Program Listing for File xf_pyr_dense_optical_flow_oflow_process.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_OFLOW_PROCESS__
#define __XF_PYR_DENSE_OPTICAL_FLOW_OFLOW_PROCESS__
template <unsigned short MAXHEIGHT,
unsigned short MAXWIDTH,
int WINSIZE,
int IT_WIDTH,
int IT_INT,
int SIXIY_WIDTH,
int SIXIY_INT,
int SIXYIT_WIDTH,
int SIXYIT_INT,
bool USE_URAM>
void find_G_and_b_matrix(hls::stream<ap_int<9> >& strmIx,
hls::stream<ap_int<9> >& strmIy,
hls::stream<ap_fixed<IT_WIDTH, IT_INT> >& strmIt,
hls::stream<ap_fixed<SIXIY_WIDTH, SIXIY_INT> >& sigmaIx2,
hls::stream<ap_fixed<SIXIY_WIDTH, SIXIY_INT> >& sigmaIy2,
hls::stream<ap_fixed<SIXIY_WIDTH, SIXIY_INT> >& sigmaIxIy,
hls::stream<ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> >& sigmaIxIt,
hls::stream<ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> >& sigmaIyIt,
unsigned int rows,
unsigned int cols,
int level) {
// clang-format off
#pragma HLS inline off
// clang-format on
// bufLines is used to buffer Ix, Iy, It in that order
ap_int<9> bufLines_ix[WINSIZE][MAXWIDTH + (WINSIZE >> 1)];
ap_int<9> bufLines_iy[WINSIZE][MAXWIDTH + (WINSIZE >> 1)];
ap_fixed<IT_WIDTH, IT_INT> bufLines_it[WINSIZE][MAXWIDTH + (WINSIZE >> 1)];
if (USE_URAM) {
// clang-format off
#pragma HLS array_reshape variable=bufLines_ix complete dim=1
#pragma HLS array_reshape variable=bufLines_iy complete dim=1
#pragma HLS array_reshape variable=bufLines_it complete dim=1
// clang-format on
} else {
// clang-format off
#pragma HLS array_partition variable=bufLines_ix complete dim=1
#pragma HLS array_partition variable=bufLines_iy complete dim=1
#pragma HLS array_partition variable=bufLines_it complete dim=1
// clang-format on
}
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_IxIx[MAXWIDTH + (WINSIZE >> 1)];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_IxIy[MAXWIDTH + (WINSIZE >> 1)];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_IyIy[MAXWIDTH + (WINSIZE >> 1)];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> colsum_IxIt[MAXWIDTH + (WINSIZE >> 1)];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> colsum_IyIt[MAXWIDTH + (WINSIZE >> 1)];
if (USE_URAM) {
// clang-format off
#pragma HLS ARRAY_MAP variable=bufLines_ix instance=buffers vertical
#pragma HLS ARRAY_MAP variable=bufLines_iy instance=buffers vertical
#pragma HLS ARRAY_MAP variable=bufLines_it instance=buffers vertical
// clang-format on
// clang-format off
#pragma HLS ARRAY_MAP variable=colsum_IxIx instance=buffers vertical
#pragma HLS ARRAY_MAP variable=colsum_IxIy instance=buffers vertical
#pragma HLS ARRAY_MAP variable=colsum_IyIy instance=buffers vertical
#pragma HLS ARRAY_MAP variable=colsum_IxIt instance=buffers vertical
#pragma HLS ARRAY_MAP variable=colsum_IyIt instance=buffers vertical
// clang-format on
// clang-format off
#pragma HLS RESOURCE variable=bufLines_ix core=RAM_S2P_URAM
// clang-format on
} else {
// clang-format off
#pragma HLS RESOURCE variable=colsum_IxIx core=RAM_T2P_BRAM
#pragma HLS RESOURCE variable=colsum_IxIy core=RAM_T2P_BRAM
#pragma HLS RESOURCE variable=colsum_IyIy core=RAM_T2P_BRAM
#pragma HLS RESOURCE variable=colsum_IxIt core=RAM_T2P_BRAM
#pragma HLS RESOURCE variable=colsum_IyIt core=RAM_T2P_BRAM
// clang-format on
}
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_prevWIN_IxIx[WINSIZE];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_prevWIN_IxIy[WINSIZE];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> colsum_prevWIN_IyIy[WINSIZE];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> colsum_prevWIN_IxIt[WINSIZE];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> colsum_prevWIN_IyIt[WINSIZE];
// clang-format off
#pragma HLS array_partition variable=colsum_prevWIN_IxIx complete dim=1
#pragma HLS array_partition variable=colsum_prevWIN_IxIy complete dim=1
#pragma HLS array_partition variable=colsum_prevWIN_IyIy complete dim=1
#pragma HLS array_partition variable=colsum_prevWIN_IxIt complete dim=1
#pragma HLS array_partition variable=colsum_prevWIN_IyIt complete dim=1
// clang-format on
for (int i = 0; i < WINSIZE; i++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=1 max=11
// clang-format on
for (int j = 0; j < cols + (WINSIZE >> 1); j++) {
// clang-format off
#pragma HLS pipeline ii=1
#pragma HLS LOOP_FLATTEN OFF
#pragma HLS LOOP_TRIPCOUNT min=1 max=1920
// clang-format on
bufLines_ix[i][j] = 0;
bufLines_iy[i][j] = 0;
bufLines_it[i][j] = 0;
if (i == 0) {
colsum_IxIx[j] = 0;
colsum_IxIy[j] = 0;
colsum_IyIy[j] = 0;
colsum_IxIt[j] = 0;
colsum_IyIt[j] = 0;
}
}
}
ap_uint<7> lineStore = 0;
#if DEBUG
char name[200];
sprintf(name, "sumIxt_hw%d.txt", level);
FILE* fpixt = fopen(name, "w");
sprintf(name, "sumIyt_hw%d.txt", level);
FILE* fpiyt = fopen(name, "w");
sprintf(name, "sumIx2_hw%d.txt", level);
FILE* fpix2 = fopen(name, "w");
sprintf(name, "sumIy2_hw%d.txt", level);
FILE* fpiy2 = fopen(name, "w");
sprintf(name, "sumIxy_hw%d.txt", level);
FILE* fpixy = fopen(name, "w");
#endif
ap_fixed<SIXIY_WIDTH, SIXIY_INT> sumIx2, sumIy2, sumIxIy;
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> sumIxIt, sumIyIt;
for (ap_uint<16> i = 0; i < rows + (WINSIZE >> 1); i++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=1 max=MAXHEIGHT
// clang-format on
for (ap_uint<16> j = 0; j < cols + (WINSIZE >> 1); j++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=1 max=MAXWIDTH
#pragma HLS pipeline ii=1
#pragma HLS LOOP_FLATTEN OFF
// clang-format on
if (j == 0) {
sumIx2 = 0;
sumIy2 = 0;
sumIxIy = 0;
sumIxIt = 0;
sumIyIt = 0;
}
ap_int<9> regIx = 0, regIy = 0;
ap_fixed<IT_WIDTH, IT_INT> regIt = 0;
ap_int<9> top_Ix = 0, top_Iy = 0;
ap_fixed<IT_WIDTH, IT_INT> top_It = 0;
ap_fixed<SIXIY_WIDTH, SIXIY_INT> current_ixix = 0, current_iyiy = 0, current_ixiy = 0;
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> current_ixit = 0, current_iyit = 0;
ap_fixed<SIXIY_WIDTH, SIXIY_INT> leftwin_ixix = 0, leftwin_iyiy = 0, leftwin_ixiy = 0;
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> leftwin_ixit = 0, leftwin_iyit = 0;
if (j < cols && i < rows) {
regIx = strmIx.read();
regIy = strmIy.read();
regIt = strmIt.read();
} else {
regIx = 0;
regIy = 0;
regIt = 0;
}
if (j < cols) {
top_Ix = bufLines_ix[0][j];
top_Iy = bufLines_iy[0][j];
top_It = bufLines_it[0][j];
} else {
top_Ix = 0;
top_Iy = 0;
top_It = 0;
}
for (int shiftuprow = 0; shiftuprow < WINSIZE - 1; shiftuprow++) {
// clang-format off
#pragma HLS UNROLL
// clang-format on
bufLines_ix[shiftuprow][j] = bufLines_ix[shiftuprow + 1][j];
bufLines_iy[shiftuprow][j] = bufLines_iy[shiftuprow + 1][j];
bufLines_it[shiftuprow][j] = bufLines_it[shiftuprow + 1][j];
}
bufLines_ix[WINSIZE - 1][j] = regIx;
bufLines_iy[WINSIZE - 1][j] = regIy;
bufLines_it[WINSIZE - 1][j] = regIt;
current_ixix = colsum_IxIx[j] + (regIx * regIx) - (top_Ix * top_Ix);
current_ixiy = colsum_IxIy[j] + (regIx * regIy) - (top_Ix * top_Iy);
current_iyiy = colsum_IyIy[j] + (regIy * regIy) - (top_Iy * top_Iy);
current_ixit = colsum_IxIt[j] + (regIx * regIt) - (top_Ix * top_It);
current_iyit = colsum_IyIt[j] + (regIy * regIt) - (top_Iy * top_It);
colsum_IxIx[j] = current_ixix;
colsum_IxIy[j] = current_ixiy;
colsum_IyIy[j] = current_iyiy;
colsum_IxIt[j] = current_ixit;
colsum_IyIt[j] = current_iyit;
ap_fixed<SIXIY_WIDTH, SIXIY_INT> prev_win_ixix = colsum_prevWIN_IxIx[0];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> prev_win_iyiy = colsum_prevWIN_IxIy[0];
ap_fixed<SIXIY_WIDTH, SIXIY_INT> prev_win_ixiy = colsum_prevWIN_IyIy[0];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> prev_win_ixit = colsum_prevWIN_IxIt[0];
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> prev_win_iyit = colsum_prevWIN_IyIt[0];
for (int shiftregwin = 0; shiftregwin < WINSIZE - 1; shiftregwin++) {
// clang-format off
#pragma HLS UNROLL
// clang-format on
colsum_prevWIN_IxIx[shiftregwin] = colsum_prevWIN_IxIx[shiftregwin + 1];
colsum_prevWIN_IxIy[shiftregwin] = colsum_prevWIN_IxIy[shiftregwin + 1];
colsum_prevWIN_IyIy[shiftregwin] = colsum_prevWIN_IyIy[shiftregwin + 1];
colsum_prevWIN_IxIt[shiftregwin] = colsum_prevWIN_IxIt[shiftregwin + 1];
colsum_prevWIN_IyIt[shiftregwin] = colsum_prevWIN_IyIt[shiftregwin + 1];
}
colsum_prevWIN_IxIx[WINSIZE - 1] = current_ixix;
colsum_prevWIN_IxIy[WINSIZE - 1] = current_ixiy;
colsum_prevWIN_IyIy[WINSIZE - 1] = current_iyiy;
colsum_prevWIN_IxIt[WINSIZE - 1] = current_ixit;
colsum_prevWIN_IyIt[WINSIZE - 1] = current_iyit;
if (j >= WINSIZE)
// if(0)
{
leftwin_ixix = current_ixix - prev_win_ixix;
leftwin_ixiy = current_ixiy - prev_win_iyiy;
leftwin_iyiy = current_iyiy - prev_win_ixiy;
leftwin_ixit = current_ixit - prev_win_ixit;
leftwin_iyit = current_iyit - prev_win_iyit;
} else {
leftwin_ixix = current_ixix;
leftwin_ixiy = current_ixiy;
leftwin_iyiy = current_iyiy;
leftwin_ixit = current_ixit;
leftwin_iyit = current_iyit;
}
sumIx2 += leftwin_ixix;
sumIy2 += leftwin_iyiy;
sumIxIy += leftwin_ixiy;
sumIxIt += leftwin_ixit;
sumIyIt += leftwin_iyit;
ap_fixed<SIXIY_WIDTH, SIXIY_INT> Ix2out = ap_fixed<SIXIY_WIDTH, SIXIY_INT>(sumIx2 >> 2);
ap_fixed<SIXIY_WIDTH, SIXIY_INT> Iy2out = ap_fixed<SIXIY_WIDTH, SIXIY_INT>(sumIy2 >> 2);
ap_fixed<SIXIY_WIDTH, SIXIY_INT> IxIyout = ap_fixed<SIXIY_WIDTH, SIXIY_INT>(sumIxIy >> 2);
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> IxItout = ap_fixed<SIXYIT_WIDTH, SIXIY_INT>(sumIxIt >> 1);
ap_fixed<SIXYIT_WIDTH, SIXYIT_INT> IyItout = ap_fixed<SIXYIT_WIDTH, SIXIY_INT>(sumIyIt >> 1);
if (j >= WINSIZE >> 1 && i >= WINSIZE >> 1) {
sigmaIx2.write(Ix2out);
sigmaIy2.write(Iy2out);
sigmaIxIy.write(IxIyout);
sigmaIxIt.write(IxItout);
sigmaIyIt.write(IyItout);
#if DEBUG
fprintf(fpixt, "%12.4f ", float(IxItout));
fprintf(fpiyt, "%12.4f ", float(IyItout));
fprintf(fpix2, "%12.2f ", float(Ix2out));
fprintf(fpiy2, "%12.2f ", float(Iy2out));
fprintf(fpixy, "%12.2f ", float(IxIyout));
#endif
}
} // end j loop
#if DEBUG
if (i >= WINSIZE >> 1) {
fprintf(fpixt, "\n");
fprintf(fpiyt, "\n");
fprintf(fpix2, "\n");
fprintf(fpiy2, "\n");
fprintf(fpixy, "\n");
}
#endif
}
#if DEBUG
fclose(fpixt);
fclose(fpiyt);
fclose(fpix2);
fclose(fpiy2);
fclose(fpixy);
#endif
} // end find_G()
#endif