Program Listing for File xf_harris.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_HARRIS_HPP_
#define _XF_HARRIS_HPP_
#ifndef __cplusplus
#error C++ is needed to use this file!
#endif
#include "hls_stream.h"
#include "../common/xf_common.hpp"
#include "../common/xf_utility.hpp"
#include "../imgproc/xf_box_filter.hpp"
#include "../imgproc/xf_sobel.hpp"
#include "xf_harris_utils.hpp"
#include "xf_max_suppression.hpp"
#include "xf_pack_corners.hpp"
#ifndef __SYNTHESIS__
#include <iostream>
#endif
namespace xf {
namespace cv {
/************************************************************************
* xFCornerHarrisDetector : CornerHarris function to find corners in the image
************************************************************************/
template <int FILTERSIZE,
int BLOCKWIDTH,
int SRC_T,
int ROWS,
int COLS,
int CHANNELINFO,
int IN_DEPTH,
int NPC,
int IN_WW,
int OUT_WW,
int TC,
int GRAD_WW,
int DET_WW,
bool USE_URAM>
void xFCornerHarrisDetector(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src_mat,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _dst_mat,
uint16_t img_height,
uint16_t img_width,
uint16_t _nms_radius,
uint16_t _threshold,
uint16_t k) {
int scale;
if (FILTERSIZE == XF_FILTER_3X3)
scale = 6;
else if (FILTERSIZE == XF_FILTER_5X5)
scale = 12;
else if (FILTERSIZE == XF_FILTER_7X7)
scale = 1;
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradx_2(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> grady_2(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradxy(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradx2g(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> grady2g(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradxyg(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> score(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> thresh(img_height, img_width);
// clang-format off
#pragma HLS STREAM variable=gradx_2.data depth=2
#pragma HLS STREAM variable=grady_2.data depth=2
#pragma HLS STREAM variable=gradxy.data depth=2
#pragma HLS STREAM variable=grady2g.data depth=2
#pragma HLS STREAM variable=gradx2g.data depth=2
#pragma HLS STREAM variable=gradxyg.data depth=2
#pragma HLS STREAM variable=score.data depth=2
#pragma HLS STREAM variable=thresh.data depth=2
// clang-format on
// clang-format off
#pragma HLS DATAFLOW
// clang-format on
if (FILTERSIZE == XF_FILTER_7X7) {
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> gradx_mat(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> grady_mat(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> gradx1_mat(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> gradx2_mat(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> grady1_mat(img_height, img_width);
xf::cv::Mat<XF_32SC1, ROWS, COLS, NPC> grady2_mat(img_height, img_width);
// clang-format off
#pragma HLS STREAM variable=gradx_mat.data depth=2
#pragma HLS STREAM variable=grady_mat.data depth=2
#pragma HLS STREAM variable=gradx1_mat.data depth=2
#pragma HLS STREAM variable=gradx2_mat.data depth=2
#pragma HLS STREAM variable=grady1_mat.data depth=2
#pragma HLS STREAM variable=grady2_mat.data depth=2
// clang-format on
Sobel<XF_BORDER_CONSTANT, FILTERSIZE, SRC_T, XF_32SC1, ROWS, COLS, NPC, USE_URAM>(_src_mat, gradx_mat,
grady_mat);
xFDuplicate<XF_32SC1, ROWS, COLS, XF_32SP, NPC, DET_WW, TC>(gradx_mat, gradx1_mat, gradx2_mat, img_height,
img_width);
xFDuplicate<XF_32SC1, ROWS, COLS, XF_32SP, NPC, DET_WW, TC>(grady_mat, grady1_mat, grady2_mat, img_height,
img_width);
xFSquare<XF_32SC1, XF_16SC1, ROWS, COLS, XF_32SP, XF_16SP, NPC, DET_WW, GRAD_WW, TC>(
gradx1_mat, gradx_2, scale, FILTERSIZE, img_height, img_width);
xFSquare<XF_32SC1, XF_16SC1, ROWS, COLS, XF_32SP, XF_16SP, NPC, DET_WW, GRAD_WW, TC>(
grady1_mat, grady_2, scale, FILTERSIZE, img_height, img_width);
xFMultiply<XF_32SC1, XF_16SC1, ROWS, COLS, XF_32SP, XF_16SP, NPC, DET_WW, GRAD_WW, TC>(
gradx2_mat, grady2_mat, gradxy, scale, FILTERSIZE, img_height, img_width);
} else {
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradx_mat(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> grady_mat(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradx1_mat(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> grady1_mat(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> gradx2_mat(img_height, img_width);
xf::cv::Mat<XF_16SC1, ROWS, COLS, NPC> grady2_mat(img_height, img_width);
// clang-format off
#pragma HLS STREAM variable=gradx_mat.data depth=2
#pragma HLS STREAM variable=grady_mat.data depth=2
#pragma HLS STREAM variable=gradx1_mat.data depth=2
#pragma HLS STREAM variable=gradx2_mat.data depth=2
#pragma HLS STREAM variable=grady1_mat.data depth=2
#pragma HLS STREAM variable=grady2_mat.data depth=2
// clang-format on
Sobel<XF_BORDER_CONSTANT, FILTERSIZE, SRC_T, XF_16SC1, ROWS, COLS, NPC, USE_URAM>(_src_mat, gradx_mat,
grady_mat);
xFDuplicate<XF_16SC1, ROWS, COLS, XF_16SP, NPC, GRAD_WW, TC>(gradx_mat, gradx1_mat, gradx2_mat, img_height,
img_width);
xFDuplicate<XF_16SC1, ROWS, COLS, XF_16SP, NPC, GRAD_WW, TC>(grady_mat, grady1_mat, grady2_mat, img_height,
img_width);
xFSquare<XF_16SC1, XF_16SC1, ROWS, COLS, XF_16SP, XF_16SP, NPC, GRAD_WW, GRAD_WW, TC>(
gradx1_mat, gradx_2, scale, FILTERSIZE, img_height, img_width);
xFSquare<XF_16SC1, XF_16SC1, ROWS, COLS, XF_16SP, XF_16SP, NPC, GRAD_WW, GRAD_WW, TC>(
grady1_mat, grady_2, scale, FILTERSIZE, img_height, img_width);
xFMultiply<XF_16SC1, XF_16SC1, ROWS, COLS, XF_16SP, XF_16SP, NPC, GRAD_WW, GRAD_WW, TC>(
gradx2_mat, grady2_mat, gradxy, scale, FILTERSIZE, img_height, img_width);
}
boxFilter<XF_BORDER_CONSTANT, BLOCKWIDTH, XF_16SC1, ROWS, COLS, NPC, USE_URAM>(gradx_2, gradx2g);
boxFilter<XF_BORDER_CONSTANT, BLOCKWIDTH, XF_16SC1, ROWS, COLS, NPC, USE_URAM>(grady_2, grady2g);
boxFilter<XF_BORDER_CONSTANT, BLOCKWIDTH, XF_16SC1, ROWS, COLS, NPC, USE_URAM>(gradxy, gradxyg);
xFComputeScore<XF_16SC1, XF_32SC1, ROWS, COLS, XF_16SP, XF_32SP, NPC, GRAD_WW, DET_WW, TC>(
gradx2g, grady2g, gradxyg, score, img_height, img_width, k, FILTERSIZE);
xFThreshold<XF_32SC1, ROWS, COLS, XF_32SP, NPC, DET_WW, TC>(score, thresh, _threshold, img_height, img_width);
xFMaxSuppression<XF_32SC1, SRC_T, ROWS, COLS, XF_32SP, XF_8UP, NPC, DET_WW, IN_WW>(thresh, _dst_mat, _nms_radius,
img_height, img_width);
}
template <int FILTERSIZE,
int BLOCKWIDTH,
int NMSRADIUS,
int SRC_T,
int ROWS,
int COLS,
int NPC = 1,
bool USE_URAM = false>
void cornerHarris(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& src,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& dst,
uint16_t threshold,
uint16_t k) {
// clang-format off
#pragma HLS inline off
// clang-format on
uint16_t img_height = src.rows;
uint16_t img_width = src.cols; //>> XF_BITSHIFT(NPC);
#ifndef __SYNTHESIS__
assert(((FILTERSIZE == XF_FILTER_3X3) || (FILTERSIZE == XF_FILTER_5X5) || (FILTERSIZE == XF_FILTER_7X7)) &&
"filter width must be 3, 5 or 7");
assert(((BLOCKWIDTH == XF_FILTER_3X3) || (BLOCKWIDTH == XF_FILTER_5X5) || (BLOCKWIDTH == XF_FILTER_7X7)) &&
"block width must be 3, 5 or 7");
assert(((NMSRADIUS == XF_NMS_RADIUS_1) || (NMSRADIUS == XF_NMS_RADIUS_2)) && "radius size must be 1, 2");
assert(((img_height <= ROWS) && (src.cols <= COLS)) && "ROWS and COLS should be greater than input image");
assert(((NPC == XF_NPPC1) || (NPC == XF_NPPC8)) && " NPC must be 0 or 3 ");
#endif
if (NPC == XF_NPPC8) {
xFCornerHarrisDetector<FILTERSIZE, BLOCKWIDTH, SRC_T, ROWS, COLS, XF_CHANNELS(SRC_T, NPC), XF_DEPTH(SRC_T, NPC),
NPC, XF_WORDWIDTH(SRC_T, NPC), XF_32UW, (COLS >> XF_BITSHIFT(NPC)), XF_128UW, XF_256UW,
USE_URAM>(src, dst, img_height, img_width, NMSRADIUS, threshold, k);
} else if (NPC == XF_NPPC1) {
xFCornerHarrisDetector<FILTERSIZE, BLOCKWIDTH, SRC_T, ROWS, COLS, XF_CHANNELS(SRC_T, NPC), XF_DEPTH(SRC_T, NPC),
NPC, XF_WORDWIDTH(SRC_T, NPC), XF_32UW, (COLS >> XF_BITSHIFT(NPC)), XF_16UW, XF_32UW,
USE_URAM>(src, dst, img_height, img_width, NMSRADIUS, threshold, k);
}
}
} // namespace cv
} // namespace xf
#endif // _XF_HARRIS_HPP_