_FAST_HPP_
#include "hls_stream.h"
#include "common/xf_common.hpp"
#include "common/xf_utility.hpp"
#define __MIN(a, b) ((a < b) ? a : b)
#define __MAX(a, b) ((a > b) ? a : b)
#define PSize 16
#define NUM 25
namespace xf {
namespace cv {
// coreScore computes the score for corner pixels
// For a given pixel identified as corner in process_function, the theshold is
// increaded by a small value in each iteration till the pixel becomes
// a non-corner. That value of threshold becomes the score for that corner pixel.
static void xFCoreScore(short int* flag_d, int _threshold, uchar_t* core) {
// clang-format off
#pragma HLS INLINE
// clang-format on
short int flag_d_min2[NUM - 1];
short int flag_d_max2[NUM - 1];
short int flag_d_min4[NUM - 3];
short int flag_d_max4[NUM - 3];
short int flag_d_min8[NUM - 7];
short int flag_d_max8[NUM - 7];
for (ap_uint<5> i = 0; i < NUM - 1; i++) {
flag_d_min2[i] = __MIN(flag_d[i], flag_d[i + 1]);
flag_d_max2[i] = __MAX(flag_d[i], flag_d[i + 1]);
}
for (ap_uint<5> i = 0; i < NUM - 3; i++) {
flag_d_min4[i] = __MIN(flag_d_min2[i], flag_d_min2[i + 2]);
flag_d_max4[i] = __MAX(flag_d_max2[i], flag_d_max2[i + 2]);
}
for (ap_uint<5> i = 0; i < NUM - 7; i++) {
flag_d_min8[i] = __MIN(flag_d_min4[i], flag_d_min4[i + 4]);
flag_d_max8[i] = __MAX(flag_d_max4[i], flag_d_max4[i + 4]);
}
uchar_t a0 = _threshold;
for (ap_uint<5> i = 0; i < PSize; i += 2) {
short int a = 255;
if (PSize == 16) {
a = flag_d_min8[i + 1];
}
// else {
// for(ap_uint<5> j=1;j<PSize/2+1;j++)
// {
// a=__MIN(a,flag_d[i+j]);
// }
// }
a0 = __MAX(a0, __MIN(a, flag_d[i])); // a0 >= _threshold
a0 = __MAX(a0, __MIN(a, flag_d[i + PSize / 2 + 1]));
}
short int b0 = -_threshold;
for (ap_uint<5> i = 0; i < PSize; i += 2) {
short int b = -255;
if (PSize == 16) {
b = flag_d_max8[i + 1];
}
// } else {
// for(ap_uint<5> j=1;j<PSize/2+1;j++)
// {
// b=__MAX(b,flag_d[i+j]);
// }
// }
b0 = __MIN(b0, __MAX(b, flag_d[i])); // b0 <= -_threshold
b0 = __MIN(b0, __MAX(b, flag_d[i + PSize / 2 + 1]));
}
*core = __MAX(a0, -b0) - 1;
} // Core window score computation complete
template <int NPC, int WORDWIDTH, int DEPTH, int WIN_SZ, int WIN_SZ_SQ>
void xFfastProc(XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)],
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)],
ap_uint<8> win_size,
uchar_t _threshold,
XF_PTNAME(DEPTH) & pack_corners) {
// clang-format off
#pragma HLS INLINE
// clang-format on
uchar_t kx = 0, ix = 0;
// XF_SNAME(WORDWIDTH) tbuf_temp;
XF_PTNAME(DEPTH) tbuf_temp = 0;
// Main code goes here
// Bresenham's circle score computation
short int flag_d[(1 << XF_BITSHIFT(NPC))][NUM] = {0}, flag_val[(1 << XF_BITSHIFT(NPC))][NUM] = {0};
// clang-format off
#pragma HLS ARRAY_PARTITION variable=flag_val dim=1
#pragma HLS ARRAY_PARTITION variable=flag_d dim=1
// clang-format on
for (ap_uint<4> i = 0; i < 1; i++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT MAX=1
#pragma HLS LOOP_FLATTEN off
#pragma HLS PIPELINE II=1
// clang-format on
// Compute the intensity difference between the candidate pixel and pixels on the Bresenham's circle
flag_d[i][0] = src_buf[3][3 + i] - src_buf[0][3 + i]; // tbuf4[3+i] - tbuf1[3+i];
flag_d[i][1] = src_buf[3][3 + i] - src_buf[0][4 + i]; // tbuf4[3+i] - tbuf1[4+i];
flag_d[i][2] = src_buf[3][3 + i] - src_buf[1][5 + i]; // tbuf4[3+i] - tbuf2[5+i];
flag_d[i][3] = src_buf[3][3 + i] - src_buf[2][6 + i]; // tbuf4[3+i] - tbuf3[6+i];
flag_d[i][4] = src_buf[3][3 + i] - src_buf[3][6 + i]; // tbuf4[3+i] - tbuf4[6+i];
flag_d[i][5] = src_buf[3][3 + i] - src_buf[4][6 + i]; // tbuf4[3+i] - tbuf5[6+i];
flag_d[i][6] = src_buf[3][3 + i] - src_buf[5][5 + i]; // tbuf4[3+i] - tbuf6[5+i];
flag_d[i][7] = src_buf[3][3 + i] - src_buf[6][4 + i]; // tbuf4[3+i] - tbuf7[4+i];
flag_d[i][8] = src_buf[3][3 + i] - src_buf[6][3 + i]; // tbuf4[3+i] - tbuf7[3+i];
flag_d[i][9] = src_buf[3][3 + i] - src_buf[6][2 + i]; // tbuf4[3+i] - tbuf7[2+i];
flag_d[i][10] = src_buf[3][3 + i] - src_buf[5][1 + i]; // tbuf4[3+i] - tbuf6[1+i];
flag_d[i][11] = src_buf[3][3 + i] - src_buf[4][0 + i]; // tbuf4[3+i] - tbuf5[0+i];
flag_d[i][12] = src_buf[3][3 + i] - src_buf[3][0 + i]; // tbuf4[3+i] - tbuf4[0+i];
flag_d[i][13] = src_buf[3][3 + i] - src_buf[2][0 + i]; // tbuf4[3+i] - tbuf3[0+i];
flag_d[i][14] = src_buf[3][3 + i] - src_buf[1][1 + i]; // tbuf4[3+i] - tbuf2[1+i];
flag_d[i][15] = src_buf[3][3 + i] - src_buf[0][2 + i]; // tbuf4[3+i] - tbuf1[2+i];
// Repeating the first 9 values
flag_d[i][16] = flag_d[i][0];
flag_d[i][17] = flag_d[i][1];
flag_d[i][18] = flag_d[i][2];
flag_d[i][19] = flag_d[i][3];
flag_d[i][20] = flag_d[i][4];
flag_d[i][21] = flag_d[i][5];
flag_d[i][22] = flag_d[i][6];
flag_d[i][23] = flag_d[i][7];
flag_d[i][24] = flag_d[i][8];
// Classification of pixels on the Bresenham's circle into brighter, darker or similar w.r.t.
// the candidate pixel
for (ap_uint<4> j = 0; j < 8; j++) {
// clang-format off
#pragma HLS unroll
// clang-format on
if (flag_d[i][j] > _threshold)
flag_val[i][j] = 1;
else if (flag_d[i][j] < -_threshold)
flag_val[i][j] = 2;
else
flag_val[i][j] = 0;
if (flag_d[i][j + 8] > _threshold)
flag_val[i][j + 8] = 1;
else if (flag_d[i][j + 8] < -_threshold)
flag_val[i][j + 8] = 2;
else
flag_val[i][j + 8] = 0;
// Repeating the first 9 values
flag_val[i][j + PSize] = flag_val[i][j];
}
flag_val[i][PSize / 2 + PSize] = flag_val[i][PSize / 2];
flag_d[i][PSize / 2 + PSize] = flag_d[i][PSize / 2];
// Bresenham's circle score computation complete
// Decision making for corners
uchar_t core = 0;
uchar_t iscorner = 0;
uchar_t count = 1;
for (ap_uint<5> c = 1; c < PSize + PSize / 2 + 1; c++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT MAX=25
#pragma HLS UNROLL
// clang-format on
if ((flag_val[i][c - 1] == flag_val[i][c]) && flag_val[i][c] > 0) {
count++;
if (count > PSize / 2) {
iscorner = 1; // Candidate pixel is a corner
}
} else {
count = 1;
}
} // Corner position computation complete
// NMS Score Computation
if (iscorner) {
xFCoreScore(flag_d[i], _threshold, &core);
pack_corners.range(ix + 7, ix) = 255;
} else
pack_corners.range(ix + 7, ix) = 0;
ix += 8;
// Pack the 8-bit score values into 64-bit words
tbuf_temp.range(kx + 7, kx) = core; // Set bits in a range of positions.
kx += 8;
}
// return tbuf_temp;
OutputValues[0] = tbuf_temp; // array[(WIN_SZ_SQ)>>1];
return;
}
template <int SRC_T, int ROWS, int COLS, int DEPTH, int NPC, int WORDWIDTH, int TC, int WIN_SZ, int WIN_SZ_SQ>
void ProcessFast(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _out_mat,
XF_SNAME(WORDWIDTH) buf[WIN_SZ][(COLS >> XF_BITSHIFT(NPC))],
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)],
XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)],
XF_SNAME(WORDWIDTH) & P0,
uint16_t img_width,
uint16_t img_height,
uint16_t& shift_x,
ap_uint<13> row_ind[WIN_SZ],
ap_uint<13> row,
ap_uint<8> win_size,
uchar_t _threshold,
XF_PTNAME(DEPTH) & pack_corners,
int& read_index,
int& write_index) {
// clang-format off
#pragma HLS INLINE
// clang-format on
XF_SNAME(WORDWIDTH) buf_cop[WIN_SZ];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=buf_cop complete dim=1
// clang-format on
uint16_t npc = XF_NPIXPERCYCLE(NPC);
uint16_t col_loop_var = 0;
if (npc == 1) {
col_loop_var = (WIN_SZ >> 1);
} else {
col_loop_var = 1;
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS unroll
// clang-format on
for (int ext_copy = 0; ext_copy < npc + WIN_SZ - 1; ext_copy++) {
// clang-format off
#pragma HLS unroll
// clang-format on
src_buf[extract_px][ext_copy] = 0;
}
}
Col_Loop:
for (ap_uint<13> col = 0; col < ((img_width) >> XF_BITSHIFT(NPC)) + col_loop_var; col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
#pragma HLS pipeline
#pragma HLS LOOP_FLATTEN OFF
// clang-format on
if (row < img_height && col < (img_width >> XF_BITSHIFT(NPC)))
buf[row_ind[win_size - 1]][col] = _src_mat.read(read_index++); // Read data
if (NPC == XF_NPPC8) {
for (int copy_buf_var = 0; copy_buf_var < WIN_SZ; copy_buf_var++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if ((row > (img_height - 1)) && (copy_buf_var > (win_size - 1 - (row - (img_height - 1))))) {
buf_cop[copy_buf_var] = buf[(row_ind[win_size - 1 - (row - (img_height - 1))])][col];
} else {
if (col < (img_width >> XF_BITSHIFT(NPC)))
buf_cop[copy_buf_var] = buf[(row_ind[copy_buf_var])][col];
}
}
XF_PTNAME(DEPTH) src_buf_temp_copy[WIN_SZ][XF_NPIXPERCYCLE(NPC)];
XF_PTNAME(DEPTH) src_buf_temp_copy_extract[XF_NPIXPERCYCLE(NPC)];
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS unroll
// clang-format on
XF_SNAME(WORDWIDTH) toextract = buf_cop[extract_px];
xfExtractPixels<NPC, WORDWIDTH, DEPTH>(src_buf_temp_copy_extract, toextract, 0);
for (int ext_copy = 0; ext_copy < npc; ext_copy++) {
// clang-format off
#pragma HLS unroll
// clang-format on
src_buf_temp_copy[extract_px][ext_copy] = src_buf_temp_copy_extract[ext_copy];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
if (col == img_width >> XF_BITSHIFT(NPC)) {
src_buf[extract_px][col_warp + npc + (WIN_SZ >> 1)] =
src_buf[extract_px][npc + (WIN_SZ >> 1) - 1];
} else {
src_buf[extract_px][col_warp + npc + (WIN_SZ >> 1)] = src_buf_temp_copy[extract_px][col_warp];
}
}
}
if (col == 0) {
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < npc + (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp] = src_buf_temp_copy[extract_px][0];
}
}
}
XF_PTNAME(DEPTH) src_buf_temp_med_apply[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)];
for (int applyfast = 0; applyfast < npc; applyfast++) {
// clang-format off
#pragma HLS UNROLL
// clang-format on
for (int copyi = 0; copyi < WIN_SZ; copyi++) {
for (int copyj = 0; copyj < WIN_SZ; copyj++) {
src_buf_temp_med_apply[copyi][copyj] = src_buf[copyi][copyj + applyfast];
}
}
XF_PTNAME(DEPTH) OutputValues_percycle[1];
OutputValues_percycle[0] = 0;
if (row < (img_height) && row >= 6 && (!(col <= 1 && applyfast < 3)) &&
(!(col == (((img_width) >> XF_BITSHIFT(NPC))) && applyfast > 4))) // && (!(col==1 && applyfast<=6)))
{
xFfastProc<NPC, WORDWIDTH, DEPTH, WIN_SZ, WIN_SZ_SQ>(OutputValues_percycle, src_buf_temp_med_apply,
WIN_SZ, _threshold, pack_corners);
}
if (row >= img_height) {
OutputValues_percycle[0] = 0;
}
OutputValues[applyfast] = OutputValues_percycle[0];
}
if (col >= 1) {
shift_x = 0;
P0 = 0;
xfPackPixels<NPC, WORDWIDTH, DEPTH>(OutputValues, P0, 0, npc, shift_x);
_out_mat.write(write_index++, P0);
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp] = src_buf[extract_px][col_warp + npc];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < npc; col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp + (WIN_SZ >> 1)] = src_buf_temp_copy[extract_px][col_warp];
}
}
} else {
for (int copy_buf_var = 0; copy_buf_var < WIN_SZ; copy_buf_var++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if ((row > (img_height - 1)) && (copy_buf_var > (win_size - 1 - (row - (img_height - 1))))) {
buf_cop[copy_buf_var] = buf[(row_ind[win_size - 1 - (row - (img_height - 1))])][col];
} else {
buf_cop[copy_buf_var] = buf[(row_ind[copy_buf_var])][col];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if (col < img_width) {
src_buf[extract_px][win_size - 1] = buf_cop[extract_px];
} else {
src_buf[extract_px][win_size - 1] = src_buf[extract_px][win_size - 2];
}
}
if ((col < (img_width) && row < (img_height)) && col >= 6 && row >= 6) {
xFfastProc<NPC, WORDWIDTH, DEPTH, WIN_SZ, WIN_SZ_SQ>(OutputValues, src_buf, win_size, _threshold,
pack_corners);
}
if (row >= img_height || col >= img_width) {
OutputValues[0] = 0;
}
if (col >= (WIN_SZ >> 1)) {
_out_mat.write(write_index++, OutputValues[0]);
}
for (int wrap_buf = 0; wrap_buf < WIN_SZ; wrap_buf++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < WIN_SZ - 1; col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
if (col == 0) {
src_buf[wrap_buf][col_warp] = src_buf[wrap_buf][win_size - 1];
} else {
src_buf[wrap_buf][col_warp] = src_buf[wrap_buf][col_warp + 1];
}
}
}
}
} // Col_Loop
}
template <int SRC_T, int ROWS, int COLS, int DEPTH, int NPC, int WORDWIDTH, int TC, int WIN_SZ, int WIN_SZ_SQ>
void xFfast7x7(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _out_mat,
ap_uint<8> win_size,
uint16_t img_height,
uint16_t img_width,
uchar_t _threshold) {
ap_uint<13> row_ind[WIN_SZ];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=row_ind complete dim=1
// clang-format on
XF_PTNAME(DEPTH) pack_corners;
uint16_t shift_x = 0;
ap_uint<13> row, col;
XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=OutputValues complete dim=1
// clang-format on
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=src_buf complete dim=1
#pragma HLS ARRAY_PARTITION variable=src_buf complete dim=2
// clang-format on
// src_buf1 et al merged
XF_SNAME(WORDWIDTH) P0;
XF_SNAME(WORDWIDTH) buf[WIN_SZ][(COLS >> XF_BITSHIFT(NPC))];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=buf complete dim=1
#pragma HLS RESOURCE variable=buf core=RAM_S2P_BRAM
// clang-format on
// initializing row index
for (int init_row_ind = 0; init_row_ind < win_size; init_row_ind++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
row_ind[init_row_ind] = init_row_ind;
}
int read_index = 0;
int write_index = 0;
read_lines:
for (int init_buf = row_ind[win_size >> 1]; init_buf < row_ind[win_size - 1]; init_buf++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (col = 0; col<img_width>> XF_BITSHIFT(NPC); col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
#pragma HLS pipeline
#pragma HLS LOOP_FLATTEN OFF
// clang-format on
buf[init_buf][col] = _src_mat.read(read_index++);
}
}
// takes care of top borders
for (col = 0; col<img_width>> XF_BITSHIFT(NPC); col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
// clang-format on
for (int init_buf = 0; init_buf<WIN_SZ>> 1; init_buf++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
buf[init_buf][col] = 0; // buf[row_ind[win_size>>1]][col];
}
}
Row_Loop:
for (row = (win_size >> 1); row < img_height + (win_size >> 1); row++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS
// clang-format on
P0 = 0;
ProcessFast<SRC_T, ROWS, COLS, DEPTH, NPC, WORDWIDTH, TC, WIN_SZ, WIN_SZ_SQ>(
_src_mat, _out_mat, buf, src_buf, OutputValues, P0, img_width, img_height, shift_x, row_ind, row, win_size,
_threshold, pack_corners, read_index, write_index);
// update indices
ap_uint<13> zero_ind = row_ind[0];
for (int init_row_ind = 0; init_row_ind < WIN_SZ - 1; init_row_ind++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
row_ind[init_row_ind] = row_ind[init_row_ind + 1];
}
row_ind[win_size - 1] = zero_ind;
} // Row_Loop
}
template <int NPC, int DEPTH, int WIN_SZ, int WIN_SZ_SQ>
void xFnmsProc(XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)],
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)],
ap_uint<8> win_size) {
// clang-format off
#pragma HLS INLINE
// clang-format on
XF_PTNAME(DEPTH) pix;
// Comparing scores of the candidate pixel with neighbors in a 3x3 window
if (src_buf[1][1] != 0) { // if score of candidate pixel != 0
if ((src_buf[1][1] > src_buf[1][0]) && (src_buf[1][1] > src_buf[1][2]) && (src_buf[1][1] > src_buf[0][0]) &&
(src_buf[1][1] > src_buf[0][1]) && (src_buf[1][1] > src_buf[0][2]) && (src_buf[1][1] > src_buf[2][0]) &&
(src_buf[1][1] > src_buf[2][1]) && (src_buf[1][1] > src_buf[2][2])) {
pix = 255;
} else {
pix = 0;
}
} else {
pix = 0;
}
OutputValues[0] = pix; // array[(WIN_SZ_SQ)>>1];
return;
}
template <int SRC_T, int ROWS, int COLS, int DEPTH, int NPC, int WORDWIDTH, int TC, int WIN_SZ, int WIN_SZ_SQ>
void Processfastnms(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _out_mat,
XF_SNAME(WORDWIDTH) buf[WIN_SZ][(COLS >> XF_BITSHIFT(NPC))],
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)],
XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)],
XF_SNAME(WORDWIDTH) & P0,
uint16_t img_width,
uint16_t img_height,
uint16_t& shift_x,
ap_uint<13> row_ind[WIN_SZ],
ap_uint<13> row,
ap_uint<8> win_size,
int& read_index,
int& write_index) {
// clang-format off
#pragma HLS INLINE
// clang-format on
XF_SNAME(WORDWIDTH) buf_cop[WIN_SZ];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=buf_cop complete dim=1
// clang-format on
uint16_t npc = XF_NPIXPERCYCLE(NPC);
uint16_t col_loop_var = 0;
if (npc == 1) {
col_loop_var = (WIN_SZ >> 1);
} else {
col_loop_var = 1;
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS unroll
// clang-format on
for (int ext_copy = 0; ext_copy < npc + WIN_SZ - 1; ext_copy++) {
// clang-format off
#pragma HLS unroll
// clang-format on
src_buf[extract_px][ext_copy] = 0;
}
}
Col_Loop:
for (ap_uint<13> col = 0; col < ((img_width) >> XF_BITSHIFT(NPC)) + col_loop_var; col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
#pragma HLS pipeline
#pragma HLS LOOP_FLATTEN OFF
// clang-format on
if (row < img_height && col < (img_width >> XF_BITSHIFT(NPC)))
buf[row_ind[win_size - 1]][col] = _src_mat.read(read_index++); // Read data
if (NPC == XF_NPPC8) {
for (int copy_buf_var = 0; copy_buf_var < WIN_SZ; copy_buf_var++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if ((row > (img_height - 1)) && (copy_buf_var > (win_size - 1 - (row - (img_height - 1))))) {
buf_cop[copy_buf_var] = buf[(row_ind[win_size - 1 - (row - (img_height - 1))])][col];
} else {
if (col < (img_width >> XF_BITSHIFT(NPC)))
buf_cop[copy_buf_var] = buf[(row_ind[copy_buf_var])][col];
// else
// buf_cop[copy_buf_var] = buf_cop[copy_buf_var];
}
}
XF_PTNAME(DEPTH) src_buf_temp_copy[WIN_SZ][XF_NPIXPERCYCLE(NPC)];
XF_PTNAME(DEPTH) src_buf_temp_copy_extract[XF_NPIXPERCYCLE(NPC)];
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS unroll
// clang-format on
XF_SNAME(WORDWIDTH) toextract = buf_cop[extract_px];
xfExtractPixels<NPC, WORDWIDTH, DEPTH>(src_buf_temp_copy_extract, toextract, 0);
for (int ext_copy = 0; ext_copy < npc; ext_copy++) {
// clang-format off
#pragma HLS unroll
// clang-format on
src_buf_temp_copy[extract_px][ext_copy] = src_buf_temp_copy_extract[ext_copy];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
if (col == img_width >> XF_BITSHIFT(NPC)) {
src_buf[extract_px][col_warp + npc + (WIN_SZ >> 1)] =
src_buf[extract_px][npc + (WIN_SZ >> 1) - 1];
} else {
src_buf[extract_px][col_warp + npc + (WIN_SZ >> 1)] = src_buf_temp_copy[extract_px][col_warp];
}
}
}
if (col == 0) {
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < npc + (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp] = src_buf_temp_copy[extract_px][0];
}
}
}
XF_PTNAME(DEPTH) src_buf_temp_med_apply[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)];
for (int applyfast = 0; applyfast < npc; applyfast++) {
// clang-format off
#pragma HLS UNROLL
// clang-format on
for (int copyi = 0; copyi < WIN_SZ; copyi++) {
for (int copyj = 0; copyj < WIN_SZ; copyj++) {
src_buf_temp_med_apply[copyi][copyj] = src_buf[copyi][copyj + applyfast];
}
}
XF_PTNAME(DEPTH) OutputValues_percycle[XF_NPIXPERCYCLE(NPC)];
xFnmsProc<NPC, DEPTH, WIN_SZ, WIN_SZ_SQ>(OutputValues_percycle, src_buf_temp_med_apply, WIN_SZ);
OutputValues[applyfast] = OutputValues_percycle[0];
}
if (col >= 1) {
shift_x = 0;
P0 = 0;
xfPackPixels<NPC, WORDWIDTH, DEPTH>(OutputValues, P0, 0, npc, shift_x);
_out_mat.write(write_index++, P0);
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < (WIN_SZ >> 1); col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp] = src_buf[extract_px][col_warp + npc];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < npc; col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
src_buf[extract_px][col_warp + (WIN_SZ >> 1)] = src_buf_temp_copy[extract_px][col_warp];
}
}
} else {
for (int copy_buf_var = 0; copy_buf_var < WIN_SZ; copy_buf_var++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if ((row > (img_height - 1)) && (copy_buf_var > (win_size - 1 - (row - (img_height - 1))))) {
buf_cop[copy_buf_var] = buf[(row_ind[win_size - 1 - (row - (img_height - 1))])][col];
} else {
buf_cop[copy_buf_var] = buf[(row_ind[copy_buf_var])][col];
}
}
for (int extract_px = 0; extract_px < WIN_SZ; extract_px++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
if (col < img_width) {
src_buf[extract_px][win_size - 1] = buf_cop[extract_px];
} else {
src_buf[extract_px][win_size - 1] = src_buf[extract_px][win_size - 2];
}
}
xFnmsProc<NPC, DEPTH, WIN_SZ, WIN_SZ_SQ>(OutputValues, src_buf, win_size);
if (col >= (WIN_SZ >> 1)) {
_out_mat.write(write_index++, OutputValues[0]);
}
for (int wrap_buf = 0; wrap_buf < WIN_SZ; wrap_buf++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (int col_warp = 0; col_warp < WIN_SZ - 1; col_warp++) {
// clang-format off
#pragma HLS UNROLL
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
if (col == 0) {
src_buf[wrap_buf][col_warp] = src_buf[wrap_buf][win_size - 1];
} else {
src_buf[wrap_buf][col_warp] = src_buf[wrap_buf][col_warp + 1];
}
}
}
}
} // Col_Loop
}
template <int SRC_T, int ROWS, int COLS, int DEPTH, int NPC, int WORDWIDTH, int TC, int WIN_SZ, int WIN_SZ_SQ>
void xFfastnms(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _out_mat,
ap_uint<8> win_size,
uint16_t img_height,
uint16_t img_width) {
ap_uint<13> row_ind[WIN_SZ];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=row_ind complete dim=1
// clang-format on
uint16_t shift_x = 0;
ap_uint<13> row, col;
XF_PTNAME(DEPTH) OutputValues[XF_NPIXPERCYCLE(NPC)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=OutputValues complete dim=1
// clang-format on
XF_PTNAME(DEPTH) src_buf[WIN_SZ][XF_NPIXPERCYCLE(NPC) + (WIN_SZ - 1)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=src_buf complete dim=1
#pragma HLS ARRAY_PARTITION variable=src_buf complete dim=2
// clang-format on
// src_buf1 et al merged
XF_SNAME(WORDWIDTH) P0;
XF_SNAME(WORDWIDTH) buf[WIN_SZ][(COLS >> XF_BITSHIFT(NPC))];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=buf complete dim=1
#pragma HLS RESOURCE variable=buf core=RAM_S2P_BRAM
// clang-format on
// initializing row index
for (int init_row_ind = 0; init_row_ind < win_size; init_row_ind++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
row_ind[init_row_ind] = init_row_ind;
}
int readind_val = 0, writeind_val = 0;
read_lines:
for (int init_buf = row_ind[win_size >> 1]; init_buf < row_ind[win_size - 1]; init_buf++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
// clang-format on
for (col = 0; col<img_width>> XF_BITSHIFT(NPC); col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
#pragma HLS pipeline
#pragma HLS LOOP_FLATTEN OFF
// clang-format on
buf[init_buf][col] = _src_mat.read(readind_val++);
}
}
// takes care of top borders
for (col = 0; col<img_width>> XF_BITSHIFT(NPC); col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=TC max=TC
// clang-format on
for (int init_buf = 0; init_buf<WIN_SZ>> 1; init_buf++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
buf[init_buf][col] = buf[row_ind[win_size >> 1]][col];
}
}
Row_Loop:
for (row = (win_size >> 1); row < img_height + (win_size >> 1); row++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS
// clang-format on
P0 = 0;
Processfastnms<SRC_T, ROWS, COLS, DEPTH, NPC, WORDWIDTH, TC, WIN_SZ, WIN_SZ_SQ>(
_src_mat, _out_mat, buf, src_buf, OutputValues, P0, img_width, img_height, shift_x, row_ind, row, win_size,
readind_val, writeind_val);
// update indices
ap_uint<13> zero_ind = row_ind[0];
for (int init_row_ind = 0; init_row_ind < WIN_SZ - 1; init_row_ind++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ
#pragma HLS UNROLL
// clang-format on
row_ind[init_row_ind] = row_ind[init_row_ind + 1];
}
row_ind[win_size - 1] = zero_ind;
} // Row_Loop
}
template <int SRC_T, int ROWS, int COLS, int DEPTH, int NPC, int WORDWIDTH_SRC, int WORDWIDTH_DST, int NMSVAL>
void xFFastCornerDetection(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _dst_mat,
unsigned short _image_height,
unsigned short _image_width,
uchar_t _threshold) {
#ifndef __SYNTHESIS__
assert(((DEPTH == XF_8UP)) &&
"Invalid Depth. The function xFFast "
"is valid only for the Depths AU_8U");
assert(((NMSVAL == 0) || (NMSVAL == 1)) && "Invalid Value. The NMS value should be either 0 or 1");
assert(((_image_height <= ROWS) && (_image_width <= COLS)) && "ROWS and COLS should be greater than input image");
#endif
xf::cv::Mat<SRC_T, ROWS, COLS, NPC> _dst(_image_height, _image_width);
// clang-format off
#pragma HLS DATAFLOW
// clang-format on
#pragma HLS stream variable = _dst.data depth = 2
if (NMSVAL == 1) {
xFfast7x7<SRC_T, ROWS, COLS, DEPTH, NPC, WORDWIDTH_SRC, (COLS >> XF_BITSHIFT(NPC)) + (7 >> 1), 7, 7 * 7>(
_src_mat, _dst, 7, _image_height, _image_width, _threshold);
xFfastnms<SRC_T, ROWS, COLS, DEPTH, NPC, WORDWIDTH_SRC, (COLS >> XF_BITSHIFT(NPC)) + (3 >> 1), 3, 3 * 3>(
_dst, _dst_mat, 3, _image_height, _image_width);
} else if (NMSVAL == 0) {
xFfast7x7<SRC_T, ROWS, COLS, DEPTH, NPC, WORDWIDTH_SRC, (COLS >> XF_BITSHIFT(NPC)) + (7 >> 1), 7, 7 * 7>(
_src_mat, _dst_mat, 7, _image_height, _image_width, _threshold);
}
}
template <int NMS, int SRC_T, int ROWS, int COLS, int NPC = 1>
void fast(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _dst_mat,
unsigned char _threshold) {
// clang-format off
#pragma HLS inline off
// clang-format on
// clang-format off
// clang-format on
xFFastCornerDetection<SRC_T, ROWS, COLS, XF_DEPTH(SRC_T, NPC), NPC, XF_WORDWIDTH(SRC_T, NPC), XF_32UW, NMS>(
_src_mat, _dst_mat, _src_mat.rows, _src_mat.cols, _threshold);
}
} // namespace cv
} // namespace xf
#endif //_XF_FAST_HPP_