Program Listing for File xf_pyr_dense_optical_flow_find_gradients.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_PYR_DENSE_OPTICAL_FLOW_FIND_GRADIENTS__
#define __XF_PYR_DENSE_OPTICAL_FLOW_FIND_GRADIENTS__
#include <algorithm>
template <unsigned short MAXHEIGHT,
unsigned short MAXWIDTH,
int NUM_LINES,
int IT_WIDTH,
int IT_INT,
int ITCMP_WIDTH,
int ITCMP_INT,
int FLOW_WIDTH,
int FLOW_INT,
int RMAPPX_WIDTH,
int RMAPPX_INT>
ap_fixed<IT_WIDTH, IT_INT> findIntensity(unsigned char lineBuffer[NUM_LINES + 1][MAXWIDTH],
ap_uint<11> i,
ap_uint<11> j,
ap_fixed<FLOW_WIDTH, FLOW_INT> u,
ap_fixed<FLOW_WIDTH, FLOW_INT> v,
int totalLinesInBuffer,
unsigned char effBufferedLines,
int lineStore,
unsigned int rows,
unsigned int cols,
unsigned char* fi0,
unsigned char* fi1,
unsigned char* fi2,
unsigned char* fi3) {
ap_fixed<ITCMP_WIDTH, ITCMP_INT> tmp_locj = u + j;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> tmp_loci = v + i;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> locj = tmp_locj;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> loci = tmp_loci;
if (tmp_loci < 0 || (tmp_loci) > rows - 1 || (tmp_locj) < 0 || (tmp_locj) > cols - 1 ||
(v) < (-effBufferedLines / 2) || (v) > (effBufferedLines / 2)) {
int temp = lineStore - totalLinesInBuffer / 2;
if (temp > effBufferedLines)
temp -= (totalLinesInBuffer);
else if (temp < 0)
temp = (effBufferedLines + temp);
return lineBuffer[temp][j];
} else {
// Finding which linebuffer to access
ap_fixed<ITCMP_WIDTH, ITCMP_INT> b = ((lineStore) - (totalLinesInBuffer) / 2) + v;
int b0 = b;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> fracy = ap_fixed<ITCMP_WIDTH, ITCMP_INT>(b - b0);
if (b < 0) {
fracy = 1 + fracy;
}
if (b0 > effBufferedLines)
b0 -= (totalLinesInBuffer);
else if (b < 0)
b0 = (effBufferedLines + b0);
int b1 = b0 + 1;
if (b1 > effBufferedLines)
b1 -= (totalLinesInBuffer);
else if (b1 < 0)
b1 = (effBufferedLines + b1);
// Find which location in linebuffers to access
int lx0 = tmp_locj;
// AK,ZoTech: here out of bound of current level picture access may happen, thus workaround for bound padding
// suggested: int lx1 = lx0 + ((lx0<(cols-1)) ? 1:0);
int lx1 = lx0 + 1;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> fracx = ap_fixed<ITCMP_WIDTH, ITCMP_INT>(tmp_locj - lx0);
ap_uint<8> i0 = 0;
ap_uint<8> i1 = 0;
ap_uint<8> i2 = 0;
ap_uint<8> i3 = 0;
i0 = lineBuffer[b0][lx0];
i1 = lineBuffer[b0][lx1];
i2 = lineBuffer[b1][lx0];
i3 = lineBuffer[b1][lx1];
*fi0 = i0;
*fi1 = i1;
*fi2 = i2;
*fi3 = i3;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> fracx_fx = fracx;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> fracy_fx = fracy;
// ap_fixed<RMAPPX_WIDTH,RMAPPX_INT> frac_mul = fracx * fracy;
ap_fixed<ITCMP_WIDTH, ITCMP_INT> tempmul = 1;
ap_fixed<RMAPPX_WIDTH, RMAPPX_INT> resf_fx = (tempmul - fracx_fx - fracy_fx + fracx_fx * fracy_fx) * i0 +
(fracx_fx - fracx_fx * fracy_fx) * i1 +
(fracy_fx - fracx_fx * fracy_fx) * i2 + fracx_fx * fracy_fx * i3;
ap_fixed<IT_WIDTH, IT_INT> resit = resf_fx;
return resit;
}
} // end findIntensity()
template <unsigned short MAXHEIGHT,
unsigned short MAXWIDTH,
int NUM_PYR_LEVELS,
int NUM_LINES,
int WINSIZE,
int IT_WIDTH,
int IT_INT,
int ITCMP_WIDTH,
int ITCMP_INT,
int FLOW_WIDTH,
int FLOW_INT,
int RMAPPX_WIDTH,
int RMAPPX_INT,
bool USE_URAM>
void findGradients(xf::cv::Mat<XF_8UC1, MAXHEIGHT, MAXWIDTH, XF_NPPC1>& currImg3,
xf::cv::Mat<XF_8UC1, MAXHEIGHT, MAXWIDTH, XF_NPPC1>& nextImg,
hls::stream<ap_fixed<IT_WIDTH, IT_INT> >& strmIt,
hls::stream<ap_int<9> >& strmIx,
hls::stream<ap_int<9> >& strmIy,
unsigned int rows,
unsigned int cols,
hls::stream<ap_fixed<FLOW_WIDTH, FLOW_INT> >& strmFlowUin,
hls::stream<ap_fixed<FLOW_WIDTH, FLOW_INT> >& strmFlowVin,
hls::stream<ap_fixed<FLOW_WIDTH, FLOW_INT> >& strmFlowU_in1,
hls::stream<ap_fixed<FLOW_WIDTH, FLOW_INT> >& strmFlowV_in1,
int level) {
// clang-format off
#pragma HLS inline off
// clang-format on
#if DEBUG
char name[200];
sprintf(name, "It_hw%d.txt", level);
FILE* fpit = fopen(name, "w");
sprintf(name, "idxx_hw%d.txt", level);
FILE* fpidxx = fopen(name, "w");
sprintf(name, "idxy_hw%d.txt", level);
FILE* fpidxy = fopen(name, "w");
sprintf(name, "It_i0_hw%d.txt", level);
FILE* fpiti0 = fopen(name, "w");
sprintf(name, "It_i1_hw%d.txt", level);
FILE* fpiti1 = fopen(name, "w");
sprintf(name, "It_i2_hw%d.txt", level);
FILE* fpiti2 = fopen(name, "w");
sprintf(name, "It_i3_hw%d.txt", level);
FILE* fpiti3 = fopen(name, "w");
sprintf(name, "gx_hw%d.txt", level);
FILE* fpgx = fopen(name, "w");
sprintf(name, "gy_hw%d.txt", level);
FILE* fpgy = fopen(name, "w");
#endif
unsigned char prev = 0;
unsigned char curr = 0;
ap_int<9> gradx = 0;
ap_int<9> grad = 0;
unsigned int read_curimg = 0;
unsigned int read_nxtimg = 0;
// AK,ZoTech: this buffer needs initialization as workaround to exclude "X" values in co-sim.
unsigned char lineBuffer[NUM_LINES + 1][MAXWIDTH];
if (USE_URAM) {
// clang-format off
#pragma HLS array_reshape variable=lineBuffer complete dim=1
// clang-format on
} else {
// clang-format off
#pragma HLS array_partition variable=lineBuffer complete dim=1
// clang-format on
}
unsigned char curr_img_buf[2][MAXWIDTH];
if (USE_URAM) {
// clang-format off
#pragma HLS array_reshape variable=curr_img_buf complete dim=1
// clang-format on
} else {
// clang-format off
#pragma HLS array_partition variable=curr_img_buf complete dim=1
// clang-format on
}
if (USE_URAM) {
// clang-format off
#pragma HLS RESOURCE variable=lineBuffer core=RAM_2P_URAM
#pragma HLS RESOURCE variable=curr_img_buf core=RAM_2P_URAM
// clang-format on
}
unsigned char effBufferedLines =
std::min(NUM_LINES, (1 << (NUM_PYR_LEVELS - 1 - level)) * (WINSIZE - 1) +
1); /**** Change this appropriately in original function***/
ap_uint<8> totalLinesInBuffer = effBufferedLines + 1;
int lineStore = totalLinesInBuffer / 2;
L3:
for (ap_uint<16> I = 0; I < (rows + totalLinesInBuffer / 2); I++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=1 max=MAXHEIGHT // 1080 + 11-81
// clang-format on
L4:
for (ap_uint<16> j = 0; j < cols + 1; j++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=1 max=MAXWIDTH
#pragma HLS pipeline ii=1
#pragma HLS LOOP_FLATTEN OFF
#pragma HLS dependence array intra false
// clang-format on
// #pragma HLS loop_flatten off
if (I < totalLinesInBuffer / 2) {
if (j < cols) {
if (I == 0) {
curr_img_buf[1][j] = currImg3.read(read_curimg);
read_curimg++;
// curr_img_buf[1][j] = *(currImg3 + I*cols + j);
}
lineBuffer[I][j] = nextImg.read(read_nxtimg);
read_nxtimg++;
// lineBuffer[I][j] = *(nextImg + I*cols + j);
}
} else {
ap_uint<11> i = I - totalLinesInBuffer / 2;
if (j < cols) {
if (i < rows - totalLinesInBuffer / 2) {
lineBuffer[lineStore][j] = nextImg.read(read_nxtimg);
read_nxtimg++;
// lineBuffer[lineStore][j] = *(nextImg + (i+(totalLinesInBuffer/2))*cols + j);
}
ap_fixed<FLOW_WIDTH, FLOW_INT> u = strmFlowUin.read();
ap_fixed<FLOW_WIDTH, FLOW_INT> v = strmFlowVin.read();
strmFlowU_in1.write(u);
strmFlowV_in1.write(v);
// Figure out the intensity to be subtracted using (u,v) on lineBuffer
unsigned char i0 = 0;
unsigned char i1 = 0;
unsigned char i2 = 0;
unsigned char i3 = 0;
ap_fixed<IT_WIDTH, IT_INT> nextI =
findIntensity<MAXHEIGHT, MAXWIDTH, NUM_LINES, IT_WIDTH, IT_INT, ITCMP_WIDTH, ITCMP_INT,
FLOW_WIDTH, FLOW_INT, RMAPPX_WIDTH, RMAPPX_INT>(
lineBuffer, i, j, u, v, totalLinesInBuffer, effBufferedLines, lineStore, rows, cols, &i0,
&i1, &i2, &i3);
unsigned char reg = 0;
unsigned char curr_px = 0;
ap_uint<8> regSub = 0;
ap_uint<8> prevreg = 0;
if (i == 0) {
reg = currImg3.read(read_curimg);
read_curimg++;
// reg = *(currImg3 + (i+1)*cols + j);
regSub = curr_img_buf[1][j];
curr_img_buf[1][j] = reg;
curr_img_buf[0][j] = regSub;
curr_px = regSub;
grad = reg - curr_px;
strmIy.write(grad);
#if DEBUG
fprintf(fpgy, "%d ", short(grad));
#endif
if (j == 0) {
prev = curr_px;
} // end if
else if (j == 1) {
gradx = curr_px - prev;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else-if
else {
gradx = curr_px - prev;
prev = curr;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else
} // end else-if
else if (i == rows - 1) {
regSub = curr_img_buf[1][j];
grad = regSub - curr_img_buf[0][j];
strmIy.write(grad);
#if DEBUG
fprintf(fpgy, "%d ", short(grad));
#endif
curr_px = regSub;
if (j == 0) {
prev = curr_px;
} // end if
else if (j == 1) {
gradx = curr_px - prev;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else-if
else {
gradx = curr_px - prev;
prev = curr;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else
} // end else-if
else {
reg = currImg3.read(read_curimg);
read_curimg++;
// reg = *(currImg3 + (i+1)*cols + j);
unsigned char regSub0 = curr_img_buf[0][j];
regSub = curr_img_buf[1][j];
curr_img_buf[0][j] = regSub;
curr_img_buf[1][j] = reg;
grad = reg - regSub0;
strmIy.write(grad);
#if DEBUG
fprintf(fpgy, "%d ", short(grad));
#endif
curr_px = regSub;
if (j == 0) {
prev = curr_px;
} // end if
else if (j == 1) {
gradx = curr_px - prev;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else-if
else {
gradx = curr_px - prev;
prev = curr;
curr = curr_px;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
} // end else
} // end else
ap_fixed<IT_WIDTH, IT_INT> regIT = curr_px - nextI;
strmIt.write(regIT);
#if DEBUG
fprintf(fpit, "%12.2f ", float(regIT));
fprintf(fpidxx, "%12.2f ", float(u));
fprintf(fpidxy, "%12.2f ", float(v));
fprintf(fpiti0, "%12.2f ", float(i0));
fprintf(fpiti1, "%12.2f ", float(i1));
fprintf(fpiti2, "%12.2f ", float(i2));
fprintf(fpiti3, "%12.2f ", float(i3));
#endif
if (j == cols - 1) {
lineStore++;
if (lineStore > effBufferedLines) lineStore = 0;
} // end if j==cols-1
} else {
gradx = curr - prev;
strmIx.write(gradx);
#if DEBUG
fprintf(fpgx, "%d ", short(gradx));
#endif
}
}
} // end j loop
#if DEBUG
if (I >= totalLinesInBuffer / 2) {
fprintf(fpit, "\n");
fprintf(fpidxx, "\n");
fprintf(fpidxy, "\n");
fprintf(fpiti0, "\n");
fprintf(fpiti1, "\n");
fprintf(fpiti2, "\n");
fprintf(fpiti3, "\n");
}
fprintf(fpgx, "\n");
fprintf(fpgy, "\n");
#endif
} // end i loop
#if DEBUG
fclose(fpit);
fclose(fpidxx);
fclose(fpidxy);
fclose(fpiti0);
fclose(fpiti1);
fclose(fpiti2);
fclose(fpiti3);
fclose(fpgx);
fclose(fpgy);
#endif
} // end find_It()
#endif