From 2b4210bf1d2e0ca7164342eb38a1885455193d24 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Fri, 30 Mar 2018 19:23:11 +0900 Subject: [PATCH 01/73] Optimized version or URAM usage, still in development. --- examples/remap/xf_config_params.h | 1 + examples/remap/xf_remap_accel.cpp | 2 +- include/imgproc/xf_remap.hpp | 99 ++++++++++++++++++++++++++----- 3 files changed, 85 insertions(+), 17 deletions(-) diff --git a/examples/remap/xf_config_params.h b/examples/remap/xf_config_params.h index 801d559..da08235 100644 --- a/examples/remap/xf_config_params.h +++ b/examples/remap/xf_config_params.h @@ -4,3 +4,4 @@ // The type of interpolation, define "XF_REMAP_INTERPOLATION" as either "XF_INTERPOLATION_NN" or "XF_INTERPOLATION_BILINEAR" #define XF_REMAP_INTERPOLATION XF_INTERPOLATION_BILINEAR +#define XF_USE_URAM false diff --git a/examples/remap/xf_remap_accel.cpp b/examples/remap/xf_remap_accel.cpp index 6f227cb..f739de6 100644 --- a/examples/remap/xf_remap_accel.cpp +++ b/examples/remap/xf_remap_accel.cpp @@ -32,6 +32,6 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. void remap_accel(xf::Mat &inMat, xf::Mat &remappedMat, xf::Mat &mapxMat, xf::Mat &mapyMat, int interpolation) { - xf::remap(inMat,remappedMat,mapxMat,mapyMat,interpolation); + xf::remap(inMat,remappedMat,mapxMat,mapyMat,interpolation); } diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index bc18187..b60e088 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -44,7 +44,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. namespace xf{ -template +template void xFRemapNNI( hls::stream< SRC_T > &src, hls::stream< DST_T > &dst, @@ -54,9 +54,15 @@ void xFRemapNNI( ) { DST_T buf[WIN_ROW][COLS]; -#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 +//#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 SRC_T s; + + ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; +#pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram + SRC_T sx8[8]; +#pragma HLS ARRAY_PARTITION variable=sx8 complete + DST_T d; MAP_T mx_fl; MAP_T my_fl; @@ -72,12 +78,19 @@ void xFRemapNNI( loop_width: for( int j=0; j< cols; j++) { #pragma HLS PIPELINE II=1 -#pragma HLS dependence array inter false +#pragma HLS dependence variable=buf inter false +#pragma HLS dependence variable=bufUram inter false +#pragma HLS dependence variable=r inter false if(i> sx8[j%8]; + for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + } else { src >> s; + buf[i % WIN_ROW][j] = s; + } } - buf[i % WIN_ROW][j] = s; r[i % WIN_ROW] = i; if(i>=ishift) @@ -89,6 +102,9 @@ void xFRemapNNI( bool in_range = (y>=0 && y=0 && x +template void xFRemapLI( hls::stream< SRC_T > &src, hls::stream< DST_T > &dst, @@ -115,6 +131,14 @@ void xFRemapLI( #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 SRC_T s; + + //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word + ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; +#pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram + DST_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables + SRC_T sx9[9]; +#pragma HLS ARRAY_PARTITION variable=sx9 complete + MAP_T mx; MAP_T my; @@ -130,15 +154,46 @@ void xFRemapLI( loop_width: for( int j=0; j< cols; j++) { #pragma HLS PIPELINE II=1 -#pragma HLS dependence array inter false +#pragma HLS dependence variable=buf inter false +#pragma HLS dependence variable=bufUram inter false +#pragma HLS dependence variable=sx9 inter false +#pragma HLS dependence variable=r1 inter false +#pragma HLS dependence variable=r2 inter false if(i0 && (j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = sx9[k]; + } else { // odd col + SRC_T const s6 = sx9[8]; + if ((i/2)>0) for (int k=0; k<9; k++) sx9[k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); + sx9[6] = s6; + sx9[7] = src.read(); + lineBuf[j] = sx9[7]; + } + } else { // odd row, togeher with fetched from line buffer 1st row of 3x3 block is stored to URAM + if (!(j%2)) { // even col + sx9[2] = lineBuf[j]; + sx9[5] = src.read(); + if ((j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = sx9[k]; + } else { // odd col + sx9[0] = sx9[2]; + sx9[1] = lineBuf[j]; + sx9[3] = sx9[5]; + sx9[4] = src.read(); + //if (j==(cols-1)) //this save is needed only at last column but may done every time + for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = sx9[k]; + } + } + } else { //for BRAM src >> s; - } - if((i % WIN_ROW) % 2) { - buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; - } else { - buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; + if((i % WIN_ROW) % 2) + buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; + else buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; + } } r1[i % WIN_ROW] = i; r2[i % WIN_ROW] = i; @@ -188,6 +243,17 @@ void xFRemapLI( ya1 = (y/2)%(WIN_ROW/2); DST_T d00, d01, d10, d11; + + DST_T d3x3[9]; +#pragma HLS ARRAY_PARTITION variable=d3x3 complete + for (int k=0; k<9; k++) d3x3[k] = bufUram[ya1][xa1](k*8+7,k*8); + + if (USE_URAM) { + d00 = d3x3[(y%2 )*3 + x%2 ]; + d01 = d3x3[(y%2 )*3 + x%2+1]; + d10 = d3x3[(y%2+1)*3 + x%2 ]; + d11 = d3x3[(y%2+1)*3 + x%2+1]; + } else { d00=buf[ya0][0][xa0][0]; d01=buf[ya0][0][xa1][1]; d10=buf[ya1][1][xa0][0]; @@ -201,6 +267,7 @@ void xFRemapLI( std::swap(d00,d10); std::swap(d01,d11); } + } ap_ufixed<2*HLS_INTER_BITS + 1, 1> k01 = (1-iv)*( iu); // iu-iu*iv ap_ufixed<2*HLS_INTER_BITS + 1, 1> k10 = ( iv)*(1-iu); // iv-iu*iv ap_ufixed<2*HLS_INTER_BITS + 1, 1> k11 = ( iv)*( iu); // iu*iv @@ -220,7 +287,7 @@ void xFRemapLI( } } -template +template void xFRemapKernel( hls::stream< SRC_T > &src, hls::stream< DST_T > &dst, @@ -231,9 +298,9 @@ void xFRemapKernel( ) { if(interpolation == XF_INTERPOLATION_NN) { - xFRemapNNI(src, dst, mapx, mapy,rows,cols); + xFRemapNNI(src, dst, mapx, mapy,rows,cols); } else if(interpolation == XF_INTERPOLATION_BILINEAR) { - xFRemapLI(src, dst, mapx, mapy,rows,cols); + xFRemapLI(src, dst, mapx, mapy,rows,cols); } } @@ -241,7 +308,7 @@ void xFRemapKernel( #pragma SDS data mem_attribute("_src_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_remapped_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapx_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapy_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS) #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL,"_remapped_mat.data":SEQUENTIAL,"_mapx_mat.data":SEQUENTIAL,"_mapy_mat.data":SEQUENTIAL) #pragma SDS data copy("_src_mat.data"[0:"_src_mat.rows*_src_mat.cols"], "_remapped_mat.data"[0:"_remapped_mat.size"],"_mapx_mat.data"[0:"_mapx_mat.size"],"_mapy_mat.data"[0:"_mapy_mat.size"]) -template +template void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat, int interpolation=XF_INTERPOLATION_NN) { @@ -289,7 +356,7 @@ void remap (xf::Mat &_src_mat, xf::Mat (_src, _remapped, _mapx, _mapy, interpolation, rows, cols); + xFRemapKernel (_src, _remapped, _mapx, _mapy, interpolation, rows, cols); xfremap_output_loop: for (int i = 0; i < loop_count; i++) From 53d81f49a5ec7e15a926996787f73c1ffc071e1f Mon Sep 17 00:00:00 2001 From: Igor Kostarnov Date: Mon, 2 Apr 2018 10:32:40 +0900 Subject: [PATCH 02/73] Create README.md --- aws_demo/README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 aws_demo/README.md diff --git a/aws_demo/README.md b/aws_demo/README.md new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/aws_demo/README.md @@ -0,0 +1 @@ + From a05f34fb85f589ff38eef432589467bbd0bdfa41 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 11 Apr 2018 11:35:22 +0900 Subject: [PATCH 03/73] No mismatches in URAM version vs BRAM version using fractional remap in c-sim and co-sim. II=1. --- include/imgproc/xf_remap.hpp | 126 ++++++++++++++++++++--------------- 1 file changed, 73 insertions(+), 53 deletions(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index b60e088..c37a77b 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -54,14 +54,14 @@ void xFRemapNNI( ) { DST_T buf[WIN_ROW][COLS]; -//#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 +#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 SRC_T s; ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram SRC_T sx8[8]; -#pragma HLS ARRAY_PARTITION variable=sx8 complete +#pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 DST_T d; MAP_T mx_fl; @@ -80,17 +80,19 @@ void xFRemapNNI( #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false -#pragma HLS dependence variable=r inter false +#pragma HLS dependence variable=r inter false if(i> sx8[j%8]; - for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; - } else { src >> s; - buf[i % WIN_ROW][j] = s; - } + + if (USE_URAM) { + sx8[j%8] = s; + for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + } } + + if (!USE_URAM) + buf[i % WIN_ROW][j] = s; r[i % WIN_ROW] = i; if(i>=ishift) @@ -127,17 +129,19 @@ void xFRemapLI( ) { // Add one to always get zero for boundary interpolation. Maybe need initialization here? - DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; + static DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 SRC_T s; - - //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word - ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; + + //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word + ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram - DST_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables - SRC_T sx9[9]; -#pragma HLS ARRAY_PARTITION variable=sx9 complete + SRC_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables + SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency +#pragma HLS ARRAY_PARTITION complete variable=s3x3 dim=0 + SRC_T s3x3_2[9]; + SRC_T s0,s3; MAP_T mx; MAP_T my; @@ -151,54 +155,71 @@ void xFRemapLI( loop_height: for( int i=0; i< rows+ishift; i++) { #pragma HLS LOOP_FLATTEN OFF - loop_width: for( int j=0; j< cols; j++) + loop_width: for( int j=0; j< cols+3; j++) { #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false -#pragma HLS dependence variable=sx9 inter false +#pragma HLS dependence variable=s3x3 inter false RAW #pragma HLS dependence variable=r1 inter false #pragma HLS dependence variable=r2 inter false if(i0 && (j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = sx9[k]; - } else { // odd col - SRC_T const s6 = sx9[8]; - if ((i/2)>0) for (int k=0; k<9; k++) sx9[k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); - sx9[6] = s6; - sx9[7] = src.read(); - lineBuf[j] = sx9[7]; - } - } else { // odd row, togeher with fetched from line buffer 1st row of 3x3 block is stored to URAM - if (!(j%2)) { // even col - sx9[2] = lineBuf[j]; - sx9[5] = src.read(); - if ((j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = sx9[k]; - } else { // odd col - sx9[0] = sx9[2]; - sx9[1] = lineBuf[j]; - sx9[3] = sx9[5]; - sx9[4] = src.read(); - //if (j==(cols-1)) //this save is needed only at last column but may done every time - for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = sx9[k]; - } - } - } else { //for BRAM src >> s; - if((i % WIN_ROW) % 2) - buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; - else buf[(i % WIN_ROW)/2][(i % WIN_ROW) % 2][j/2][j%2] = s; + } + + if (USE_URAM && i0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; + } else if (j0) { + for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); + s3x3[!!(j&2)][6] = s0; + s3x3[!!(j&2)][7] = s; + s3x3[!!(j&2)][8] = 0; + } + } + } else if (j0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = s3x3_2[k]; + } else { // odd col + s3x3_2[0] = s0; + s3x3_2[1] = lineBuf[j]; + s3x3_2[3] = s3; + s3x3_2[4] = s; + + // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) + s3x3_2[6] = 0; + s3x3_2[7] = 0; + s3x3_2[8] = 0; + //if (j==(cols-1)) { //these clearing and save is needed only at last column but may done every cycle + s3x3_2[2] = 0; + s3x3_2[5] = 0; + for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = s3x3_2[k]; + //} + } } + } + + if (!USE_URAM && j=ishift) + if(i>=ishift && j> mx; mapy >> my; @@ -244,11 +265,10 @@ void xFRemapLI( DST_T d00, d01, d10, d11; + if (USE_URAM) { DST_T d3x3[9]; -#pragma HLS ARRAY_PARTITION variable=d3x3 complete +#pragma HLS ARRAY_PARTITION variable=d3x3 complete dim=1 for (int k=0; k<9; k++) d3x3[k] = bufUram[ya1][xa1](k*8+7,k*8); - - if (USE_URAM) { d00 = d3x3[(y%2 )*3 + x%2 ]; d01 = d3x3[(y%2 )*3 + x%2+1]; d10 = d3x3[(y%2+1)*3 + x%2 ]; From 9832de380e90c4b827d8eb46983d3e0f798a82e6 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 11 Apr 2018 14:58:29 +0900 Subject: [PATCH 04/73] Merge from Xilinx upstream. --- examples/remap/xf_config_params.h | 2 +- include/imgproc/xf_remap.hpp | 6 ++---- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/examples/remap/xf_config_params.h b/examples/remap/xf_config_params.h index da08235..3093eb5 100644 --- a/examples/remap/xf_config_params.h +++ b/examples/remap/xf_config_params.h @@ -4,4 +4,4 @@ // The type of interpolation, define "XF_REMAP_INTERPOLATION" as either "XF_INTERPOLATION_NN" or "XF_INTERPOLATION_BILINEAR" #define XF_REMAP_INTERPOLATION XF_INTERPOLATION_BILINEAR -#define XF_USE_URAM false +#define XF_USE_URAM true diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index 7131d9a..c6aff15 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -317,9 +317,7 @@ void xFRemapLI( } } -template -template -template +template void xFRemapKernel( hls::stream< SRC_T > &src, hls::stream< DST_T > &dst, @@ -342,7 +340,7 @@ void xFRemapKernel( //#pragma SDS data mem_attribute("_src_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_remapped_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapx_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapy_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS) #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL,"_remapped_mat.data":SEQUENTIAL,"_mapx_mat.data":SEQUENTIAL,"_mapy_mat.data":SEQUENTIAL) #pragma SDS data copy("_src_mat.data"[0:"_src_mat.rows*_src_mat.cols"], "_remapped_mat.data"[0:"_remapped_mat.size"],"_mapx_mat.data"[0:"_mapx_mat.size"],"_mapy_mat.data"[0:"_mapy_mat.size"]) -template +template void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat) { From 3692da3d94ff722e8e454fd4b3b22e7c9865d174 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 11 Apr 2018 15:47:48 +0900 Subject: [PATCH 05/73] default URAM usage parameter is set to false. --- examples/remap/xf_config_params.h | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/remap/xf_config_params.h b/examples/remap/xf_config_params.h index 3093eb5..127aa09 100644 --- a/examples/remap/xf_config_params.h +++ b/examples/remap/xf_config_params.h @@ -5,3 +5,4 @@ // The type of interpolation, define "XF_REMAP_INTERPOLATION" as either "XF_INTERPOLATION_NN" or "XF_INTERPOLATION_BILINEAR" #define XF_REMAP_INTERPOLATION XF_INTERPOLATION_BILINEAR #define XF_USE_URAM true +#define XF_USE_URAM false From 2ada0305e59b24eacf765b8e21a5b5a4787b6921 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 11 Apr 2018 15:49:14 +0900 Subject: [PATCH 06/73] Fix: extra definition is removed. --- examples/remap/xf_config_params.h | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/remap/xf_config_params.h b/examples/remap/xf_config_params.h index 127aa09..da08235 100644 --- a/examples/remap/xf_config_params.h +++ b/examples/remap/xf_config_params.h @@ -4,5 +4,4 @@ // The type of interpolation, define "XF_REMAP_INTERPOLATION" as either "XF_INTERPOLATION_NN" or "XF_INTERPOLATION_BILINEAR" #define XF_REMAP_INTERPOLATION XF_INTERPOLATION_BILINEAR -#define XF_USE_URAM true #define XF_USE_URAM false From afbab81e16d1f1e390a073935f4f3eb7a6e5a8fe Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Fri, 13 Apr 2018 17:42:47 +0900 Subject: [PATCH 07/73] xf_remap opimization: workaround added to overcome mismatch of NN filter on the board. --- include/imgproc/xf_remap.hpp | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index c6aff15..423ba2f 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -58,9 +58,10 @@ void xFRemapNNI( SRC_T s; - ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; + // the width is one byte wider than needed to overcome URAM implementation issue + ap_uint<72> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram - SRC_T sx8[8]; + SRC_T sx8[9] = {0}; #pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 DST_T d; @@ -92,7 +93,7 @@ void xFRemapNNI( if (USE_URAM) { sx8[j%8] = s; - for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + for (int k=0; k<9; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; } } @@ -108,10 +109,14 @@ void xFRemapNNI( int y = (int)my_fl; bool in_range = (y>=0 && y=0 && x Date: Mon, 16 Apr 2018 09:57:36 +0900 Subject: [PATCH 08/73] xf_remap opimizaion :simpler workaround to overcome incorrect RTL synthesis of URAM reading (checked via board implementation). --- include/imgproc/xf_remap.hpp | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index 423ba2f..f703ee5 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -58,10 +58,9 @@ void xFRemapNNI( SRC_T s; - // the width is one byte wider than needed to overcome URAM implementation issue - ap_uint<72> bufUram[WIN_ROW][(COLS+7)/8]; + ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram - SRC_T sx8[9] = {0}; + SRC_T sx8[8]; #pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 DST_T d; @@ -93,7 +92,7 @@ void xFRemapNNI( if (USE_URAM) { sx8[j%8] = s; - for (int k=0; k<9; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; } } @@ -109,14 +108,13 @@ void xFRemapNNI( int y = (int)my_fl; bool in_range = (y>=0 && y=0 && x Date: Mon, 16 Apr 2018 11:00:58 +0300 Subject: [PATCH 09/73] . --- aws_demo/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/aws_demo/README.md b/aws_demo/README.md index 8b13789..fd40910 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -1 +1,4 @@ + + + From 0047e7e0714fd66ebbb0a7b1022a95c1989c8c23 Mon Sep 17 00:00:00 2001 From: sefo Date: Mon, 16 Apr 2018 11:18:55 +0300 Subject: [PATCH 10/73] Add Gaussian filter example --- aws_demo/gaussianfilter/makefile | 180 ++++++++++++++++++ .../xf_gaussian_filter_accel_aws.cpp | 55 ++++++ .../xf_gaussian_filter_kernel_aws.cpp | 61 ++++++ 3 files changed, 296 insertions(+) create mode 100644 aws_demo/gaussianfilter/makefile create mode 100644 aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp create mode 100644 aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp diff --git a/aws_demo/gaussianfilter/makefile b/aws_demo/gaussianfilter/makefile new file mode 100644 index 0000000..1357f2f --- /dev/null +++ b/aws_demo/gaussianfilter/makefile @@ -0,0 +1,180 @@ + +# compiler tools + +XILINX_SDX ?= /opt/Xilinx/SDx/2017.1.op +XILINX_VIVADO_HLS ?= $(XILINX_SDX)/Vivado_HLS + + +SDX_CXX ?= $(XILINX_SDX)/bin/xcpp +XOCC ?= $(XILINX_SDX)/bin/xocc +RM = rm -f +RMDIR = rm -rf + +SDX_PLATFORM = $(AWS_PLATFORM) + +XFOPENCV ?= /home/centos/src/project_data/xfopencv + +######################################## +# # +# Host section # +# # +######################################## + +XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter + +XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 +XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl + +CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ +CXXFLAGS += -I$(XFOPENCV)/include/ +CXXFLAGS += -I$(XF_EXAMPLE_DIR)/ +CXXFLAGS += -I$(XCL2_LIB_DIR)/ +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/Vivado_HLS/include +CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 + +#--- Specify OpenCV libraries ---# + +LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv +LDFLAGS += -lopencv_core +LDFLAGS += -lopencv_imgproc +LDFLAGS += -lopencv_highgui + +#--- Specify common libraries ---# + +LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o +LDFLAGS += -lstdc++ +LDFLAGS += -lpthread +LDFLAGS += -lrt + +#--- Specify AWS libraries ---# + +LDFLAGS += -L/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 +LDFLAGS += -lxilinxopencl + +#--- Specify runtime libraries ---# + +LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv +LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o +LDFLAGS += -Wl,-rpath,/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 + +#--- Specify objects ---# + +HOST_DEP = ../src/xcl2.hpp + +HOST_AWS_SRC += xf_gaussian_filter_accel_aws +HOST_SDx_SRC += xcl2 +HOST_XF_SRC += xf_gaussian_filter_tb + +HOST_AWS_DIR = ./ +HOST_BLD_DIR = build/host + +HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) +HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) +HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) + +HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) + +HOST_EXE ?= xf_arg + +BUILD_SUBDIRS += $(HOST_BLD_DIR) + + +######################################## +# # +# Kernel section # +# # +######################################## + + +XOCC_OPTS = -t hw --platform $(SDX_PLATFORM) --save-temps --report system + +# +# OpenCL kernel files +# + +BINARY_CONTAINERS += xf_gaussian_filter.xclbin + +BUILD_SUBDIRS += build/kernel +BINARY_CONTAINER_1_OBJS += build/kernel/xf_gaussian_filter.xo +ALL_KERNEL_OBJS += build/kernel/xf_gaussian_filter.xo + +ALL_MESSAGE_FILES = $(subst .xo,.mdb,$(ALL_KERNEL_OBJS)) $(subst .xclbin,.mdb,$(BINARY_CONTAINERS)) + + +# +# primary build targets +# + +.PHONY: all clean + +all: krnl host + +host: $(HOST_EXE) + +krnl: $(BINARY_CONTAINERS) + +clean: + $(RMDIR) $(HOST_BLD_DIR) +# -$(RM) $(BINARY_CONTAINERS) $(ALL_KERNEL_OBJS) $(ALL_MESSAGE_FILES) $(HOST_EXE) src/$(HOST_OBJ) +# -$(RM) *.xclbin.sh +# -$(RMDIR) $(BUILD_SUBDIRS) +# -$(RMDIR) _xocc* +# -$(RMDIR) .Xil +# -$(RM) xf_arg + +.PHONY: incremental +incremental: all + + +nothing: + +# +# binary container: binary_container_1.xclbin +# + +build/kernel/xf_gaussian_filter.xo: xf_gaussian_filter_kernel_aws.cpp + @echo "mkdir -p $(@D)" + $(XOCC) $(XOCC_OPTS) -c -k xf_gaussian_filter --max_memory_ports xf_gaussian_filter --messageDb $(subst .xo,.mdb,$@) -I"$( xf_gaussian_filter.xclbin.sh + $(XOCC) $(XOCC_OPTS) -l --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) + +# +# host rules +# + +$(HOST_AWS_OBJ): $(HOST_BLD_DIR)/%.o : $(HOST_AWS_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + + +$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + +$(HOST_XF_OBJ): $(HOST_BLD_DIR)/%.o : $(XF_EXAMPLE_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + + +$(HOST_EXE): $(HOST_OBJ) + @echo "================================================================" + @echo "Linking of $@" + @echo "================================================================" + $(SDX_CXX) -o "$@" $(+) $(LDFLAGS) + + + diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp new file mode 100644 index 0000000..8fc3ee8 --- /dev/null +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp @@ -0,0 +1,55 @@ +#include +#include +#include + +#include "xcl2.hpp" + +#include "xf_gaussian_filter_config.h" + +void gaussian_filter_accel(xf::Mat &imgInput,xf::Mat&imgOutput, float sigma) +{ + std::vector devices = xcl::get_xil_devices(); + + cl::Device device = devices[0]; + + cl::Context context(device); + + cl::CommandQueue q(context, device, CL_QUEUE_PROFILING_ENABLE); + std::string device_name = device.getInfo(); + + std::string binaryFile = "xf_gaussian_filter.awsxclbin"; //xcl::find_binary_file(device_name,"xf_gaussian_filter"); + + std::cout << "========" << binaryFile << " ==================" << std::endl; + + cl::Program::Binaries bins = xcl::import_binary_file(binaryFile); + devices.resize(1); + cl::Program program(context, devices, bins); + cl::Kernel kernel(program,"xf_gaussian_filter"); + + //----------- Allocate Buffer in Global Memory -----------// + + cl::Buffer buffer_inp(context,CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY , imgInput.rows * imgInput.cols, imgInput.data); + cl::Buffer buffer_out(context,CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY, imgOutput.rows * imgOutput.cols, imgOutput.data); + + std::vector writeBufVec; + writeBufVec.push_back(buffer_inp); + + //----------- Migrate input data to device global memory -----------// + + q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host + + auto krnl = cl::KernelFunctor(kernel); + + //----------- Launch the Kernel -----------// + + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma); + + std::vector readBufVec; + readBufVec.push_back(buffer_out); + + //----------- Copy Result from Device Global Memory to Host Local Memory -----------// + + q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); + q.finish(); + +} diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp new file mode 100644 index 0000000..0026a4b --- /dev/null +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -0,0 +1,61 @@ +//Includes +#include +#include +#include + + +#include "common/xf_common.h" + +#include "xf_gaussian_filter_config.h" + +#include "imgproc/xf_gaussian_filter.hpp" + + +extern "C" void xf_gaussian_filter(unsigned int *a, unsigned int *c, int rows, int cols, float sigma); + + + void xf_gaussian_filter(unsigned int *a, unsigned int *c, int rows, int cols, float sigma) + { + #pragma HLS INTERFACE m_axi port=a offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=c offset=slave bundle=gmem + #pragma HLS INTERFACE s_axilite port=a bundle=control + #pragma HLS INTERFACE s_axilite port=c bundle=control + #pragma HLS INTERFACE s_axilite port=rows bundle=control + #pragma HLS INTERFACE s_axilite port=cols bundle=control + #pragma HLS INTERFACE s_axilite port=sigma bundle=control + #pragma HLS INTERFACE s_axilite port=return bundle=control + + #pragma HLS inline region + + int img_size = rows * cols; + + xf::Mat img_a(rows, cols); + xf::Mat img_c(rows, cols); + + #pragma HLS stream variable=img_a.data depth=1 + #pragma HLS stream variable=img_c.data depth=1 + + unsigned int *dst_a = (unsigned int*)img_a.data; + + read_data_a: for (int i = 0 ; i < img_size/4; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=65536 + + unsigned int ta = a[i]; + + dst_a[i] = ta; + } + + xf::GaussianBlur(img_a, img_c, sigma); + + unsigned int *src = (unsigned int *)img_c.data; + + write_data_c: for (int i = 0 ; i < img_size/4; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=65536 + + c[i] = src[i]; + } + } + + From 2805ed6155c1e1a696acfe0f92f9c1c88ce67314 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Tue, 17 Apr 2018 19:09:08 +0900 Subject: [PATCH 11/73] xf_warp URAM optimization: Initial commit. --- examples/warptransform/xf_config_params.h | 5 +- .../warptransform/xf_warp_transform_accel.cpp | 2 +- include/imgproc/xf_warp_transform.hpp | 56 ++++++++++++++++++- 3 files changed, 58 insertions(+), 5 deletions(-) diff --git a/examples/warptransform/xf_config_params.h b/examples/warptransform/xf_config_params.h index e903c30..8d2ee85 100644 --- a/examples/warptransform/xf_config_params.h +++ b/examples/warptransform/xf_config_params.h @@ -16,4 +16,7 @@ #define INTERPOLATION 1 //transform type 0-AFFINE 1-PERSPECTIVE -#define TRANSFORM_TYPE 0 \ No newline at end of file +#define TRANSFORM_TYPE 0 + +//usage of URAMs for buffers implementation +#define XF_USE_URAM false diff --git a/examples/warptransform/xf_warp_transform_accel.cpp b/examples/warptransform/xf_warp_transform_accel.cpp index a9d0b65..1295a80 100644 --- a/examples/warptransform/xf_warp_transform_accel.cpp +++ b/examples/warptransform/xf_warp_transform_accel.cpp @@ -31,5 +31,5 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. void warp_transform_accel(xf::Mat &_src, xf::Mat &_dst, float *R) { - xf::warpTransform(_src, _dst, R); + xf::warpTransform(_src, _dst, R); } diff --git a/include/imgproc/xf_warp_transform.hpp b/include/imgproc/xf_warp_transform.hpp index 2945a08..cb3acc7 100644 --- a/include/imgproc/xf_warp_transform.hpp +++ b/include/imgproc/xf_warp_transform.hpp @@ -264,7 +264,41 @@ XF_TNAME(DEPTH,NPC) retrieve_EvOd_image4x1(int i,int j,int A, int B, int C, int return XF_TNAME(DEPTH,NPC)((op_val+(1<<(INTER_REMAP_COEF_BITS-1)))>>INTER_REMAP_COEF_BITS); }; -template + +template +void store_in_UramNN(XF_TNAME(DEPTH,NPC) in_pixel, ap_uint<16> i,ap_uint<16> j, ap_uint<64> bufUram[STORE_LINES][(COLS+7)/8]) +{ +#pragma HLS INLINE + + static XF_TNAME(DEPTH,NPC) sx8[8]; + sx8[j%8] = in_pixel; + for (int k=0; k<8; k++) bufUram[i][j/8](k*8+7,k*8) = sx8[k]; +}; + +template +void store_in_UramBL(XF_TNAME(DEPTH,NPC) in_pixel, ap_uint<16> i,ap_uint<16> j, ap_uint<72> bufUram[(STORE_LINES+1)/2][(COLS+1)/2]) +{ +#pragma HLS INLINE +}; + +template +XF_TNAME(DEPTH,NPC) retrieve_UramNN(int i,int j, ap_uint<64> bufUram[STORE_LINES][(COLS+7)/8]) +{ +#pragma HLS INLINE + + XF_TNAME(DEPTH,NPC) dx8[8]; + for (int k=0; k<8; k++) dx8[k] = bufUram[i][j/8](k*8+7,k*8); + return dx8[j%8]; +}; + +template +XF_TNAME(DEPTH,NPC) retrieve_UramBL(int i,int j,int A, int B, int C, int D, ap_uint<72> bufUram[(STORE_LINES+1)/2][(COLS+1)/2]) +{ +#pragma HLS INLINE + return 0; +}; + +template int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls::stream< XF_TNAME(DEPTH,NPC) > &output_image, float P_matrix[9], short img_rows, short img_cols) { #pragma HLS INLINE @@ -298,6 +332,12 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: #pragma HLS DEPENDENCE variable=store1_pt_2OdR_EvC intra false #pragma HLS DEPENDENCE variable=store1_pt_2OdR_OdC intra false + //URAM based storages + ap_uint<64> bufUramNN[STORE_LINES][(COLS+7)/8]; +#pragma HLS RESOURCE variable=bufUramNN core=XPM_MEMORY uram + //URAM storage garnularity for BL inerpolation is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word + ap_uint<72> bufUramBL[(STORE_LINES+1)/2][(COLS+1)/2]; +#pragma HLS RESOURCE variable=bufUramBL core=XPM_MEMORY uram //varables for loop counters ap_uint<16> i=0,j=0,k=0,l=0,m=0,n=0,p=0; @@ -362,6 +402,10 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: //function to store the input image stream to //a buffer of size STORE_LINES rows //computing i-l to snap the writes to STORE_LINES size buffer + if (USE_URAM) + if (INTERPOLATION_TYPE) store_in_UramBL(input_image.read() ,i-l,j, bufUramBL); + else store_in_UramNN(input_image.read() ,i-l,j, bufUramNN); + else store_EvOd_image1( input_image.read() ,i-l,j, store1_pt_2EvR_EvC, store1_pt_2EvR_OdC, store1_pt_2OdR_EvC, store1_pt_2OdR_OdC); } @@ -468,11 +512,17 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: I1 = I - m; if(INTERPOLATION_TYPE==0) { + if (USE_URAM) + op_val = retrieve_UramNN (I1,J, bufUramNN); + else op_val = retrieve_EvOd_image1(I1,J, store1_pt_2EvR_EvC, store1_pt_2EvR_OdC, store1_pt_2OdR_EvC, store1_pt_2OdR_OdC); } else { //calling the read function with interpolation + if (USE_URAM) + op_val = retrieve_UramBL (I1,J,A,B,C,D, bufUramBL); + else op_val = retrieve_EvOd_image4x1(I1,J,A,B,C,D, store1_pt_2EvR_EvC, store1_pt_2EvR_OdC, store1_pt_2OdR_EvC, store1_pt_2OdR_OdC); } } @@ -497,7 +547,7 @@ return 0; #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL) #pragma SDS data access_pattern("_dst_mat.data":SEQUENTIAL) #pragma SDS data mem_attribute ("_src_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS, "_dst_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS) -template +template void warpTransform(xf::Mat & _src_mat, xf::Mat & _dst_mat, float P_matrix[9]) { #pragma HLS INLINE OFF @@ -516,7 +566,7 @@ hls::stream< XF_TNAME(TYPE,NPC) > out_stream; } } -xFwarpTransformKernel(in_stream, out_stream, P_matrix, _src_mat.rows, _src_mat.cols); +xFwarpTransformKernel(in_stream, out_stream, P_matrix, _src_mat.rows, _src_mat.cols); for(int i=0; i<_dst_mat.rows;i++) { From 05516d0f307bd8389fdc7e09b28d705fd06c0375 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 18 Apr 2018 18:53:26 +0900 Subject: [PATCH 12/73] xf_warp URAM optimization: NN interpolation is done, Bilinear is started. --- include/imgproc/xf_warp_transform.hpp | 90 ++++++++++++++++++++++++--- 1 file changed, 82 insertions(+), 8 deletions(-) diff --git a/include/imgproc/xf_warp_transform.hpp b/include/imgproc/xf_warp_transform.hpp index cb3acc7..0896c19 100644 --- a/include/imgproc/xf_warp_transform.hpp +++ b/include/imgproc/xf_warp_transform.hpp @@ -271,14 +271,61 @@ void store_in_UramNN(XF_TNAME(DEPTH,NPC) in_pixel, ap_uint<16> i,ap_uint<16> j, #pragma HLS INLINE static XF_TNAME(DEPTH,NPC) sx8[8]; +#pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 sx8[j%8] = in_pixel; for (int k=0; k<8; k++) bufUram[i][j/8](k*8+7,k*8) = sx8[k]; }; template -void store_in_UramBL(XF_TNAME(DEPTH,NPC) in_pixel, ap_uint<16> i,ap_uint<16> j, ap_uint<72> bufUram[(STORE_LINES+1)/2][(COLS+1)/2]) +void store_in_UramBL(hls::stream< XF_TNAME(DEPTH,NPC)>& input_image, ap_uint<16> i,ap_uint<16> j, ap_uint<72> bufUram[(STORE_LINES+1)/2][(COLS+1)/2], short img_cols) { #pragma HLS INLINE + + static XF_TNAME(DEPTH,NPC) lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables + static XF_TNAME(DEPTH,NPC) s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency + static XF_TNAME(DEPTH,NPC) s3x3_2[9]; + static XF_TNAME(DEPTH,NPC) s0,s3; + + static XF_TNAME(DEPTH,NPC) in_pixel; + if (j0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[i/2-1][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; + } else if (j0) { + for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[i/2-1][j/2](k*8+7,k*8); + s3x3[!!(j&2)][6] = s0; + s3x3[!!(j&2)][7] = in_pixel; + s3x3[!!(j&2)][8] = 0; + } + } + } else if (j0) for (int k=0; k<9; k++) bufUram[i/2][j/2-1](k*8+7,k*8) = s3x3_2[k]; + } else { // odd col + s3x3_2[0] = s0; + s3x3_2[1] = lineBuf[j]; + s3x3_2[3] = s3; + s3x3_2[4] = in_pixel; + + // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) + s3x3_2[6] = 0; + s3x3_2[7] = 0; + s3x3_2[8] = 0; + //if (j==(img_cols-1)) { //these clearing and save is needed only at last column but may done every cycle + s3x3_2[2] = 0; + s3x3_2[5] = 0; + for (int k=0; k<9; k++) bufUram[i/2][j/2](k*8+7,k*8) = s3x3_2[k]; + //} + } + } }; template @@ -286,7 +333,9 @@ XF_TNAME(DEPTH,NPC) retrieve_UramNN(int i,int j, ap_uint<64> bufUram[STORE_LINES { #pragma HLS INLINE + i = i > (STORE_LINES - 1)? (i - STORE_LINES) : ((i < 0)? (i + STORE_LINES) : i); XF_TNAME(DEPTH,NPC) dx8[8]; +#pragma HLS ARRAY_PARTITION variable=dx8 complete dim=1 for (int k=0; k<8; k++) dx8[k] = bufUram[i][j/8](k*8+7,k*8); return dx8[j%8]; }; @@ -295,9 +344,33 @@ template XF_TNAME(DEPTH,NPC) retrieve_UramBL(int i,int j,int A, int B, int C, int D, ap_uint<72> bufUram[(STORE_LINES+1)/2][(COLS+1)/2]) { #pragma HLS INLINE - return 0; + + i = (i > (STORE_LINES - 1))? (i - STORE_LINES) : ((i < 0)? (i + STORE_LINES) : i); + + XF_TNAME(DEPTH,NPC) d3x3[9]; + for (int k=0; k<9; k++) d3x3[k] = bufUram[i/2][j/2](k*8+7,k*8); + XF_TNAME(DEPTH,NPC) const px00 = d3x3[(i%2 )*3 + j%2 ]; + XF_TNAME(DEPTH,NPC) const px01 = d3x3[(i%2 )*3 + j%2+1]; + XF_TNAME(DEPTH,NPC) const px10 = d3x3[(i%2+1)*3 + j%2 ]; + XF_TNAME(DEPTH,NPC) const px11 = d3x3[(i%2+1)*3 + j%2+1]; + + int const op_val = (A*px00) + + (B*px01) + + (C*px10) + + (D*px11); + //returning the computed interpolated output after rounding off the op_val by adding 0.5 + //and shifting to right by INTER_REMAP_COEF_BITS + return XF_TNAME(DEPTH,NPC)((op_val+(1<<(INTER_REMAP_COEF_BITS-1)))>>INTER_REMAP_COEF_BITS); }; +//AK(ZoTech): rounding function to substitute one from math.h, consuming 2 BRAMs per call; commented as it is not bitexact with the latter. +// template +// int round(T x) +// { +// #pragma HLS INLINE +// return (x + (x>=T(0) ? T(0.5) : T(-0.5))); +// }; + template int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls::stream< XF_TNAME(DEPTH,NPC) > &output_image, float P_matrix[9], short img_rows, short img_cols) { @@ -334,7 +407,8 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: //URAM based storages ap_uint<64> bufUramNN[STORE_LINES][(COLS+7)/8]; -#pragma HLS RESOURCE variable=bufUramNN core=XPM_MEMORY uram +#pragma HLS RESOURCE variable=bufUramNN core=XPM_MEMORY uram +#pragma HLS dependence variable=bufUramNN inter false //URAM storage garnularity for BL inerpolation is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word ap_uint<72> bufUramBL[(STORE_LINES+1)/2][(COLS+1)/2]; #pragma HLS RESOURCE variable=bufUramBL core=XPM_MEMORY uram @@ -382,7 +456,7 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: MAIN_ROWS:for (i=0;i<(img_rows + START_ROW);i++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS - MAIN_COLS:for(j=0;j<(img_cols);j++) + MAIN_COLS:for(j=0;j<(img_cols+3);j++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS #pragma HLS PIPELINE @@ -403,15 +477,15 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: //a buffer of size STORE_LINES rows //computing i-l to snap the writes to STORE_LINES size buffer if (USE_URAM) - if (INTERPOLATION_TYPE) store_in_UramBL(input_image.read() ,i-l,j, bufUramBL); - else store_in_UramNN(input_image.read() ,i-l,j, bufUramNN); - else + if (INTERPOLATION_TYPE) store_in_UramBL(input_image ,i-l,j, bufUramBL, img_cols); + else {if (j(input_image.read() ,i-l,j, bufUramNN);} + else if (j( input_image.read() ,i-l,j, store1_pt_2EvR_EvC, store1_pt_2EvR_OdC, store1_pt_2OdR_EvC, store1_pt_2OdR_OdC); } //condition to compute and stream out the output image //after START_ROW number of rows - if(i>=START_ROW) + if(i>=START_ROW && j Date: Thu, 19 Apr 2018 04:48:55 +0300 Subject: [PATCH 13/73] Add resizing of filtered image (host sources interface didn't changed and become incompatible with kernel) --- aws_demo/gaussianfilter/makefile | 6 +- .../xf_gaussian_filter_kernel_aws.cpp | 111 +++++++++++------- 2 files changed, 73 insertions(+), 44 deletions(-) diff --git a/aws_demo/gaussianfilter/makefile b/aws_demo/gaussianfilter/makefile index 1357f2f..febbf07 100644 --- a/aws_demo/gaussianfilter/makefile +++ b/aws_demo/gaussianfilter/makefile @@ -116,7 +116,7 @@ host: $(HOST_EXE) krnl: $(BINARY_CONTAINERS) clean: - $(RMDIR) $(HOST_BLD_DIR) + $(RMDIR) $(HOST_BLD_DIR) build/kernel # -$(RM) $(BINARY_CONTAINERS) $(ALL_KERNEL_OBJS) $(ALL_MESSAGE_FILES) $(HOST_EXE) src/$(HOST_OBJ) # -$(RM) *.xclbin.sh # -$(RMDIR) $(BUILD_SUBDIRS) @@ -135,13 +135,13 @@ nothing: # build/kernel/xf_gaussian_filter.xo: xf_gaussian_filter_kernel_aws.cpp - @echo "mkdir -p $(@D)" + @mkdir -p $(@D) $(XOCC) $(XOCC_OPTS) -c -k xf_gaussian_filter --max_memory_ports xf_gaussian_filter --messageDb $(subst .xo,.mdb,$@) -I"$( xf_gaussian_filter.xclbin.sh - $(XOCC) $(XOCC_OPTS) -l --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) + $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) # # host rules diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp index 0026a4b..3c136ba 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -3,59 +3,88 @@ #include #include +#include "hls_stream.h" #include "common/xf_common.h" #include "xf_gaussian_filter_config.h" #include "imgproc/xf_gaussian_filter.hpp" +#include "imgproc/xf_resize.hpp" +#define SRC_T XF_8UC1 -extern "C" void xf_gaussian_filter(unsigned int *a, unsigned int *c, int rows, int cols, float sigma); +#define INTERPOLATION_TYPE XF_INTERPOLATION_NN +extern "C" void xf_gaussian_filter(XF_TNAME(SRC_T,NPC1) *ai, XF_TNAME(SRC_T,NPC1) *bo, int rows, int cols, float sigma, int o_rows, int o_cols); - void xf_gaussian_filter(unsigned int *a, unsigned int *c, int rows, int cols, float sigma) - { - #pragma HLS INTERFACE m_axi port=a offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=c offset=slave bundle=gmem - #pragma HLS INTERFACE s_axilite port=a bundle=control - #pragma HLS INTERFACE s_axilite port=c bundle=control - #pragma HLS INTERFACE s_axilite port=rows bundle=control - #pragma HLS INTERFACE s_axilite port=cols bundle=control - #pragma HLS INTERFACE s_axilite port=sigma bundle=control - #pragma HLS INTERFACE s_axilite port=return bundle=control - - #pragma HLS inline region - - int img_size = rows * cols; - - xf::Mat img_a(rows, cols); - xf::Mat img_c(rows, cols); - - #pragma HLS stream variable=img_a.data depth=1 - #pragma HLS stream variable=img_c.data depth=1 - - unsigned int *dst_a = (unsigned int*)img_a.data; - read_data_a: for (int i = 0 ; i < img_size/4; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=65536 - - unsigned int ta = a[i]; - - dst_a[i] = ta; - } - - xf::GaussianBlur(img_a, img_c, sigma); - - unsigned int *src = (unsigned int *)img_c.data; - - write_data_c: for (int i = 0 ; i < img_size/4; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=65536 + void xf_gaussian_filter(XF_TNAME(SRC_T,NPC1) *ai, XF_TNAME(SRC_T,NPC1) *bo, int rows, int cols, float sigma, int o_rows, int o_cols) + { + #pragma HLS INTERFACE m_axi port=ai offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=bo offset=slave bundle=gmem + + #pragma HLS INTERFACE s_axilite port=ai bundle=control + #pragma HLS INTERFACE s_axilite port=bo bundle=control + + #pragma HLS INTERFACE s_axilite port=rows bundle=control + #pragma HLS INTERFACE s_axilite port=cols bundle=control + #pragma HLS INTERFACE s_axilite port=sigma bundle=control + + #pragma HLS INTERFACE s_axilite port=o_rows bundle=control + #pragma HLS INTERFACE s_axilite port=o_cols bundle=control + + #pragma HLS INTERFACE s_axilite port=return bundle=control + + #pragma HLS inline off + #pragma HLS dataflow + + const int pROWS = HEIGHT; + const int pCOLS = WIDTH; + const int pNPC1 = NPC1; + + hls::stream src; + hls::stream flt; + hls::stream dst; + + /********************************************************/ + + Read_yuyv_Loop: + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols)>>(XF_BITSHIFT(NPC1));j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC1 + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + src.write( *(ai + i*(cols>>(XF_BITSHIFT(NPC1))) +j) ); + } + } + + xf::xFGaussianFilter< HEIGHT, WIDTH, XF_DEPTH(SRC_T, NPC1), NPC1, XF_WORDWIDTH(SRC_T,NPC1)>(src, flt, FILTER_WIDTH, XF_BORDER_CONSTANT, rows, cols,sigma); + + + //setup same maximum output image size as for source image + + xf::xFresize< HEIGHT, WIDTH, SRC_T, NPC1, XF_WORDWIDTH(SRC_T,NPC1), HEIGHT, WIDTH>(flt, dst, INTERPOLATION_TYPE, rows, cols, o_rows, o_cols); + + for(int i=0;i>XF_BITSHIFT(NPC1); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS + #pragma HLS PIPELINE II=1 + #pragma HLS LOOP_FLATTEN OFF + + *(bo + i*(o_cols>>XF_BITSHIFT(NPC1)) + j) = dst.read(); + } + } - c[i] = src[i]; - } } From 666bb9e82de642563a00355698efbebecec95ba0 Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 19 Apr 2018 04:52:53 +0300 Subject: [PATCH 14/73] Add Visual Studio project and .gitignore --- .gitignore | 5 ++ aws_demo/ide/vs/Gaussian_Filter.vcxproj | 81 +++++++++++++++++++ .../ide/vs/Gaussian_Filter.vcxproj.filters | 26 ++++++ aws_demo/ide/vs/aws_demo.sln | 29 +++++++ aws_demo/ide/vs/examples.vcxproj | 79 ++++++++++++++++++ aws_demo/ide/vs/examples.vcxproj.filters | 27 +++++++ 6 files changed, 247 insertions(+) create mode 100644 .gitignore create mode 100644 aws_demo/ide/vs/Gaussian_Filter.vcxproj create mode 100644 aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters create mode 100644 aws_demo/ide/vs/aws_demo.sln create mode 100644 aws_demo/ide/vs/examples.vcxproj create mode 100644 aws_demo/ide/vs/examples.vcxproj.filters diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..31ee010 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +/aws_demo/ide/**/*.*sdf +/aws_demo/ide/**/*.tss +/aws_demo/ide/**/*.suo +/aws_demo/ide/**/Debug +/aws_demo/ide/**/Release diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj b/aws_demo/ide/vs/Gaussian_Filter.vcxproj new file mode 100644 index 0000000..03b83d4 --- /dev/null +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj @@ -0,0 +1,81 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + + {4F175088-E060-4DD3-B199-92A67421ACE2} + Gaussian_Filter + + + + Application + true + v110 + MultiByte + + + Application + false + v110 + true + MultiByte + + + + + + + + + + + + + + + Level3 + Disabled + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + + + true + + + + + Level3 + MaxSpeed + true + true + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + + + true + true + true + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters new file mode 100644 index 0000000..51d5020 --- /dev/null +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters @@ -0,0 +1,26 @@ + + + + + + + + + + + + h + + + h + + + h + + + + + {b5f48f04-d9bc-4b50-b9a6-c222b80c54d0} + + + \ No newline at end of file diff --git a/aws_demo/ide/vs/aws_demo.sln b/aws_demo/ide/vs/aws_demo.sln new file mode 100644 index 0000000..9a945b7 --- /dev/null +++ b/aws_demo/ide/vs/aws_demo.sln @@ -0,0 +1,29 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "examples", "examples.vcxproj", "{4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Gaussian_Filter", "Gaussian_Filter.vcxproj", "{4F175088-E060-4DD3-B199-92A67421ACE2}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Win32 = Debug|Win32 + Release|Win32 = Release|Win32 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B}.Debug|Win32.ActiveCfg = Debug|Win32 + {4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B}.Debug|Win32.Build.0 = Debug|Win32 + {4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B}.Release|Win32.ActiveCfg = Release|Win32 + {4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B}.Release|Win32.Build.0 = Release|Win32 + {4F175088-E060-4DD3-B199-92A67421ACE2}.Debug|Win32.ActiveCfg = Debug|Win32 + {4F175088-E060-4DD3-B199-92A67421ACE2}.Debug|Win32.Build.0 = Debug|Win32 + {4F175088-E060-4DD3-B199-92A67421ACE2}.Release|Win32.ActiveCfg = Release|Win32 + {4F175088-E060-4DD3-B199-92A67421ACE2}.Release|Win32.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(NestedProjects) = preSolution + {4F175088-E060-4DD3-B199-92A67421ACE2} = {AD803E82-EFC9-43A2-9B68-D4D96780DBDB} + EndGlobalSection +EndGlobal diff --git a/aws_demo/ide/vs/examples.vcxproj b/aws_demo/ide/vs/examples.vcxproj new file mode 100644 index 0000000..2eab045 --- /dev/null +++ b/aws_demo/ide/vs/examples.vcxproj @@ -0,0 +1,79 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + + {4ABDD7A8-F903-4D12-B736-4BEF47FB6F4B} + examples + examples + + + + Application + true + v110 + MultiByte + + + Application + false + v110 + true + MultiByte + + + + + + + + + + + + + false + + + + Level3 + Disabled + + + true + + + + + Level3 + MaxSpeed + true + true + + + true + true + true + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/aws_demo/ide/vs/examples.vcxproj.filters b/aws_demo/ide/vs/examples.vcxproj.filters new file mode 100644 index 0000000..36f54e8 --- /dev/null +++ b/aws_demo/ide/vs/examples.vcxproj.filters @@ -0,0 +1,27 @@ + + + + + accumulate + + + accumulate + + + accumulate + + + + + accumulate + + + accumulate + + + + + {fdb0de10-a233-42a7-908e-33cb0564f49c} + + + \ No newline at end of file From 30df81bf18432b6fadbe577a9d4fe685961cd823 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Thu, 19 Apr 2018 17:49:30 +0900 Subject: [PATCH 15/73] xf_warp URAM optimization: Bilinear filer is done. --- include/imgproc/xf_warp_transform.hpp | 33 +++++++++++++++++++-------- 1 file changed, 23 insertions(+), 10 deletions(-) diff --git a/include/imgproc/xf_warp_transform.hpp b/include/imgproc/xf_warp_transform.hpp index 0896c19..36df4ad 100644 --- a/include/imgproc/xf_warp_transform.hpp +++ b/include/imgproc/xf_warp_transform.hpp @@ -281,8 +281,13 @@ void store_in_UramBL(hls::stream< XF_TNAME(DEPTH,NPC)>& input_image, ap_uint<16> { #pragma HLS INLINE + ap_int<16> i_hlf_mns1 = i/2-1; + i_hlf_mns1 = i_hlf_mns1 + (i_hlf_mns1 < 0 ? (STORE_LINES+1)/2 : 0); + static XF_TNAME(DEPTH,NPC) lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables static XF_TNAME(DEPTH,NPC) s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency +#pragma HLS ARRAY_PARTITION variable=s3x3 complete dim=0 +#pragma HLS dependence variable=s3x3 inter false RAW static XF_TNAME(DEPTH,NPC) s3x3_2[9]; static XF_TNAME(DEPTH,NPC) s0,s3; @@ -294,15 +299,13 @@ void store_in_UramBL(hls::stream< XF_TNAME(DEPTH,NPC)>& input_image, ap_uint<16> if (j0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[i/2-1][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; + if ((j/2)>1) for (int k=0; k<9; k++) bufUram[i_hlf_mns1][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; } else if (j0) { - for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[i/2-1][j/2](k*8+7,k*8); - s3x3[!!(j&2)][6] = s0; - s3x3[!!(j&2)][7] = in_pixel; - s3x3[!!(j&2)][8] = 0; - } + for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[i_hlf_mns1][j/2](k*8+7,k*8); + s3x3[!!(j&2)][6] = s0; + s3x3[!!(j&2)][7] = in_pixel; + s3x3[!!(j&2)][8] = 0; } } else if (j& input_image, ap_uint<16> s3x3_2[3] = s3; s3x3_2[4] = in_pixel; - // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) + // this clearing is needed only for case of bottom zero padding (curently is not used at all) s3x3_2[6] = 0; s3x3_2[7] = 0; s3x3_2[8] = 0; @@ -348,6 +351,7 @@ XF_TNAME(DEPTH,NPC) retrieve_UramBL(int i,int j,int A, int B, int C, int D, ap_u i = (i > (STORE_LINES - 1))? (i - STORE_LINES) : ((i < 0)? (i + STORE_LINES) : i); XF_TNAME(DEPTH,NPC) d3x3[9]; +#pragma HLS ARRAY_PARTITION variable=d3x3 complete dim=1 for (int k=0; k<9; k++) d3x3[k] = bufUram[i/2][j/2](k*8+7,k*8); XF_TNAME(DEPTH,NPC) const px00 = d3x3[(i%2 )*3 + j%2 ]; XF_TNAME(DEPTH,NPC) const px01 = d3x3[(i%2 )*3 + j%2+1]; @@ -363,7 +367,7 @@ XF_TNAME(DEPTH,NPC) retrieve_UramBL(int i,int j,int A, int B, int C, int D, ap_u return XF_TNAME(DEPTH,NPC)((op_val+(1<<(INTER_REMAP_COEF_BITS-1)))>>INTER_REMAP_COEF_BITS); }; -//AK(ZoTech): rounding function to substitute one from math.h, consuming 2 BRAMs per call; commented as it is not bitexact with the latter. +//AK(ZoTech): rounding function to substitute one from math.h, consuming 2 BRAMs per call; not used as it is not bitexact with the math.h. // template // int round(T x) // { @@ -371,6 +375,14 @@ XF_TNAME(DEPTH,NPC) retrieve_UramBL(int i,int j,int A, int B, int C, int D, ap_u // return (x + (x>=T(0) ? T(0.5) : T(-0.5))); // }; +//AK(ZoTech): floor function to substitute one from math.h, consuming 2 BRAMs per call; not used as it is not synthesisable if biexact. +// template +// int floor(T x) +// { +// #pragma HLS INLINE +// return (x - (x>=T(0) ? T(0) : T(1)-std::numeric_limits::epsilon() )); +// }; + template int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls::stream< XF_TNAME(DEPTH,NPC) > &output_image, float P_matrix[9], short img_rows, short img_cols) { @@ -411,7 +423,8 @@ int xFwarpTransformKernel(hls::stream< XF_TNAME(DEPTH,NPC) > &input_image, hls:: #pragma HLS dependence variable=bufUramNN inter false //URAM storage garnularity for BL inerpolation is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word ap_uint<72> bufUramBL[(STORE_LINES+1)/2][(COLS+1)/2]; -#pragma HLS RESOURCE variable=bufUramBL core=XPM_MEMORY uram +#pragma HLS RESOURCE variable=bufUramBL core=XPM_MEMORY uram +#pragma HLS dependence variable=bufUramBL inter false //varables for loop counters ap_uint<16> i=0,j=0,k=0,l=0,m=0,n=0,p=0; From dc458a2e3113380ebaab5005ccba0cfd91abb5eb Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 20 Apr 2018 15:07:36 +0300 Subject: [PATCH 16/73] Add resizing image after GaussianBlur filter and synchronize host application with kernel. --- aws_demo/gaussianfilter/makefile | 13 +- aws_demo/gaussianfilter/xf_config_params.h | 6 + .../xf_gaussian_filter_accel_aws.cpp | 15 +- .../xf_gaussian_filter_config.h | 67 +++++++++ .../xf_gaussian_filter_kernel_aws.cpp | 2 +- .../gaussianfilter/xf_gaussian_filter_tb.cpp | 140 ++++++++++++++++++ 6 files changed, 230 insertions(+), 13 deletions(-) create mode 100644 aws_demo/gaussianfilter/xf_config_params.h create mode 100644 aws_demo/gaussianfilter/xf_gaussian_filter_config.h create mode 100644 aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp diff --git a/aws_demo/gaussianfilter/makefile b/aws_demo/gaussianfilter/makefile index febbf07..5974ed5 100644 --- a/aws_demo/gaussianfilter/makefile +++ b/aws_demo/gaussianfilter/makefile @@ -29,7 +29,7 @@ CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ CXXFLAGS += -I$(XFOPENCV)/include/ -CXXFLAGS += -I$(XF_EXAMPLE_DIR)/ +#CXXFLAGS += -I$(XF_EXAMPLE_DIR)/ CXXFLAGS += -I$(XCL2_LIB_DIR)/ CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/Vivado_HLS/include CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 @@ -64,8 +64,11 @@ LDFLAGS += -Wl,-rpath,/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 HOST_DEP = ../src/xcl2.hpp HOST_AWS_SRC += xf_gaussian_filter_accel_aws +HOST_AWS_SRC += xf_gaussian_filter_tb + HOST_SDx_SRC += xcl2 -HOST_XF_SRC += xf_gaussian_filter_tb + +HOST_XF_SRC += HOST_AWS_DIR = ./ HOST_BLD_DIR = build/host @@ -76,7 +79,7 @@ HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) -HOST_EXE ?= xf_arg +HOST_EXE ?= gaussian_filter_test BUILD_SUBDIRS += $(HOST_BLD_DIR) @@ -135,8 +138,8 @@ nothing: # build/kernel/xf_gaussian_filter.xo: xf_gaussian_filter_kernel_aws.cpp - @mkdir -p $(@D) - $(XOCC) $(XOCC_OPTS) -c -k xf_gaussian_filter --max_memory_ports xf_gaussian_filter --messageDb $(subst .xo,.mdb,$@) -I"$( &imgInput,xf::Mat&imgOutput, float sigma) +void gaussian_filter_accel(xf::Mat &imgInput, xf::Mat &imgOutput, float sigma) { std::vector devices = xcl::get_xil_devices(); @@ -17,7 +17,7 @@ void gaussian_filter_accel(xf::Mat &imgInput,xf::Mat< cl::CommandQueue q(context, device, CL_QUEUE_PROFILING_ENABLE); std::string device_name = device.getInfo(); - std::string binaryFile = "xf_gaussian_filter.awsxclbin"; //xcl::find_binary_file(device_name,"xf_gaussian_filter"); + std::string binaryFile = "xf_gaussian_filter.awsxclbin"; std::cout << "========" << binaryFile << " ==================" << std::endl; @@ -38,18 +38,19 @@ void gaussian_filter_accel(xf::Mat &imgInput,xf::Mat< q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host - auto krnl = cl::KernelFunctor(kernel); + auto krnl = cl::KernelFunctor(kernel); //----------- Launch the Kernel -----------// - krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma); - - std::vector readBufVec; - readBufVec.push_back(buffer_out); + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma, imgOutput.rows, imgOutput.cols); //----------- Copy Result from Device Global Memory to Host Local Memory -----------// + std::vector readBufVec; + readBufVec.push_back(buffer_out); + q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); + q.finish(); } diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_config.h b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h new file mode 100644 index 0000000..d08ce85 --- /dev/null +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h @@ -0,0 +1,67 @@ +/*************************************************************************** +Copyright (c) 2016, Xilinx, Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors +may be used to endorse or promote products derived from this software +without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +***************************************************************************/ + +#ifndef _XF_GAUSSIAN_FILTER_CONFIG_H_ +#define _XF_GAUSSIAN_FILTER_CONFIG_H_ + +#include "hls_stream.h" +#include "common/xf_common.h" +#include "common/xf_utility.h" +#include "imgproc/xf_gaussian_filter.hpp" +#include "xf_config_params.h" + +typedef unsigned short int uint16_t; + +#define WIDTH 1920 +#define HEIGHT 1080 + + +#if FILTER_SIZE_3 +#define FILTER_WIDTH 3 +#define FILTER 3 +#elif FILTER_SIZE_5 +#define FILTER_WIDTH 5 +#define FILTER 5 +#elif FILTER_SIZE_7 +#define FILTER_WIDTH 7 +#define FILTER 7 +#endif + +#if NO +#define NPC1 XF_NPPC1 +#endif +#if RO +#define NPC1 XF_NPPC8 +#endif + +void gaussian_filter_accel(xf::Mat &imgInput, xf::Mat&imgOutput, float sigma); + + +#endif //_XF_GAUSSIAN_FILTER_CONFIG_H_ diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp index 3c136ba..e3cf1ab 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -69,7 +69,7 @@ extern "C" void xf_gaussian_filter(XF_TNAME(SRC_T,NPC1) *ai, XF_TNAME(SRC_T,NPC1 //setup same maximum output image size as for source image - xf::xFresize< HEIGHT, WIDTH, SRC_T, NPC1, XF_WORDWIDTH(SRC_T,NPC1), HEIGHT, WIDTH>(flt, dst, INTERPOLATION_TYPE, rows, cols, o_rows, o_cols); + xf::xFresize< HEIGHT, WIDTH, SRC_T, NPC1, XF_WORDWIDTH(SRC_T,NPC1), HEIGHT/2, WIDTH/2>(flt, dst, INTERPOLATION_TYPE, rows, cols, o_rows, o_cols); for(int i=0;i \n"); + return -1; + } + + cv::Mat in_img, out_img, ocv_ref, ocv_ref_s, in_img_gau; + cv::Mat in_gray, in_gray1, diff; + + in_img = cv::imread(argv[1], 0); // reading in the color image + + if (!in_img.data) + { + printf("Failed to load the image ... !!!"); + return -1; + } + + //extractChannel(in_img, in_gray, 1); + diff.create(in_img.rows/2, in_img.cols/2, in_img.depth()); // create memory for diff image + + ocv_ref.create(in_img.rows, in_img.cols, in_img.depth()); // create memory for OCV output image + + ocv_ref_s.create(in_img.rows/2, in_img.cols/2, in_img.depth()); // create memory for resized OCV output image + + #if FILTER_WIDTH==3 + float sigma = 0.5f; + #endif + + #if FILTER_WIDTH==7 + float sigma=1.16666f; + #endif + + #if FILTER_WIDTH==5 + float sigma = 0.8333f; + #endif + + + // OpenCV Gaussian filter function + cv::GaussianBlur(in_img, ocv_ref, cvSize(FILTER_WIDTH, FILTER_WIDTH),FILTER_WIDTH / 6.0, FILTER_WIDTH / 6.0, cv::BORDER_CONSTANT); + + cv::resize(ocv_ref, ocv_ref_s, cvSize(ocv_ref_s.cols, ocv_ref_s.rows), 0, 0, cv::INTER_NEAREST ); + + imwrite("output_ocv.png", ocv_ref); + imwrite("output_ocv_s.png", ocv_ref); + + + xf::Mat imgInput (in_img.rows ,in_img.cols ); + xf::Mat imgOutput(in_img.rows/2,in_img.cols/2); + + //imgInput.copyTo(in_img.data); + imgInput = xf::imread(argv[1], 0); + + + gaussian_filter_accel(imgInput, imgOutput, sigma); + + + // Write output image + xf::imwrite("hls_out.jpg",imgOutput); + + //imwrite("output_hls.png", out_img); + xf::absDiff(ocv_ref_s, imgOutput, diff); // Compute absolute difference image + + imwrite("error.png", diff); // Save the difference image for debugging purpose + + // Find minimum and maximum differences. + + double minval = 256, maxval = 0; + int cnt = 0; + for (int i = 0; i < diff.rows; i++) { + for (int j = 0; j < diff.cols; j++) { + uchar v = diff.at(i, j); + if (v > 0) + cnt++; + if (minval > v) + minval = v; + if (maxval < v) + maxval = v; + } + } + float err_per = 100.0 * (float) cnt / (diff.rows * diff.cols); + printf( + "Minimum error in intensity = %f\n\ + Maximum error in intensity = %f\n\ + Percentage of pixels above error threshold = %f\n", + minval, maxval, err_per); + + if(err_per > 1){ + printf("\nTest failed\n"); + return -1; + } + else{ + printf("\nTest Pass\n"); + return 0; + } +} From 63e8ab1a81bc10fc0a0be817b375159ed2cd85f7 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 20 Apr 2018 15:12:14 +0300 Subject: [PATCH 17/73] Add script examples to generate AFI and launch test --- aws_demo/gaussianfilter/afi/gen_afi.sh | 31 ++++++++++++++++++++++++++ aws_demo/gaussianfilter/run/run.sh | 5 +++++ 2 files changed, 36 insertions(+) create mode 100644 aws_demo/gaussianfilter/afi/gen_afi.sh create mode 100644 aws_demo/gaussianfilter/run/run.sh diff --git a/aws_demo/gaussianfilter/afi/gen_afi.sh b/aws_demo/gaussianfilter/afi/gen_afi.sh new file mode 100644 index 0000000..c18f4ee --- /dev/null +++ b/aws_demo/gaussianfilter/afi/gen_afi.sh @@ -0,0 +1,31 @@ +#!/bin/bash +echo aws s3 rm --recursive s3://xfg +aws s3 rm --recursive s3://xfg + +echo aws s3 rb s3://xfg +aws s3 rb s3://xfg + + +echo aws s3 mb s3://xfg +aws s3 mb s3://xfg + +aws s3 mb s3://xfg/dcp +touch FILES_GO_HERE.txt +aws s3 cp FILES_GO_HERE.txt s3://xfg/dcp/ + + +aws s3 mb s3://xfg/log +touch LOGS_FILES_GO_HERE.txt +aws s3 cp LOGS_FILES_GO_HERE.txt s3://xfg/log/ + +aws s3 ls --recursive s3://xfg + +rm -f FILES_GO_HERE.txt +rm -f LOGS_FILES_GO_HERE.txt + +$SDACCEL_DIR/tools/create_sdaccel_afi.sh -xclbin=xf_gaussian_filter.xclbin -s3_bucket=xfg -s3_dcp_key=dcp -s3_logs_key=log + +cat *afi* + +@echo use following command to check afi ready +@echo aws ec2 describe-fpga-images --fpga-image-id diff --git a/aws_demo/gaussianfilter/run/run.sh b/aws_demo/gaussianfilter/run/run.sh new file mode 100644 index 0000000..103d272 --- /dev/null +++ b/aws_demo/gaussianfilter/run/run.sh @@ -0,0 +1,5 @@ +#!/bin/sh + +source /opt/Xilinx/SDx/2017.1.rte.4ddr/setup.sh + +./xf_arg im1.jpg From 825babcdbc7ac391b768c121e2204ac07a7f7f54 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 20 Apr 2018 15:15:03 +0300 Subject: [PATCH 18/73] Correct misprint --- aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp index 977d628..337983a 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp @@ -86,7 +86,7 @@ int main(int argc, char **argv) cv::resize(ocv_ref, ocv_ref_s, cvSize(ocv_ref_s.cols, ocv_ref_s.rows), 0, 0, cv::INTER_NEAREST ); imwrite("output_ocv.png", ocv_ref); - imwrite("output_ocv_s.png", ocv_ref); + imwrite("output_ocv_s.png", ocv_ref_s); xf::Mat imgInput (in_img.rows ,in_img.cols ); From f3621a04b0fe1b9d90d630971a1313cdd6419a0d Mon Sep 17 00:00:00 2001 From: Goutham Borra Date: Mon, 23 Apr 2018 17:51:30 +0530 Subject: [PATCH 19/73] Updated stereoBM testbench file --- examples/stereolbm/xf_stereoBM_tb.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/stereolbm/xf_stereoBM_tb.cpp b/examples/stereolbm/xf_stereoBM_tb.cpp index 4a98676..b906da7 100644 --- a/examples/stereolbm/xf_stereoBM_tb.cpp +++ b/examples/stereolbm/xf_stereoBM_tb.cpp @@ -137,9 +137,9 @@ int main(int argc, char** argv) int cnt=0, total = 0; - for(int i=(SAD_WINDOW_SIZE>>1)+20; i>1)+20); i++) + for(int i=SAD_WINDOW_SIZE; i>1)+20; j>1)+20); j++) + for(int j=SAD_WINDOW_SIZE; j (i,j))-(out_disp_img.data[i*out_disp_img.cols +j]); From 800c68206b23f4dc81485525c226627871a16121 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Fri, 27 Apr 2018 17:58:41 +0900 Subject: [PATCH 20/73] xf_npyr_opt_flow URAM opimization: initial commit, computeSum() for boh rates is done. --- examples/lknpyroflow/xf_config_params.h | 3 +- .../xf_dense_npyr_optical_flow_accel.cpp | 2 +- .../imgproc/xf_dense_npyr_optical_flow.hpp | 213 ++++++++++-------- 3 files changed, 117 insertions(+), 101 deletions(-) diff --git a/examples/lknpyroflow/xf_config_params.h b/examples/lknpyroflow/xf_config_params.h index 6e91f55..c9b25c8 100644 --- a/examples/lknpyroflow/xf_config_params.h +++ b/examples/lknpyroflow/xf_config_params.h @@ -1,4 +1,5 @@ #define MAX_HEIGHT 2160 #define MAX_WIDTH 3840 #define WORD_SZ 1 -#define KMED 25 \ No newline at end of file +#define KMED 25 +#define XF_USE_URAM false diff --git a/examples/lknpyroflow/xf_dense_npyr_optical_flow_accel.cpp b/examples/lknpyroflow/xf_dense_npyr_optical_flow_accel.cpp index cbb1ba8..7980c37 100644 --- a/examples/lknpyroflow/xf_dense_npyr_optical_flow_accel.cpp +++ b/examples/lknpyroflow/xf_dense_npyr_optical_flow_accel.cpp @@ -31,6 +31,6 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. void dense_non_pyr_of_accel(xf::Mat &buf0, xf::Mat &buf1, xf::Mat &flowx, xf::Mat &flowy) { - xf::DenseNonPyrLKOpticalFlow(buf0, buf1, flowx, flowy); + xf::DenseNonPyrLKOpticalFlow(buf0, buf1, flowx, flowy); } diff --git a/include/imgproc/xf_dense_npyr_optical_flow.hpp b/include/imgproc/xf_dense_npyr_optical_flow.hpp index b79a327..7782d6f 100644 --- a/include/imgproc/xf_dense_npyr_optical_flow.hpp +++ b/include/imgproc/xf_dense_npyr_optical_flow.hpp @@ -170,7 +170,7 @@ namespace xf{ // TODO: // 1. Dont need the entire column for img1Win and img2Win. Need only the kernel // 2. Full line buffer is not needed - template + template static void computeSums16 (hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > > img1Col [(WINDOW_SIZE+1)], hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > > img2Col [(WINDOW_SIZE+1)], hls::stream & ixix_out0, @@ -208,34 +208,55 @@ namespace xf{ // For II=1 pipelining, need two read and 1 write ports. Simulating it with // two arrays that have their write ports tied together. // TODO need only MAX_WODTH/2. Have to adjust zIdx and nIdx as well - static int csIxixO [COLS], csIxiyO [COLS], csIyiyO [COLS], csDixO [COLS], csDiyO [COLS]; - static int csIxixE [COLS], csIxiyE [COLS], csIyiyE [COLS], csDixE [COLS], csDiyE [COLS]; - - static int cbIxixO [COLS], cbIxiyO [COLS], cbIyiyO [COLS], cbDixO [COLS], cbDiyO [COLS]; - static int cbIxixE [COLS], cbIxiyE [COLS], cbIyiyE [COLS], cbDixE [COLS], cbDiyE [COLS]; - - int zIdx= - (WINDOW_SIZE-2); // odd - int zIdx1 = zIdx + 1; // even - - int nIdx = zIdx + WINDOW_SIZE-2; // even (0) - int nIdx1 = nIdx + 1; // odd - + static int csIxixO [COLS/2], csIxiyO [COLS/2], csIyiyO [COLS/2], csDixO [COLS/2], csDiyO [COLS/2]; + static int csIxixE [COLS/2], csIxiyE [COLS/2], csIyiyE [COLS/2], csDixE [COLS/2], csDiyE [COLS/2]; + + static int cbIxixO [COLS/2], cbIxiyO [COLS/2], cbIyiyO [COLS/2], cbDixO [COLS/2], cbDiyO [COLS/2]; + static int cbIxixE [COLS/2], cbIxiyE [COLS/2], cbIyiyE [COLS/2], cbDixE [COLS/2], cbDiyE [COLS/2]; + + int zIdx= - (WINDOW_SIZE/2-1); + int nIdx = zIdx + WINDOW_SIZE/2-1; + + #pragma HLS ARRAY_MAP variable=csIxixO instance=csO vertical + #pragma HLS ARRAY_MAP variable=csIxiyO instance=csO vertical + #pragma HLS ARRAY_MAP variable=csIyiyO instance=csO vertical + #pragma HLS ARRAY_MAP variable=csDixO instance=csO vertical + #pragma HLS ARRAY_MAP variable=csDiyO instance=csO vertical + + #pragma HLS ARRAY_MAP variable=csIxixE instance=csE vertical + #pragma HLS ARRAY_MAP variable=csIxiyE instance=csE vertical + #pragma HLS ARRAY_MAP variable=csIyiyE instance=csE vertical + #pragma HLS ARRAY_MAP variable=csDixE instance=csE vertical + #pragma HLS ARRAY_MAP variable=csDiyE instance=csE vertical + + #pragma HLS ARRAY_MAP variable=cbIxixO instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIxiyO instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIyiyO instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDixO instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDiyO instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIxixE instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIxiyE instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIyiyE instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDixE instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDiyE instance=cb vertical + + if (USE_URAM) { + #pragma HLS RESOURCE variable=csIxixO core=XPM_MEMORY uram + #pragma HLS RESOURCE variable=csIxixE core=XPM_MEMORY uram + #pragma HLS RESOURCE variable=cbIxixO core=XPM_MEMORY uram + } + else { #pragma HLS RESOURCE variable=csIxixO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIxiyO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIyiyO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDixO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDiyO core=RAM_2P_BRAM + #pragma HLS RESOURCE variable=csIxixE core=RAM_2P_BRAM + #pragma HLS RESOURCE variable=cbIxixO core=RAM_2P_BRAM + } + #pragma HLS DEPENDENCE variable=csIxixO inter WAR false #pragma HLS DEPENDENCE variable=csIxiyO inter WAR false #pragma HLS DEPENDENCE variable=csIyiyO inter WAR false #pragma HLS DEPENDENCE variable=csDixO inter WAR false #pragma HLS DEPENDENCE variable=csDiyO inter WAR false - #pragma HLS RESOURCE variable=csIxixE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIxiyE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIyiyE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDixE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDiyE core=RAM_2P_BRAM #pragma HLS DEPENDENCE variable=csIxixE inter WAR false #pragma HLS DEPENDENCE variable=csIxiyE inter WAR false #pragma HLS DEPENDENCE variable=csIyiyE inter WAR false @@ -243,28 +264,12 @@ namespace xf{ #pragma HLS DEPENDENCE variable=csDiyE inter WAR false - #pragma HLS RESOURCE variable=cbIxixO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIxiyO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIyiyO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbDixO core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbDiyO core=RAM_2P_BRAM #pragma HLS DEPENDENCE variable=cbIxixO inter WAR false #pragma HLS DEPENDENCE variable=cbIxiyO inter WAR false #pragma HLS DEPENDENCE variable=cbIyiyO inter WAR false #pragma HLS DEPENDENCE variable=cbDixO inter WAR false #pragma HLS DEPENDENCE variable=cbDiyO inter WAR false -#if PLATFORM_ZCU104 - #pragma HLS RESOURCE variable=cbIxixE core=XPM_MEMORY uram - #pragma HLS RESOURCE variable=cbIxiyE core=XPM_MEMORY uram - #pragma HLS RESOURCE variable=cbIyiyE core=XPM_MEMORY uram -#else - #pragma HLS RESOURCE variable=cbIxixE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIxiyE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIyiyE core=RAM_2P_BRAM -#endif - #pragma HLS RESOURCE variable=cbDixE core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbDiyE core=RAM_2P_BRAM #pragma HLS DEPENDENCE variable=cbIxixE inter WAR false #pragma HLS DEPENDENCE variable=cbIxiyE inter WAR false #pragma HLS DEPENDENCE variable=cbIyiyE inter WAR false @@ -284,18 +289,18 @@ namespace xf{ int csIxixL1 = 0, csIxiyL1 = 0, csIyiyL1 = 0, csDixL1 = 0, csDiyL1 = 0; if (zIdx >= 0) { - csIxixL0 = csIxixO [zIdx]; - csIxiyL0 = csIxiyO [zIdx]; - csIyiyL0 = csIyiyO [zIdx]; - csDixL0 = csDixO [zIdx]; - csDiyL0 = csDiyO [zIdx]; - } - if (zIdx1 >= 0) { - csIxixL1 = csIxixE [zIdx1]; - csIxiyL1 = csIxiyE [zIdx1]; - csIyiyL1 = csIyiyE [zIdx1]; - csDixL1 = csDixE [zIdx1]; - csDiyL1 = csDiyE [zIdx1]; + int const zIdxPrev = zIdx==0 ? cols/2-1 : zIdx-1; + csIxixL0 = csIxixO [zIdxPrev]; + csIxiyL0 = csIxiyO [zIdxPrev]; + csIyiyL0 = csIyiyO [zIdxPrev]; + csDixL0 = csDixO [zIdxPrev]; + csDiyL0 = csDiyO [zIdxPrev]; + + csIxixL1 = csIxixE [zIdx]; + csIxiyL1 = csIxiyE [zIdx]; + csIyiyL1 = csIyiyE [zIdx]; + csDixL1 = csDixE [zIdx]; + csDiyL1 = csDiyE [zIdx]; } for (int wr=0; wr<(WINDOW_SIZE+1); ++wr) { @@ -344,11 +349,11 @@ namespace xf{ csDixR0 = cbDixE [nIdx] + delBotR0 * cIxBotR0 - delTopR0 * cIxTopR0; csDiyR0 = cbDiyE [nIdx] + delBotR0 * cIyBotR0 - delTopR0 * cIyTopR0; - csIxixR1 = cbIxixO [nIdx1] + cIxBotR1 * cIxBotR1 - cIxTopR1 * cIxTopR1; - csIxiyR1 = cbIxiyO [nIdx1] + cIxBotR1 * cIyBotR1 - cIxTopR1 * cIyTopR1; - csIyiyR1 = cbIyiyO [nIdx1] + cIyBotR1 * cIyBotR1 - cIyTopR1 * cIyTopR1; - csDixR1 = cbDixO [nIdx1] + delBotR1 * cIxBotR1 - delTopR1 * cIxTopR1; - csDiyR1 = cbDiyO [nIdx1] + delBotR1 * cIyBotR1 - delTopR1 * cIyTopR1; + csIxixR1 = cbIxixO [nIdx] + cIxBotR1 * cIxBotR1 - cIxTopR1 * cIxTopR1; + csIxiyR1 = cbIxiyO [nIdx] + cIxBotR1 * cIyBotR1 - cIxTopR1 * cIyTopR1; + csIyiyR1 = cbIyiyO [nIdx] + cIyBotR1 * cIyBotR1 - cIyTopR1 * cIyTopR1; + csDixR1 = cbDixO [nIdx] + delBotR1 * cIxBotR1 - delTopR1 * cIxTopR1; + csDiyR1 = cbDiyO [nIdx] + delBotR1 * cIyBotR1 - delTopR1 * cIyTopR1; int tmpixix0 = (csIxixR0 - csIxixL0); int tmpixix1 = (csIxixR0 - csIxixL0) + (csIxixR1 - csIxixL1); @@ -415,29 +420,22 @@ namespace xf{ csDixE [nIdx] = csDixR0; csDiyE [nIdx] = csDiyR0; - cbIxixO [nIdx1] = csIxixR1; - cbIxiyO [nIdx1] = csIxiyR1; - cbIyiyO [nIdx1] = csIyiyR1; - cbDixO [nIdx1] = csDixR1; - cbDiyO [nIdx1] = csDiyR1; - - csIxixO [nIdx1] = csIxixR1; - csIxiyO [nIdx1] = csIxiyR1; - csIyiyO [nIdx1] = csIyiyR1; - csDixO [nIdx1] = csDixR1; - csDiyO [nIdx1] = csDiyR1; - - // zIdx is always odd, zIdx1 is even - // nIdx is always even, nIdx1 is odd - zIdx += 2; - if (zIdx >= cols) zIdx = 1; - zIdx1 += 2; - if (zIdx1 == cols) zIdx1 = 0; - - nIdx += 2; - if (nIdx == cols) nIdx = 0; - nIdx1 += 2; - if (nIdx1 >= cols) nIdx1 = 1; + cbIxixO [nIdx] = csIxixR1; + cbIxiyO [nIdx] = csIxiyR1; + cbIyiyO [nIdx] = csIyiyR1; + cbDixO [nIdx] = csDixR1; + cbDiyO [nIdx] = csDiyR1; + + csIxixO [nIdx] = csIxixR1; + csIxiyO [nIdx] = csIxiyR1; + csIyiyO [nIdx] = csIyiyR1; + csDixO [nIdx] = csDixR1; + csDiyO [nIdx] = csDiyR1; + + zIdx ++; + if (zIdx == cols/2) zIdx = 0; + nIdx ++; + if (nIdx == cols/2) nIdx = 0; } } @@ -451,7 +449,7 @@ namespace xf{ img1Col0 [r] =0; img2Col0 [r] =0; img1Col1 [r] =0; img2Col1 [r] =0; } - for (int r=0; r < cols; ++r) { + for (int r=0; r < cols/2; ++r) { #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS #pragma HLS PIPELINE csIxixO [r] = 0; csIxiyO [r] = 0; csIyiyO [r] = 0; csDixO [r] = 0; csDiyO [r] = 0; @@ -588,7 +586,7 @@ namespace xf{ // top level wrapper to avoid dataflow problems //void flowWrap (mywide_t frame0[NUM_WORDS], mywide_t frame1[NUM_WORDS], rgba2_t framef[NUM_WORDS]) - template + template static void flowWrap16 (ap_uint<16> *frame0, ap_uint<16> *frame1, ap_uint<64> *flowx, ap_uint<64> *flowy, int rows, int cols, int size) { //#pragma HLS data_pack variable=frame0 @@ -643,7 +641,7 @@ namespace xf{ readMatRows16 (frame1, f1Stream, rows, cols, size); lbWrapper16 (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); - computeSums16 (img1Col, img2Col, + computeSums16 (img1Col, img2Col, ixix0, ixiy0, iyiy0, dix0, diy0, ixix1, ixiy1, iyiy1, dix1, diy1, rows, cols, size); @@ -666,12 +664,12 @@ namespace xf{ // ulonglong = 64 bits, 32 bits per color pixel (rgba), so two color pix //void fpga_optflow (unsigned short *frame0, unsigned short *frame1, unsigned long long *framef) //void fpga_optflow (unsigned short frame0[NUM_WORDS], unsigned short frame1[NUM_WORDS], unsigned long long framef[NUM_WORDS]) - template + template static void fpga_optflow16 (ap_uint<16> *frame0, ap_uint<16> *frame1, ap_uint<64> *flowx, ap_uint<64> *flowy, int rows, int cols, int size) { #pragma HLS inline off - flowWrap16 (frame0, frame1, flowx, flowy, rows, cols, size); + flowWrap16 (frame0, frame1, flowx, flowy, rows, cols, size); return; @@ -713,7 +711,7 @@ namespace xf{ // TODO: // 1. Dont need the entire column for img1Win and img2Win. Need only the kernel // 2. Full line buffer is not needed - template + template static void computeSums (hls::stream img1Col [(WINDOW_SIZE+1)], hls::stream img2Col [(WINDOW_SIZE+1)], hls::stream & ixix_out, @@ -742,21 +740,38 @@ namespace xf{ int zIdx= - (WINDOW_SIZE-2); int nIdx = zIdx + WINDOW_SIZE-2; + #pragma HLS ARRAY_MAP variable=csIxix instance=cs vertical + #pragma HLS ARRAY_MAP variable=csIxiy instance=cs vertical + #pragma HLS ARRAY_MAP variable=csIyiy instance=cs vertical + #pragma HLS ARRAY_MAP variable=csDix instance=cs vertical + #pragma HLS ARRAY_MAP variable=csDiy instance=cs vertical + + if (USE_URAM) { + #pragma HLS RESOURCE variable=csIxix core=XPM_MEMORY uram + } + else { #pragma HLS RESOURCE variable=csIxix core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIxiy core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csIyiy core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDix core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=csDiy core=RAM_2P_BRAM + } + #pragma HLS DEPENDENCE variable=csIxix inter WAR false #pragma HLS DEPENDENCE variable=csIxiy inter WAR false #pragma HLS DEPENDENCE variable=csIyiy inter WAR false #pragma HLS DEPENDENCE variable=csDix inter WAR false #pragma HLS DEPENDENCE variable=csDiy inter WAR false + + #pragma HLS ARRAY_MAP variable=cbIxix instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIxiy instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbIyiy instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDix instance=cb vertical + #pragma HLS ARRAY_MAP variable=cbDiy instance=cb vertical + + if (USE_URAM) { + #pragma HLS RESOURCE variable=cbIxix core=XPM_MEMORY uram + } + else { #pragma HLS RESOURCE variable=cbIxix core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIxiy core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbIyiy core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbDix core=RAM_2P_BRAM - #pragma HLS RESOURCE variable=cbDiy core=RAM_2P_BRAM + } + #pragma HLS DEPENDENCE variable=cbIxix inter WAR false #pragma HLS DEPENDENCE variable=cbIxiy inter WAR false #pragma HLS DEPENDENCE variable=cbIyiy inter WAR false @@ -1008,7 +1023,7 @@ namespace xf{ } // top level wrapper to avoid dataflow problems - template + template static void flowWrap (ap_uint<8> *frame0, ap_uint<8> *frame1, float *flowx, float *flowy, int rows, int cols, int size) { #pragma HLS inline off @@ -1048,7 +1063,7 @@ namespace xf{ lbWrapper (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); - computeSums (img1Col, img2Col, ixix, ixiy, iyiy, dix, diy, rows, cols, size); + computeSums (img1Col, img2Col, ixix, ixiy, iyiy, dix, diy, rows, cols, size); computeFlow (ixix, ixiy, iyiy, dix, diy, fx, fy, rows, cols, size); @@ -1062,12 +1077,12 @@ namespace xf{ // frame0 - First input frame (grayscale 1 byte per pixel) // frame1 - Second input frame (grayscale 1 byte per pixel) // framef - Output frame with flows visualized. 3 bytes per pixel + 1 byte padding - template + template static void fpga_optflow8 (ap_uint<8> *frame0, ap_uint<8> *frame1, float *flowx, float *flowy, int rows, int cols, int size) { #pragma HLS inline off - flowWrap(frame0, frame1, flowx, flowy, rows, cols, size); + flowWrap(frame0, frame1, flowx, flowy, rows, cols, size); return; @@ -1087,16 +1102,16 @@ namespace xf{ #pragma SDS data copy("frame1.data"[0:"frame1.size"]) #pragma SDS data copy("flowx.data"[0:"flowx.size"]) #pragma SDS data copy("flowy.data"[0:"flowy.size"]) -template +template void DenseNonPyrLKOpticalFlow (xf::Mat & frame0, xf::Mat & frame1, xf::Mat & flowx, xf::Mat & flowy) { if(NPC==XF_NPPC1) { - fpga_optflow8 ( (ap_uint<8> *) frame0.data, (ap_uint<8> *)frame1.data, (float *)flowx.data, (float *)flowy.data, frame0.rows, frame0.cols, frame0.size); + fpga_optflow8 ( (ap_uint<8> *) frame0.data, (ap_uint<8> *)frame1.data, (float *)flowx.data, (float *)flowy.data, frame0.rows, frame0.cols, frame0.size); } else { - fpga_optflow16 ( (ap_uint<16> *) frame0.data, (ap_uint<16> *) frame1.data, (ap_uint<64> *)flowx.data, (ap_uint<64> *)flowy.data, frame0.rows, frame0.cols, frame0.size); + fpga_optflow16 ( (ap_uint<16> *) frame0.data, (ap_uint<16> *) frame1.data, (ap_uint<64> *)flowx.data, (ap_uint<64> *)flowy.data, frame0.rows, frame0.cols, frame0.size); } } } From 8cf8408cd545530adb7b406f7427750a4631f06d Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Tue, 1 May 2018 13:28:31 +0900 Subject: [PATCH 21/73] xf_npyr_opt_flow URAM optimization: lbWrapper() for both rates is done. --- .../imgproc/xf_dense_npyr_optical_flow.hpp | 82 +++++++++++++------ 1 file changed, 55 insertions(+), 27 deletions(-) diff --git a/include/imgproc/xf_dense_npyr_optical_flow.hpp b/include/imgproc/xf_dense_npyr_optical_flow.hpp index 7782d6f..bd4b502 100644 --- a/include/imgproc/xf_dense_npyr_optical_flow.hpp +++ b/include/imgproc/xf_dense_npyr_optical_flow.hpp @@ -532,15 +532,27 @@ namespace xf{ // line buffer for both input images. Can be split to a fn that models a single // linebuffer - template + template static void lbWrapper16 (hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > >& f0Stream, hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > >& f1Stream, hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > > img1Col[(WINDOW_SIZE+1)], hls::stream < mywide_t< XF_NPIXPERCYCLE(NPC) > > img2Col[(WINDOW_SIZE+1)], int rows, int cols, int size) { - static mywide_t< XF_NPIXPERCYCLE(NPC) > lb1 [(WINDOW_SIZE+1)][COLS/2], lb2 [(WINDOW_SIZE+1)][COLS/2]; - #pragma HLS ARRAY_PARTITION variable=lb1 complete dim=1 - #pragma HLS ARRAY_PARTITION variable=lb2 complete dim=1 + static pix_t lb1 [(WINDOW_SIZE+1)][COLS/XF_NPIXPERCYCLE(NPC)][XF_NPIXPERCYCLE(NPC)], + lb2 [(WINDOW_SIZE+1)][COLS/XF_NPIXPERCYCLE(NPC)][XF_NPIXPERCYCLE(NPC)]; + + #pragma HLS ARRAY_MAP variable=lb1 instance=lbMap vertical + #pragma HLS ARRAY_MAP variable=lb2 instance=lbMap vertical + + #pragma HLS ARRAY_RESHAPE variable=lb1 complete dim=1 + #pragma HLS ARRAY_RESHAPE variable=lb2 complete dim=1 + #pragma HLS ARRAY_RESHAPE variable=lb1 complete dim=3 + #pragma HLS ARRAY_RESHAPE variable=lb2 complete dim=3 + + if (USE_URAM) { + #pragma HLS RESOURCE variable=lb1 core=XPM_MEMORY uram + #pragma HLS RESOURCE variable=lb2 core=XPM_MEMORY uram + } for (int r = 0; r < rows; r++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS @@ -550,36 +562,46 @@ namespace xf{ #pragma HLS pipeline // shift up both linebuffers at col=c for (int i = 0; i < ((WINDOW_SIZE+1) - 1); i++) { - lb1 [i][c] = lb1 [i + 1][c]; - img1Col [i]. write (lb1 [i][c]); - - lb2 [i][c] = lb2 [i+1][c]; - img2Col [i]. write (lb2 [i][c]); + mywide_t< XF_NPIXPERCYCLE(NPC) > lb; + + for (int k = 0; k pix0 = f0Stream. read (); - lb1 [(WINDOW_SIZE+1) - 1][c] = pix0; img1Col [(WINDOW_SIZE+1) - 1]. write (pix0); mywide_t< XF_NPIXPERCYCLE(NPC) > pix1 = f1Stream. read (); - lb2 [(WINDOW_SIZE+1) -1][c] = pix1; img2Col [(WINDOW_SIZE+1) - 1]. write (pix1); + + for (int k = 0; k tmpClr; - tmpClr. data [0] = 0; - tmpClr. data [1] = 0; - for (int r = 0; r < (WINDOW_SIZE+1); r++) { - #pragma HLS LOOP_TRIPCOUNT min=1 max=WINDOW_SIZE+1 - for (int c = 0; c < cols/2; c++) { + for (int c = 0; c < cols/2; c++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS/2 #pragma HLS PIPELINE - lb1 [r][c] = tmpClr; - lb2 [r][c] = tmpClr; + for (int r = 0; r < (WINDOW_SIZE+1); r++) { + #pragma HLS LOOP_TRIPCOUNT min=1 max=WINDOW_SIZE+1 + for (int k = 0; k (frame0, f0Stream, rows, cols, size); readMatRows16 (frame1, f1Stream, rows, cols, size); - lbWrapper16 (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); + lbWrapper16 (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); computeSums16 (img1Col, img2Col, ixix0, ixiy0, iyiy0, dix0, diy0, ixix1, ixiy1, iyiy1, dix1, diy1, rows, cols, size); @@ -972,15 +994,21 @@ namespace xf{ // line buffer for both input images. Can be split to a fn that models a single // linebuffer - template + template static void lbWrapper (hls::stream & f0Stream, hls::stream & f1Stream, hls::stream img1Col[(WINDOW_SIZE+1)], hls::stream img2Col[(WINDOW_SIZE+1)], int rows, int cols, int size) { static pix_t lb1 [(WINDOW_SIZE+1)][COLS], lb2 [(WINDOW_SIZE+1)][COLS]; - #pragma HLS ARRAY_PARTITION variable=lb1 complete dim=1 - #pragma HLS ARRAY_PARTITION variable=lb2 complete dim=1 + #pragma HLS ARRAY_MAP variable=lb1 instance=lbMap vertical + #pragma HLS ARRAY_MAP variable=lb2 instance=lbMap vertical + #pragma HLS ARRAY_RESHAPE variable=lb1 complete dim=1 + #pragma HLS ARRAY_RESHAPE variable=lb2 complete dim=1 + if (USE_URAM) { + #pragma HLS RESOURCE variable=lb1 core=XPM_MEMORY uram + #pragma HLS RESOURCE variable=lb2 core=XPM_MEMORY uram + } for (int r = 0; r < rows; r++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS @@ -1011,11 +1039,11 @@ namespace xf{ // cleanup - for (int r = 0; r < (WINDOW_SIZE+1); r++) { - #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS - for (int c = 0; c < COLS; c++) { + for (int c = 0; c < cols; c++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS #pragma HLS PIPELINE + for (int r = 0; r < (WINDOW_SIZE+1); r++) { + #pragma HLS LOOP_TRIPCOUNT min=1 max=WINDOW_SIZE+1 lb1 [r][c] = 0; lb2 [r][c] = 0; } @@ -1061,7 +1089,7 @@ namespace xf{ readMatRows (frame0, f0Stream, rows, cols, size); readMatRows (frame1, f1Stream, rows, cols, size); - lbWrapper (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); + lbWrapper (f0Stream, f1Stream, img1Col, img2Col, rows, cols, size); computeSums (img1Col, img2Col, ixix, ixiy, iyiy, dix, diy, rows, cols, size); From 9d096b8cc49df4ff70b9e45e7a62ac59b6f90a13 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Thu, 3 May 2018 14:06:51 +0900 Subject: [PATCH 22/73] xf_npyr_opt_flow URAM optimization: pipeline pragma is changed to UNROLL for cleanup loop with fully partioned arrays. --- include/imgproc/xf_dense_npyr_optical_flow.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/include/imgproc/xf_dense_npyr_optical_flow.hpp b/include/imgproc/xf_dense_npyr_optical_flow.hpp index bd4b502..791c78d 100644 --- a/include/imgproc/xf_dense_npyr_optical_flow.hpp +++ b/include/imgproc/xf_dense_npyr_optical_flow.hpp @@ -444,7 +444,7 @@ namespace xf{ // TODO zero in the line buffer instead, for r < WINDOW_SIZE for (int r = 0; r < (WINDOW_SIZE+1); r++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=WINDOW_SIZE+1 - #pragma HLS PIPELINE + #pragma HLS UNROLL img1Win [r] = 0; img1Win [r+(WINDOW_SIZE+1)] = 0; img2Win [r] = 0; img1Col0 [r] =0; img2Col0 [r] =0; img1Col1 [r] =0; img2Col1 [r] =0; @@ -897,7 +897,7 @@ namespace xf{ // TODO zero in the line buffer instead, for r < WINDOW_SIZE for (int r = 0; r < (WINDOW_SIZE+1); r++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=WINDOW_SIZE+1 - #pragma HLS PIPELINE + #pragma HLS UNROLL img1Win [r] = 0; img1Win [r+(WINDOW_SIZE+1)] = 0; img2Win [r] = 0; img1Col_ [r] =0; img2Col_ [r] =0; } From 0c30f43cf17a90152918caca2b1e93a08b5cfb81 Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 3 May 2018 08:43:23 +0300 Subject: [PATCH 23/73] Apply found work around to xf_gaussian_filter.hpp and rework AWS examples to call top level function of Gaussian filter from xfopencv library --- .../xf_gaussian_filter_accel_aws.cpp | 17 +-- .../xf_gaussian_filter_config.h | 96 +++++++----- .../xf_gaussian_filter_kernel_aws.cpp | 118 ++++++++------- .../gaussianfilter/xf_gaussian_filter_tb.cpp | 141 +++++++++--------- include/imgproc/xf_gaussian_filter.hpp | 64 ++++---- 5 files changed, 237 insertions(+), 199 deletions(-) diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp index 206f36e..bb05799 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp @@ -6,7 +6,7 @@ #include "xf_gaussian_filter_config.h" -void gaussian_filter_accel(xf::Mat &imgInput, xf::Mat &imgOutput, float sigma) +void gaussian_filter_accel(xf::Mat &img_inp, xf::Mat &img_out, float sigma) { std::vector devices = xcl::get_xil_devices(); @@ -28,29 +28,28 @@ void gaussian_filter_accel(xf::Mat &imgInput, xf:: //----------- Allocate Buffer in Global Memory -----------// - cl::Buffer buffer_inp(context,CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY , imgInput.rows * imgInput.cols, imgInput.data); - cl::Buffer buffer_out(context,CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY, imgOutput.rows * imgOutput.cols, imgOutput.data); + cl::Buffer buffer_inp(context,CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY , img_inp.rows * img_inp.cols, img_inp.data); + cl::Buffer buffer_out(context,CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY, img_out.rows * img_out.cols, img_out.data); std::vector writeBufVec; writeBufVec.push_back(buffer_inp); - //----------- Migrate input data to device global memory -----------// + //----------- Migrate input data to device global memory -----------// - q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host + q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host auto krnl = cl::KernelFunctor(kernel); //----------- Launch the Kernel -----------// - krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma, imgOutput.rows, imgOutput.cols); + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, img_inp.rows, img_inp.cols, sigma, img_out.rows, img_out.cols); - //----------- Copy Result from Device Global Memory to Host Local Memory -----------// + //----------- Copy Result from Device Global Memory to Host Local Memory -----------// std::vector readBufVec; readBufVec.push_back(buffer_out); - q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); + q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); q.finish(); - } diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_config.h b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h index d08ce85..08ecff9 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_config.h +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h @@ -29,39 +29,65 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ***************************************************************************/ #ifndef _XF_GAUSSIAN_FILTER_CONFIG_H_ -#define _XF_GAUSSIAN_FILTER_CONFIG_H_ - -#include "hls_stream.h" -#include "common/xf_common.h" -#include "common/xf_utility.h" -#include "imgproc/xf_gaussian_filter.hpp" -#include "xf_config_params.h" - -typedef unsigned short int uint16_t; - -#define WIDTH 1920 -#define HEIGHT 1080 - - -#if FILTER_SIZE_3 -#define FILTER_WIDTH 3 -#define FILTER 3 -#elif FILTER_SIZE_5 -#define FILTER_WIDTH 5 -#define FILTER 5 -#elif FILTER_SIZE_7 -#define FILTER_WIDTH 7 -#define FILTER 7 -#endif - -#if NO -#define NPC1 XF_NPPC1 -#endif -#if RO -#define NPC1 XF_NPPC8 -#endif - -void gaussian_filter_accel(xf::Mat &imgInput, xf::Mat&imgOutput, float sigma); - - +//{ + #define _XF_GAUSSIAN_FILTER_CONFIG_H_ + + #include "hls_stream.h" + #include "common/xf_common.h" + #include "common/xf_utility.h" + #include "imgproc/xf_gaussian_filter.hpp" + #include "xf_config_params.h" + + typedef unsigned short int uint16_t; + + #define SCALE ( 0.5f ) + + #define ROWS_INP ( 1080 ) + #define COLS_INP ( 1920 ) + + #define ROWS_OUT ( ROWS_INP / 2 ) + #define COLS_OUT ( COLS_INP / 2 ) + + //----------------- Filters parameters -----------------// + + #define XF_RESIZE_INTERPOLATION XF_INTERPOLATION_NN // Interpolation type for xf::resize() inside kernel + #define CV_RESIZE_INTERPOLATION cv::INTER_NEAREST // Interpolation type for cv::resize() called from testbench + + #define XF_GAUSSIAN_BORDER XF_BORDER_CONSTANT // Border type of xfopencv Gaussian filter inside kernel + #define CV_GAUSSIAN_BORDER cv::BORDER_CONSTANT // Border type of opencv Gaussian filter called from testbench + + #if FILTER_SIZE_3 // Set Gaussian filter parameters depending on constant defined in xf_config_params.h + //{ + #define FILTER_WIDTH ( 3 ) + #define FILTER ( 3 ) + #define SIGMA ( 0.5f) + //} + #elif FILTER_SIZE_5 + //{ + #define FILTER_WIDTH ( 5 ) + #define FILTER ( 5 ) + #define SIGMA ( 0.8333f ) + //} + #elif FILTER_SIZE_7 + //{ + #define FILTER_WIDTH ( 7 ) + #define FILTER ( 7 ) + #define SIGMA ( 1.16666f ) + //} + #endif + + #if NO + //{ + #define NPC1 XF_NPPC1 + //} + #endif + + #if RO + //{ + #define NPC1 XF_NPPC8 + //} + #endif + + void gaussian_filter_accel(xf::Mat &img_inp, xf::Mat &img_out, float sigma); +//} #endif //_XF_GAUSSIAN_FILTER_CONFIG_H_ diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp index e3cf1ab..f6cbaf1 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -12,79 +12,89 @@ #include "imgproc/xf_gaussian_filter.hpp" #include "imgproc/xf_resize.hpp" -#define SRC_T XF_8UC1 +extern "C" void xf_gaussian_filter(XF_TNAME(XF_8UC1, NPC1) *img_inp, XF_TNAME(XF_8UC1, NPC1) *img_out, int rows_inp, int cols_inp, float sigma, int rows_out, int cols_out); -#define INTERPOLATION_TYPE XF_INTERPOLATION_NN +void xf_gaussian_filter(XF_TNAME(XF_8UC1, NPC1) *img_inp, XF_TNAME(XF_8UC1, NPC1) *img_out, int rows_inp, int cols_inp, float sigma, int rows_out, int cols_out) +{ + #pragma HLS INTERFACE m_axi port=img_inp offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=img_out offset=slave bundle=gmem -extern "C" void xf_gaussian_filter(XF_TNAME(SRC_T,NPC1) *ai, XF_TNAME(SRC_T,NPC1) *bo, int rows, int cols, float sigma, int o_rows, int o_cols); + #pragma HLS INTERFACE s_axilite port=img_inp bundle=control + #pragma HLS INTERFACE s_axilite port=img_out bundle=control + + #pragma HLS INTERFACE s_axilite port=rows_inp bundle=control + #pragma HLS INTERFACE s_axilite port=cols_inp bundle=control + #pragma HLS INTERFACE s_axilite port=sigma bundle=control + + #pragma HLS INTERFACE s_axilite port=rows_out bundle=control + #pragma HLS INTERFACE s_axilite port=cols_out bundle=control + + #pragma HLS INTERFACE s_axilite port=return bundle=control + #pragma HLS dataflow - void xf_gaussian_filter(XF_TNAME(SRC_T,NPC1) *ai, XF_TNAME(SRC_T,NPC1) *bo, int rows, int cols, float sigma, int o_rows, int o_cols) - { - #pragma HLS INTERFACE m_axi port=ai offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=bo offset=slave bundle=gmem + const int pROWS_INP = ROWS_INP; + const int pCOLS_INP = COLS_INP; - #pragma HLS INTERFACE s_axilite port=ai bundle=control - #pragma HLS INTERFACE s_axilite port=bo bundle=control - - #pragma HLS INTERFACE s_axilite port=rows bundle=control - #pragma HLS INTERFACE s_axilite port=cols bundle=control - #pragma HLS INTERFACE s_axilite port=sigma bundle=control + const int pROWS_OUT = ROWS_OUT; + const int pCOLS_OUT = COLS_OUT; + + const int pNPC1 = NPC1; + + xf::Mat mi; + xf::Mat mf; + + #pragma HLS stream variable=mi.data depth=pCOLS_INP/pNPC1 + #pragma HLS stream variable=mf.data depth=pCOLS_INP/pNPC1 - #pragma HLS INTERFACE s_axilite port=o_rows bundle=control - #pragma HLS INTERFACE s_axilite port=o_cols bundle=control + xf::Mat mo; - #pragma HLS INTERFACE s_axilite port=return bundle=control + #pragma HLS stream variable=mo.data depth=pCOLS_OUT/pNPC1 - #pragma HLS inline off - #pragma HLS dataflow + mi.rows = rows_inp; + mi.cols = cols_inp; - const int pROWS = HEIGHT; - const int pCOLS = WIDTH; - const int pNPC1 = NPC1; + mf.rows = rows_inp; + mf.cols = cols_inp; - hls::stream src; - hls::stream flt; - hls::stream dst; + mo.rows = rows_out; + mo.cols = cols_out; - /********************************************************/ + /********************************************************/ - Read_yuyv_Loop: - for(int i=0; i < rows; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + for(int i=0; i < rows_inp; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS_INP - for(int j=0; j < (cols)>>(XF_BITSHIFT(NPC1));j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC1 - #pragma HLS PIPELINE - #pragma HLS loop_flatten off + for(int j=0; j < (cols_inp >> (XF_BITSHIFT(NPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS_INP/pNPC1 + #pragma HLS PIPELINE + #pragma HLS loop_flatten off - src.write( *(ai + i*(cols>>(XF_BITSHIFT(NPC1))) +j) ); - } - } + *(mi.data + i*(cols_inp >> (XF_BITSHIFT(NPC1))) +j) = *(img_inp + i*(cols_inp >> (XF_BITSHIFT(NPC1))) +j); + } + } - xf::xFGaussianFilter< HEIGHT, WIDTH, XF_DEPTH(SRC_T, NPC1), NPC1, XF_WORDWIDTH(SRC_T,NPC1)>(src, flt, FILTER_WIDTH, XF_BORDER_CONSTANT, rows, cols,sigma); + xf::GaussianBlur(mi, mf, sigma); - //setup same maximum output image size as for source image + xf::resize (mf, mo); - xf::xFresize< HEIGHT, WIDTH, SRC_T, NPC1, XF_WORDWIDTH(SRC_T,NPC1), HEIGHT/2, WIDTH/2>(flt, dst, INTERPOLATION_TYPE, rows, cols, o_rows, o_cols); - - for(int i=0;i>XF_BITSHIFT(NPC1); j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS - #pragma HLS PIPELINE II=1 - #pragma HLS LOOP_FLATTEN OFF - - *(bo + i*(o_cols>>XF_BITSHIFT(NPC1)) + j) = dst.read(); - } - } + for(int i=0; i < rows_out; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS_OUT + for(int j=0; j < (cols_out >> (XF_BITSHIFT(NPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS_OUT/pNPC1 + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(img_out + i*(cols_out >> (XF_BITSHIFT(NPC1))) +j) = *(mo.data + i*(cols_out >> (XF_BITSHIFT(NPC1))) +j) ; + } } +} + diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp index 337983a..46d0ca0 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp @@ -36,105 +36,104 @@ #include "xf_gaussian_filter_config.h" - using namespace std; - int main(int argc, char **argv) { + if (argc != 2) + { + printf("Usage: \n"); + return -1; + } - if (argc != 2) - { - printf("Usage: \n"); - return -1; - } + cv::Mat cv_img_inp, cv_img_out, cv_img_ref; + cv::Mat diff; - cv::Mat in_img, out_img, ocv_ref, ocv_ref_s, in_img_gau; - cv::Mat in_gray, in_gray1, diff; + int rows_out, cols_out; - in_img = cv::imread(argv[1], 0); // reading in the color image + cv_img_inp = cv::imread(argv[1], 0); // reading in the color image - if (!in_img.data) + if (!cv_img_inp.data) { - printf("Failed to load the image ... !!!"); - return -1; - } + printf("Failed to load the image ... !!!"); + return -1; + } + + rows_out = cv_img_inp.rows * SCALE; + cols_out = cv_img_inp.cols * SCALE; - //extractChannel(in_img, in_gray, 1); - diff.create(in_img.rows/2, in_img.cols/2, in_img.depth()); // create memory for diff image - - ocv_ref.create(in_img.rows, in_img.cols, in_img.depth()); // create memory for OCV output image + cv_img_ref.create(cv_img_inp.rows, cv_img_inp.cols, cv_img_inp.depth()); // create memory for OCV output image - ocv_ref_s.create(in_img.rows/2, in_img.cols/2, in_img.depth()); // create memory for resized OCV output image + cv_img_out.create(rows_out, cols_out, cv_img_inp.depth()); // create memory for OCV output image - #if FILTER_WIDTH==3 - float sigma = 0.5f; - #endif + float sigma = SIGMA; - #if FILTER_WIDTH==7 - float sigma=1.16666f; - #endif + // OpenCV Gaussian filter function + cv::GaussianBlur(cv_img_inp, cv_img_ref, cvSize(FILTER_WIDTH, FILTER_WIDTH), SIGMA, SIGMA, CV_GAUSSIAN_BORDER); - #if FILTER_WIDTH==5 - float sigma = 0.8333f; - #endif + cv::resize(cv_img_ref, cv_img_out, cvSize(cv_img_out.cols, cv_img_out.rows), 0, 0, CV_RESIZE_INTERPOLATION ); + imwrite("cv_img_ref.jpg", cv_img_ref); + imwrite("cv_img_out.jpg", cv_img_out); - // OpenCV Gaussian filter function - cv::GaussianBlur(in_img, ocv_ref, cvSize(FILTER_WIDTH, FILTER_WIDTH),FILTER_WIDTH / 6.0, FILTER_WIDTH / 6.0, cv::BORDER_CONSTANT); - cv::resize(ocv_ref, ocv_ref_s, cvSize(ocv_ref_s.cols, ocv_ref_s.rows), 0, 0, cv::INTER_NEAREST ); + diff.create(cv_img_out.rows, cv_img_out.cols, cv_img_out.depth()); // create memory for diff image - imwrite("output_ocv.png", ocv_ref); - imwrite("output_ocv_s.png", ocv_ref_s); + //=====================================================================// - xf::Mat imgInput (in_img.rows ,in_img.cols ); - xf::Mat imgOutput(in_img.rows/2,in_img.cols/2); - //imgInput.copyTo(in_img.data); - imgInput = xf::imread(argv[1], 0); + xf::Mat xf_img_inp(cv_img_inp.rows,cv_img_inp.cols); + xf::Mat xf_img_out(cv_img_out.rows,cv_img_out.cols); + xf_img_inp = xf::imread(argv[1], 0); - gaussian_filter_accel(imgInput, imgOutput, sigma); + gaussian_filter_accel(xf_img_inp, xf_img_out, sigma); - // Write output image - xf::imwrite("hls_out.jpg",imgOutput); + // Write output image + xf::imwrite("xf_img_out.jpg",xf_img_out); - //imwrite("output_hls.png", out_img); - xf::absDiff(ocv_ref_s, imgOutput, diff); // Compute absolute difference image - imwrite("error.png", diff); // Save the difference image for debugging purpose + xf::absDiff(cv_img_out, xf_img_out, diff); // Compute absolute difference image - // Find minimum and maximum differences. + imwrite("error.png", diff); // Save the difference image for debugging purpose - double minval = 256, maxval = 0; - int cnt = 0; - for (int i = 0; i < diff.rows; i++) { - for (int j = 0; j < diff.cols; j++) { - uchar v = diff.at(i, j); - if (v > 0) - cnt++; - if (minval > v) - minval = v; - if (maxval < v) - maxval = v; - } - } - float err_per = 100.0 * (float) cnt / (diff.rows * diff.cols); - printf( - "Minimum error in intensity = %f\n\ - Maximum error in intensity = %f\n\ - Percentage of pixels above error threshold = %f\n", - minval, maxval, err_per); + // Find minimum and maximum differences. - if(err_per > 1){ - printf("\nTest failed\n"); - return -1; - } - else{ - printf("\nTest Pass\n"); - return 0; - } + #define THRESHOLD 1 + + double minval = 256, maxval = 0; + int cnt = 0; + + for( int i = 0; i < cv_img_inp.rows; i++ ) + { + for( int j = 0; j < cv_img_inp.cols; j++ ) + { + uchar v = diff.at(i, j); + + if( v > THRESHOLD ) + cnt++; + + if (minval > v) minval = v; + if (maxval < v) maxval = v; + } + } + + float err_per = 100.0 * (float) cnt / (cv_img_inp.rows * cv_img_inp.cols); + + printf( "\nMinimum error in intensity = %f\n", minval); + printf( "Maximum error in intensity = %f\n", maxval); + + printf( "\nPercentage of pixels above error threshold = %f\n", err_per); + + if(err_per > 1) + { + printf("\nTest Failed\n"); + return -1; + } + + printf("\nTest Pass\n"); + + return 0; } diff --git a/include/imgproc/xf_gaussian_filter.hpp b/include/imgproc/xf_gaussian_filter.hpp index 8dc51d9..b9c0545 100644 --- a/include/imgproc/xf_gaussian_filter.hpp +++ b/include/imgproc/xf_gaussian_filter.hpp @@ -1139,44 +1139,48 @@ void xFGaussianFilter(hls::stream< XF_SNAME(WORDWIDTH)> &_src, hls::stream< XF_S #pragma SDS data copy("_dst.data"[0:"_dst.size"]) template -void GaussianBlur(xf::Mat & _src, xf::Mat & _dst, float sigma) +void GaussianBlur(xf::Mat &_src, xf::Mat &_dst, float sigma) { -#pragma HLS inline off + #pragma HLS inline off -#pragma HLS dataflow + #pragma HLS dataflow - hls::streamsrc; - hls::stream< XF_TNAME(SRC_T,NPC)> dst; + hls::stream src; + hls::stream dst; - /********************************************************/ + /********************************************************/ - Read_yuyv_Loop: - for(int i=0; i<_src.rows;i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS - for(int j=0; j<(_src.cols)>>(XF_BITSHIFT(NPC));j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS/NPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - src.write( *(_src.data + i*(_src.cols>>(XF_BITSHIFT(NPC))) +j) ); - } - } + Read_yuyv_Loop: + for(int i=0; i < _src.rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS - xFGaussianFilter< ROWS, COLS, XF_DEPTH(SRC_T,NPC),NPC,XF_WORDWIDTH(SRC_T,NPC)>(src, dst, FILTER_SIZE, BORDER_TYPE, _src.rows,_src.cols,sigma); + for(int j=0; j < (_src.cols)>>(XF_BITSHIFT(NPC)); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS/NPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off - for(int i=0; i<_dst.rows;i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS - for(int j=0; j<(_dst.cols)>>(XF_BITSHIFT(NPC));j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS/NPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - *(_dst.data + i*(_dst.cols>>(XF_BITSHIFT(NPC))) +j) = dst.read(); + src.write( *(_src.data + i*(_src.cols>>(XF_BITSHIFT(NPC))) +j) ); + } + } - } - } + xFGaussianFilter< ROWS, COLS, XF_DEPTH(SRC_T,NPC),NPC,XF_WORDWIDTH(SRC_T,NPC)>(src, dst, FILTER_SIZE, BORDER_TYPE, _src.rows, _src.cols, sigma); + + for(int i=0; i < _src.rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=ROWS + + for(int j=0; j < (_src.cols)>>(XF_BITSHIFT(NPC)); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS/NPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(_dst.data + i*(_src.cols>>(XF_BITSHIFT(NPC))) +j) = dst.read(); + + } + } } } #endif //_XF_GAUSSIAN_HPP_ From 65d9c407e9b1f7af091b1ad291ab910e050b8ffd Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 4 May 2018 02:00:54 +0300 Subject: [PATCH 24/73] Stereopipeline initial version --- aws_demo/stereopipeline/cameraParameters.h | 173 +++++++++++++ aws_demo/stereopipeline/xf_config_params.h | 11 + aws_demo/stereopipeline/xf_headers.h | 56 ++++ .../xf_stereo_pipeline_accel_aws.cpp | 74 ++++++ .../xf_stereo_pipeline_config.h | 63 +++++ .../xf_stereo_pipeline_kernel_aws.cpp | 242 ++++++++++++++++++ .../stereopipeline/xf_stereo_pipeline_tb.cpp | 141 ++++++++++ .../xf_stereo_pipeline_accel.cpp | 38 ++- 8 files changed, 788 insertions(+), 10 deletions(-) create mode 100644 aws_demo/stereopipeline/cameraParameters.h create mode 100644 aws_demo/stereopipeline/xf_config_params.h create mode 100644 aws_demo/stereopipeline/xf_headers.h create mode 100644 aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp create mode 100644 aws_demo/stereopipeline/xf_stereo_pipeline_config.h create mode 100644 aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp create mode 100644 aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp diff --git a/aws_demo/stereopipeline/cameraParameters.h b/aws_demo/stereopipeline/cameraParameters.h new file mode 100644 index 0000000..491ace5 --- /dev/null +++ b/aws_demo/stereopipeline/cameraParameters.h @@ -0,0 +1,173 @@ +typedef float param_T; + +//#define OLD720PPARAMS +//#define JACKSCAMERA_FHD +//#define JACKSCAMERA_HACKF_720P +//#define DANSCAMERA_FHD +//#define DANSCAMERA_720P +#define DANSCAMERA_HACKF_720P + +#ifdef OLD720PPARAMS +param_T cameraMA_l[9] = { 1000, 0.0, 950, 0.0, 1000, 950, 0, 0, 1 }; +param_T irA_l[9] = { 0.001,0, -0.95, 0, 0.001,-0.95, 0,0,1 }; +param_T distC_l[5] = { 0,0,0,0,0 }; +param_T cameraMA_r[9] = { 1000, 0.0, 950, 0.0, 1000, 950, 0, 0, 1 }; +param_T irA_r[9] = { 0.001,0, -0.95, 0, 0.001,-0.95, 0,0,1 }; +param_T distC_r[5] = { 0,0,0,0,0 }; +#endif + + +#ifdef JACKSCAMERA_HACKF_720P +param_T cameraMA_l[9] = +{ 933.6330000000, 0.0000000000, 695.1210000000, + 0.0000000000, 933.6330000000, 357.9060000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T cameraMA_r[9] = +{ 933.0330000000, 0.0000000000, 713.4870000000, + 0.0000000000, 933.0330000000, 371.9880000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T distC_l[5] = +{ -0.1742480000, 0.0257726000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T distC_r[5] = +{ -0.1761240000, 0.0290219000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T irA_l[9] = +{ 0.0012029958, 0.0000006953, -0.8686828369, + -0.0000006919, 0.0012030057, -0.4384867217, + 0.0000049680, -0.0000008223, 0.9967224703}; + +param_T irA_r[9] = +{ 0.0012030062, 0.0000000000, -0.8643069377, + -0.0000000000, 0.0012030059, -0.4403546203, + 0.0000000000, 0.0000008238, 0.9996986971}; +#endif + + +#ifdef JACKSCAMERA_FHD +// ZED 2x 1080p Stereo Camera +// from SN2484.conf [LEFT_CAM_FHD] fx,cx,fy,cy +// Camera Mat Left: +param_T cameraMA_l[9] = +{ 1400.4500000000, 0.0000000000, 1073.2400000000, + 0.0000000000, 1400.4500000000, 538.8110000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +//inv(Rotation Mat * new Camera Mat) Left: +param_T irA_l[9] = +{ 0.0008019968, 0.0000004635, -0.9044744614, + -0.0000004613, 0.0008020035, -0.4432839221, + 0.0000033120, -0.0000005482, 0.9965779658}; + +// from SN2484.conf [LEFT_CAM_FHD] k1,k2 +param_T distC_l[5] = +{ -0.174248, 0.0257726, 0, 0, 0 }; + +// from SN2484.conf [RIGHT_CAM_FHD] fx,cx,fy,cy +// Camera Mat Right: +param_T cameraMA_r[9] = +{ 1399.5500000000, 0.0000000000, 1109.9700000000, + 0.0000000000, 1399.5500000000, 566.9750000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +// inv(Rotation Mat * new Camera Mat) Right: +param_T irA_r[9] = +{ 0.0008020038, 0.0000000000, -0.9000960887, + -0.0000000000, 0.0008020036, -0.4451724061, + 0.0000000000, 0.0000005492, 0.9996953980}; + +// from SN2484.conf [RIGHT_CAM_FHD] k1,k2 +param_T distC_r[5] = +{ -0.176124, 0.0290219, 0, 0, 0 }; + +#endif + +#ifdef DANSCAMERA_720P +param_T cameraMA_l[9] = +{ 699.8780000000, 0.0000000000, 663.4510000000, + 0.0000000000, 699.8780000000, 377.0150000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T cameraMA_r[9] = +{ 700.0990000000, 0.0000000000, 678.2970000000, + 0.0000000000, 700.0990000000, 359.6230000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T distC_l[5] = +{ -0.1693980000, 0.0227329000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T distC_r[5] = +{ -0.1705810000, 0.0249444000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T irA_l[9] = +{ 0.0024720519, -0.0000000039, -1.7464382128, + 0.0000000015, 0.0024721905, -0.9765267985, + 0.0000261810, 0.0000002197, 0.9814731201}; + +param_T irA_r[9] = +{ 0.0024721905, 0.0000000000, -1.7359468834, + -0.0000000000, 0.0024721905, -0.9763479760, + -0.0000000000, -0.0000002197, 1.0000867727}; +#endif + +#ifdef DANSCAMERA_HACKF_720P +param_T cameraMA_l[9] = +{ 933.1730000000, 0.0000000000, 663.4510000000, + 0.0000000000, 933.1730000000, 377.0150000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T cameraMA_r[9] = +{ 933.4670000000, 0.0000000000, 678.2970000000, + 0.0000000000, 933.4670000000, 359.6230000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T distC_l[5] = +{ -0.1693980000, 0.0227329000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T distC_r[5] = +{ -0.1705810000, 0.0249444000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T irA_l[9] = +{ 0.0011976323, -0.0000000019, -0.8153011732, + 0.0000000007, 0.0011976994, -0.4422348617, + 0.0000126839, 0.0000001064, 0.9913820905}; + +param_T irA_r[9] = +{ 0.0011976994, 0.0000000000, -0.8047567905, + -0.0000000000, 0.0011976994, -0.4420566166, + -0.0000000000, -0.0000001064, 1.0000392898}; +#endif + + +#ifdef DANSCAMERA_FHD +param_T cameraMA_l[9] = +{ 1399.7600000000, 0.0000000000, 1009.9000000000, + 0.0000000000, 1399.7600000000, 577.0300000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T cameraMA_r[9] = +{ 1400.2000000000, 0.0000000000, 1039.5900000000, + 0.0000000000, 1400.2000000000, 542.2460000000, + 0.0000000000, 0.0000000000, 1.0000000000}; + +param_T distC_l[5] = +{ -0.1693980000, 0.0227329000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T distC_r[5] = +{ -0.1705810000, 0.0249444000, 0.0000000000, 0.0000000000, 0.0000000000}; + +param_T irA_l[9] = +{ 0.0007984219, -0.0000000012, -0.8338509656, + 0.0000000005, 0.0007984666, -0.4484861710, + 0.0000084559, 0.0000000710, 0.9911850779}; + +param_T irA_r[9] = +{ 0.0007984666, 0.0000000000, -0.8233076329, + -0.0000000000, 0.0007984666, -0.4483079145, + -0.0000000000, -0.0000000710, 1.0000398454}; +#endif + + + diff --git a/aws_demo/stereopipeline/xf_config_params.h b/aws_demo/stereopipeline/xf_config_params.h new file mode 100644 index 0000000..3f56cdc --- /dev/null +++ b/aws_demo/stereopipeline/xf_config_params.h @@ -0,0 +1,11 @@ +/* NO_OF_DISPARITIES must be greater than '0' and less than the image width */ +#define NO_OF_DISPARITIES 48 + +/* NO_OF_DISPARITIES must not be lesser than PARALLEL_UNITS and NO_OF_DISPARITIES/PARALLEL_UNITS must be a non-fractional number */ +#define PARALLEL_UNITS 16 + +/* SAD window size must be an odd number and it must be less than minimum of image height and width and less than the tested size '21' */ +#define SAD_WINDOW_SIZE 15 + +// Configure this based on the number of rows needed for Remap function +#define XF_REMAP_BUFSIZE 128 diff --git a/aws_demo/stereopipeline/xf_headers.h b/aws_demo/stereopipeline/xf_headers.h new file mode 100644 index 0000000..793f8da --- /dev/null +++ b/aws_demo/stereopipeline/xf_headers.h @@ -0,0 +1,56 @@ +/*************************************************************************** + Copyright (c) 2016, Xilinx, Inc. + All rights reserved. + + Redistribution and use in source and binary forms, with or without modification, + are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. + IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + HOWEVER CXFSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + ***************************************************************************/ +#ifndef _XF_HEADERS_H_ +#define _XF_HEADERS_H_ + +#include +#include +#include + +#undef __ARM_NEON__ +#undef __ARM_NEON +#include "opencv/cv.h" +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/video/tracking.hpp" +#define __ARM_NEON__ +#define __ARM_NEON + + +#if __SDSCC__ +#include "sds_lib.h" +#define TIME_STAMP_INIT unsigned int clock_start, clock_end; clock_start = sds_clock_counter(); +#define TIME_STAMP { clock_end = sds_clock_counter(); printf("elapsed time %lu \n", clock_end-clock_start); clock_start = sds_clock_counter(); } +#endif + +#include "common/xf_sw_utils.h" + +#endif//_XF_HEADERS_H_ + diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp new file mode 100644 index 0000000..b4fe941 --- /dev/null +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp @@ -0,0 +1,74 @@ +#include +#include +#include + +#include "xcl2.hpp" + +#include "xf_stereo_pipeline_config.h" + +void stereopipeline_accel + ( + xf::Mat &leftMat, xf::Mat &rightMat, + + xf::Mat &dispMat, + + xf::Mat &mapxLMat, xf::Mat &mapyLMat, + xf::Mat &mapxRMat, xf::Mat &mapyRMat, + + xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, + + xf::xFSBMState &bm_state, + + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int _cm_size, int _dc_size + ) +{ + std::vector devices = xcl::get_xil_devices(); + + cl::Device device = devices[0]; + + cl::Context context(device); + + cl::CommandQueue q(context, device, CL_QUEUE_PROFILING_ENABLE); + std::string device_name = device.getInfo(); + + std::string binaryFile = "xf_stereopipeline.awsxclbin"; + + std::cout << "========" << binaryFile << " ==================" << std::endl; + + cl::Program::Binaries bins = xcl::import_binary_file(binaryFile); + devices.resize(1); + cl::Program program(context, devices, bins); + cl::Kernel kernel(program,"xf_stereopipeline"); + + //----------- Allocate Buffer in Global Memory -----------// + +// cl::Buffer buffer_inp(context,CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY , imgInput.rows * imgInput.cols, imgInput.data); +// cl::Buffer buffer_out(context,CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY, imgOutput.rows * imgOutput.cols, imgOutput.data); +// +// std::vector writeBufVec; +// writeBufVec.push_back(buffer_inp); +// +// //----------- Migrate input data to device global memory -----------// +// +// q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host +// +// auto krnl = cl::KernelFunctor(kernel); +// +// //----------- Launch the Kernel -----------// +// +// krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma, imgOutput.rows, imgOutput.cols); +// +// //----------- Copy Result from Device Global Memory to Host Local Memory -----------// +// +// std::vector readBufVec; +// readBufVec.push_back(buffer_out); +// +// q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); +// +// q.finish(); + +} diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h new file mode 100644 index 0000000..f6512e5 --- /dev/null +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h @@ -0,0 +1,63 @@ +/*************************************************************************** +Copyright (c) 2016, Xilinx, Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors +may be used to endorse or promote products derived from this software +without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + ***************************************************************************/ + +#ifndef _XF_STEREO_PIPELINE_CONFIG_H_ +#define _XF_STEREO_PIPELINE_CONFIG_H_ + +#include "hls_stream.h" + +#include "common/xf_common.h" +#include "common/xf_utility.h" + +#include "imgproc/xf_stereo_pipeline.hpp" +#include "imgproc/xf_remap.hpp" +#include "imgproc/xf_stereoBM.hpp" + +#include "xf_config_params.h" + + +/* config width and height */ +#define XF_HEIGHT 1080 +#define XF_WIDTH 1920 + +#define XF_CAMERA_MATRIX_SIZE 9 +#define XF_DIST_COEFF_SIZE 5 + +#define IN_TYPE ap_uint<8> +#define OUT_TYPE ap_uint<16> + +void stereopipeline_accel(xf::Mat &leftMat, xf::Mat &rightMat, xf::Mat &dispMat, + xf::Mat &mapxLMat, xf::Mat &mapyLMat, xf::Mat &mapxRMat, + xf::Mat &mapyRMat, xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, + xf::xFSBMState &bm_state, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix, ap_fixed<32,12> *distC_r_fix, + ap_fixed<32,12> *irA_l_fix, ap_fixed<32,12> *irA_r_fix, int _cm_size, int _dc_size); + +#endif // _XF_STEREO_PIPELINE_CONFIG_H_ + diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp new file mode 100644 index 0000000..ed59436 --- /dev/null +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -0,0 +1,242 @@ +//Includes +#include +#include +#include + +#include "xf_stereo_pipeline_config.h" + +template +void remap_aws( XF_TNAME(SRC_T,NPC) *_src_mat, XF_TNAME(SRC_T,NPC) *_remapped_mat, XF_TNAME(SRC_T,NPC) *_mapx_mat, XF_TNAME(SRC_T,NPC) *_mapy_mat, int m_rows, int m_cols ); + + +extern "C" + { + void xf_stereopipeline + ( + XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , //xf::Mat &leftMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, //xf::Mat &rightMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , //xf::Mat &dispMat, + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, //xf::Mat &mapxLMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, //xf::Mat &mapyLMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, //xf::Mat &mapxRMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, //xf::Mat &mapyRMat, //out + internal stream + + XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, //xf::Mat &leftRemappedMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, //xf::Mat &rightRemappedMat, + + xf::xFSBMState bm_state, + + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int _cm_size, int _dc_size + + int rows, + int cols + ); + } + +void xf_stereopipeline( + XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , //xf::Mat &leftMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, //xf::Mat &rightMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , //xf::Mat &dispMat, + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, //xf::Mat &mapxLMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, //xf::Mat &mapyLMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, //xf::Mat &mapxRMat, //out + internal stream + + XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, //xf::Mat &mapyRMat, //out + internal stream + + XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, //xf::Mat &leftRemappedMat, + + XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, //xf::Mat &rightRemappedMat, + + xf::xFSBMState bm_state, + + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int _cm_size, int _dc_size, + + int rows, + int cols + ) +{ + #pragma HLS INTERFACE m_axi port=leftMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=rightMat offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=dispMat offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=mapxRMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=mapyRMat offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=leftRemappedMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=rightRemappedMat offset=slave bundle=gmem + + + #pragma HLS INTERFACE m_axi port=cameraMA_l_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=distC_l_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=distC_r_fix offset=slave bundle=gmem + + #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem + + + #pragma HLS INTERFACE s_axilite port=leftMat bundle=control + #pragma HLS INTERFACE s_axilite port=rightMat bundle=control + + #pragma HLS INTERFACE s_axilite port=dispMat bundle=control + + #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control + #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control + + #pragma HLS INTERFACE s_axilite port=mapxRMat bundle=control + #pragma HLS INTERFACE s_axilite port=mapyRMat bundle=control + + #pragma HLS INTERFACE s_axilite port=leftRemappedMat bundle=control + #pragma HLS INTERFACE s_axilite port=rightRemappedMat bundle=control + + + #pragma HLS INTERFACE s_axilite port=cameraMA_l_fix bundle=control + #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control + + #pragma HLS INTERFACE s_axilite port=distC_l_fix bundle=control + #pragma HLS INTERFACE s_axilite port=distC_r_fix bundle=control + + #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control + #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control + + + #pragma HLS INTERFACE s_axilite port=_cm_size bundle=control + #pragma HLS INTERFACE s_axilite port=_dc_size bundle=control + + #pragma HLS INTERFACE s_axilite port=rows bundle=control + #pragma HLS INTERFACE s_axilite port=cols bundle=control + + #pragma HLS INTERFACE s_axilite port=return bundle=control + + #pragma HLS inline off + #pragma HLS dataflow + + + + + XF_TNAME(XF_32FC1, XF_NPPC1) map_x_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + XF_TNAME(XF_32FC1, XF_NPPC1) map_y_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + + XF_TNAME(XF_32FC1, XF_NPPC1) map_x_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + XF_TNAME(XF_32FC1, XF_NPPC1) map_y_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + + XF_TNAME(XF_8UC1 , XF_NPPC1) remapped_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + XF_TNAME(XF_8UC1 , XF_NPPC1) remapped_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; + + + + xf::xFInitUndistortRectifyMapInverseKernel, XF_DIST_COEFF_SIZE, XF_TNAME(XF_32FC1, XF_NPPC1)>(cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, rows, cols); + + remap_aws( leftMat, remapped_l, map_x_l, map_y_l, rows, cols ); + + + + + xf::xFInitUndistortRectifyMapInverseKernel, XF_DIST_COEFF_SIZE, XF_TNAME(XF_32FC1, XF_NPPC1)>(cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, rows, cols); + + remap_aws( rightMat, remapped_r, map_x_r, map_y_r, rows, cols ); + + + + + xf::xFFindStereoCorrespondenceLBM(remapped_l, remapped_r, dispMat, bm_state, rows, cols); +} + + + + + + + + + + + + +template +void remap_aws( XF_TNAME(SRC_T,NPC) *_src_mat, XF_TNAME(SRC_T,NPC) *_remapped_mat, XF_TNAME(SRC_T,NPC) *_mapx_mat, XF_TNAME(SRC_T,NPC) *_mapy_mat, int m_rows, int m_cols ) +{ + #pragma HLS inline off + #pragma HLS dataflow + + assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); + assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); + + hls::stream< XF_TNAME(SRC_T,NPC)> _src; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; + hls::stream< XF_TNAME(DST_T,NPC)> _remapped; + + int depth_est = WIN_ROWS * m_cols; + + uint16_t rows = m_rows; + uint16_t cols = m_cols; + + int loop_count = (rows*cols); + int TC=(ROWS*COLS); + + int ishift = WIN_ROWS/2; + int row_tripcount = ROWS+WIN_ROWS; + + xfremap_rows_loop: + for(int i = 0; i < rows+ishift; i++) + { + #pragma HLS LOOP_FLATTEN OFF + #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount + + xfremap_cols_loop: + for (int j = 0; j < cols; j++) + { + #pragma HLS pipeline ii=1 + #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS + + if (i < rows) + { + _src.write(*(_src_mat + i*cols + j)); + } + + if (i >= ishift) + { + _mapx.write(*(_mapx_mat + (i-ishift)*cols + j)); + _mapy.write(*(_mapy_mat + (i-ishift)*cols + j)); + } + } + } + + xf::xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); + + xfremap_output_loop: + for (int i = 0; i < loop_count; i++) + { + #pragma HLS pipeline ii=1 + #pragma HLS LOOP_TRIPCOUNT min=1 max=TC + _remapped_mat[i] = _remapped.read(); + } +} diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp new file mode 100644 index 0000000..c982adc --- /dev/null +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp @@ -0,0 +1,141 @@ +/*************************************************************************** +Copyright (c) 2016, Xilinx, Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors +may be used to endorse or promote products derived from this software +without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. +IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + ***************************************************************************/ +#include "xf_headers.h" +#include "xf_stereo_pipeline_config.h" +#include "cameraParameters.h" + +using namespace std; + +int main(int argc, char** argv) +{ + cv::setUseOptimized(false); + + if(argc != 3) + { + fprintf(stderr,"Invalid Number of Arguments!\nUsage: \n"); + return -1; + } + + + cv::Mat left_img, right_img; + left_img = cv::imread(argv[1],0); + right_img = cv::imread(argv[2],0); + + ////////////////// HLS TOP Function Call //////////////////////// + xf::Mat leftMat(left_img.rows,left_img.cols); + xf::Mat rightMat(right_img.rows,right_img.cols); + + int rows = left_img.rows; + int cols = left_img.cols; + + xf::Mat mapxLMat(rows,cols); + xf::Mat mapyLMat(rows,cols); + xf::Mat mapxRMat(rows,cols); + xf::Mat mapyRMat(rows,cols); + + xf::Mat leftRemappedMat(rows,cols); + xf::Mat rightRemappedMat(rows,cols); + + xf::Mat dispMat(rows,cols); + + // camera parameters for rectification +#if __SDSCC__ + ap_fixed<32,12> *cameraMA_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *cameraMA_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); +#else + ap_fixed<32,12> *cameraMA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *cameraMA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_l_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_r_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); +#endif + +// leftMat.copyTo(left_img.data); +// rightMat.copyTo(right_img.data); + leftMat = xf::imread(argv[1], 0); + rightMat = xf::imread(argv[2], 0); + + xf::xFSBMState bm_state; + bm_state.preFilterCap = 31; + bm_state.uniquenessRatio = 15; + bm_state.textureThreshold = 20; + bm_state.minDisparity = 0; + + // copy camera params + for(int i=0; i)cameraMA_l[i]; + cameraMA_r_fix[i] = (ap_fixed<32,12>)cameraMA_r[i]; + irA_l_fix[i] = (ap_fixed<32,12>)irA_l[i]; + irA_r_fix[i] = (ap_fixed<32,12>)irA_r[i]; + } + + // copy distortion coefficients + for(int i=0; i)distC_l[i]; + distC_r_fix[i] = (ap_fixed<32,12>)distC_r[i]; + } + + printf("starting the kernel...\n"); + +#ifdef __SDSCC__ + perf_counter hw_ctr; + hw_ctr.start(); +#endif + stereopipeline_accel(leftMat,rightMat,dispMat,mapxLMat,mapyLMat,mapxRMat,mapyRMat,leftRemappedMat,rightRemappedMat,bm_state,cameraMA_l_fix,cameraMA_r_fix,distC_l_fix, distC_r_fix, irA_l_fix, irA_r_fix,9,5); +#ifdef __SDSCC__ + hw_ctr.stop(); + printf("end of kernel...\n"); + uint64_t hw_cycles = hw_ctr.avg_cpu_cycles(); +#endif + + cv::Mat out_disp_16(rows,cols,CV_16UC1); + cv::Mat out_disp_img(rows,cols,CV_8UC1); + + out_disp_16.data = dispMat.copyFrom(); + +/* for (int i=0; i(i,j) = (unsigned short)dispMat.data[i*cols+j]; + } + }*/ + out_disp_16.convertTo(out_disp_img, CV_8U, (256.0/NO_OF_DISPARITIES)/(16.)); + imwrite("hls_output.png",out_disp_img); + printf ("run complete !\n\n"); + + return 0; +} + diff --git a/examples/stereopipeline/xf_stereo_pipeline_accel.cpp b/examples/stereopipeline/xf_stereo_pipeline_accel.cpp index 4436890..ce0f3c7 100644 --- a/examples/stereopipeline/xf_stereo_pipeline_accel.cpp +++ b/examples/stereopipeline/xf_stereo_pipeline_accel.cpp @@ -29,18 +29,36 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ***************************************************************************/ #include "xf_stereo_pipeline_config.h" -void stereopipeline_accel(xf::Mat &leftMat, xf::Mat &rightMat, xf::Mat &dispMat, - xf::Mat &mapxLMat, xf::Mat &mapyLMat, xf::Mat &mapxRMat, - xf::Mat &mapyRMat, xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, - xf::xFSBMState &bm_state, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix, ap_fixed<32,12> *distC_r_fix, - ap_fixed<32,12> *irA_l_fix, ap_fixed<32,12> *irA_r_fix, int _cm_size, int _dc_size) +void stereopipeline_accel + ( + xf::Mat &leftMat, xf::Mat &rightMat, + + xf::Mat &dispMat, + + xf::Mat &mapxLMat, xf::Mat &mapyLMat, + xf::Mat &mapxRMat, xf::Mat &mapyRMat, + + xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, + + xf::xFSBMState &bm_state, + + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int _cm_size, int _dc_size + ) { - xf::InitUndistortRectifyMapInverse(cameraMA_l_fix,distC_l_fix,irA_l_fix,mapxLMat,mapyLMat,_cm_size,_dc_size); - xf::remap(leftMat,leftRemappedMat,mapxLMat,mapyLMat); + xf::InitUndistortRectifyMapInverse(cameraMA_l_fix, distC_l_fix, irA_l_fix, mapxLMat, mapyLMat, _cm_size, _dc_size); + + xf::remap(leftMat, leftRemappedMat, mapxLMat, mapyLMat); - xf::InitUndistortRectifyMapInverse(cameraMA_r_fix,distC_r_fix,irA_r_fix,mapxRMat,mapyRMat,_cm_size,_dc_size); - xf::remap(leftMat,leftRemappedMat,mapxLMat,mapyLMat); + + + + xf::InitUndistortRectifyMapInverse(cameraMA_r_fix, distC_r_fix, irA_r_fix, mapxRMat, mapyRMat, _cm_size, _dc_size); + xf::remap(leftMat, leftRemappedMat, mapxLMat, mapyLMat); - xf::StereoBM(leftRemappedMat, rightRemappedMat, dispMat, bm_state); + xf::StereoBM(leftRemappedMat, rightRemappedMat, dispMat, bm_state); } From 092ddf10890e849c6534a76b51d66123a31710d8 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 4 May 2018 02:03:47 +0300 Subject: [PATCH 25/73] Update Gaussian Filter VS project --- aws_demo/ide/vs/Gaussian_Filter.vcxproj | 28 +++++++++---------- .../ide/vs/Gaussian_Filter.vcxproj.filters | 24 ++++++++-------- 2 files changed, 25 insertions(+), 27 deletions(-) diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj b/aws_demo/ide/vs/Gaussian_Filter.vcxproj index 03b83d4..be61aa0 100644 --- a/aws_demo/ide/vs/Gaussian_Filter.vcxproj +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj @@ -10,6 +10,18 @@ Win32 + + + + + + + + + + + + {4F175088-E060-4DD3-B199-92A67421ACE2} Gaussian_Filter @@ -43,7 +55,7 @@ Level3 Disabled - ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;%(AdditionalIncludeDirectories) true @@ -55,7 +67,7 @@ MaxSpeed true true - ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;%(AdditionalIncludeDirectories) true @@ -63,18 +75,6 @@ true - - - - - - - - - - - - diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters index 51d5020..eba1ae1 100644 --- a/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters @@ -1,26 +1,24 @@  + + + {b5f48f04-d9bc-4b50-b9a6-c222b80c54d0} + + + + + - - + - - + h - + h - - h - - - - - {b5f48f04-d9bc-4b50-b9a6-c222b80c54d0} - \ No newline at end of file From 563e66d7b0a9afec6c926b0f61b9bfe8412108c1 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 4 May 2018 02:05:00 +0300 Subject: [PATCH 26/73] Update auxiliary scripts --- aws_demo/gaussianfilter/afi/gen_afi.sh | 6 +++--- aws_demo/gaussianfilter/run/run.sh | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/aws_demo/gaussianfilter/afi/gen_afi.sh b/aws_demo/gaussianfilter/afi/gen_afi.sh index c18f4ee..bd8ae2a 100644 --- a/aws_demo/gaussianfilter/afi/gen_afi.sh +++ b/aws_demo/gaussianfilter/afi/gen_afi.sh @@ -25,7 +25,7 @@ rm -f LOGS_FILES_GO_HERE.txt $SDACCEL_DIR/tools/create_sdaccel_afi.sh -xclbin=xf_gaussian_filter.xclbin -s3_bucket=xfg -s3_dcp_key=dcp -s3_logs_key=log -cat *afi* +cat *afi_id* -@echo use following command to check afi ready -@echo aws ec2 describe-fpga-images --fpga-image-id +echo "use following command to check afi ready" +echo "aws ec2 describe-fpga-images --fpga-image-id " diff --git a/aws_demo/gaussianfilter/run/run.sh b/aws_demo/gaussianfilter/run/run.sh index 103d272..c05eadf 100644 --- a/aws_demo/gaussianfilter/run/run.sh +++ b/aws_demo/gaussianfilter/run/run.sh @@ -2,4 +2,4 @@ source /opt/Xilinx/SDx/2017.1.rte.4ddr/setup.sh -./xf_arg im1.jpg +./gaussian_filter_test im1.jpg From 52a2c35e195ceae5a6fc441530dd896ad880de0d Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 4 May 2018 02:09:02 +0300 Subject: [PATCH 27/73] Fix error in Gaussian filter test bench: scan differences between OpenCV and xfopencv output image using size of output image. --- aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp index 46d0ca0..8a4ce3d 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp @@ -106,9 +106,9 @@ int main(int argc, char **argv) double minval = 256, maxval = 0; int cnt = 0; - for( int i = 0; i < cv_img_inp.rows; i++ ) + for( int i = 0; i < diff.rows; i++ ) { - for( int j = 0; j < cv_img_inp.cols; j++ ) + for( int j = 0; j < diff.cols; j++ ) { uchar v = diff.at(i, j); From 95774e2dcac034531e8c49c86ee40628437e1354 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Fri, 4 May 2018 18:06:30 +0900 Subject: [PATCH 28/73] xf_pyr_dense_optical_flow URAM optimization: USE_URAM define added to pyrDown part of design. --- examples/lkdensepyrof/xf_config_params.h | 4 +++- .../lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp | 4 ++-- include/imgproc/xf_pyr_down.hpp | 8 ++++---- include/imgproc/xf_pyr_down_gaussian_blur.hpp | 12 ++++++++---- 4 files changed, 17 insertions(+), 11 deletions(-) diff --git a/examples/lkdensepyrof/xf_config_params.h b/examples/lkdensepyrof/xf_config_params.h index 05cd576..a1d0193 100644 --- a/examples/lkdensepyrof/xf_config_params.h +++ b/examples/lkdensepyrof/xf_config_params.h @@ -10,4 +10,6 @@ #define HEIGHT 1080 #define WIDTH 1920 -#define NUM_LINES_FINDIT 50 \ No newline at end of file +#define NUM_LINES_FINDIT 50 + +#define XF_USE_URAM false diff --git a/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp b/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp index 1cfb0d7..4e482fb 100644 --- a/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp +++ b/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp @@ -35,10 +35,10 @@ void pyr_dense_optical_flow_pyr_down_accel(xf::Mat(mat_imagepyr1[pyr_comp], mat_imagepyr1[pyr_comp+1]); + xf::pyrDown(mat_imagepyr1[pyr_comp], mat_imagepyr1[pyr_comp+1]); #pragma SDS async(2) #pragma SDS resource(2) - xf::pyrDown(mat_imagepyr2[pyr_comp], mat_imagepyr2[pyr_comp+1]); + xf::pyrDown(mat_imagepyr2[pyr_comp], mat_imagepyr2[pyr_comp+1]); #pragma SDS wait(1) #pragma SDS wait(2) } diff --git a/include/imgproc/xf_pyr_down.hpp b/include/imgproc/xf_pyr_down.hpp index 88df8e8..f1c9ef4 100644 --- a/include/imgproc/xf_pyr_down.hpp +++ b/include/imgproc/xf_pyr_down.hpp @@ -37,7 +37,7 @@ namespace xf{ -template +template void xFpyrDownKernel(XF_TNAME(TYPE,NPC) *in_image, XF_TNAME(TYPE,NPC) *out_image, unsigned short in_rows, unsigned short in_cols) { #pragma HLS DATAFLOW @@ -55,7 +55,7 @@ void xFpyrDownKernel(XF_TNAME(TYPE,NPC) *in_image, XF_TNAME(TYPE,NPC) *out_image read_pointer++; } } - xFPyrDownGaussianBlur(_filter_in, _filter_out, 5, XF_BORDER_CONSTANT,in_rows,in_cols); + xFPyrDownGaussianBlur(_filter_in, _filter_out, 5, XF_BORDER_CONSTANT,in_rows,in_cols); unsigned int write_ptr = 0; for(int i=0;i +template void pyrDown (xf::Mat & _src, xf::Mat & _dst) { #pragma HLS INLINE OFF unsigned short input_height = _src.rows; unsigned short input_width = _src.cols; - xFpyrDownKernel(_src.data, _dst.data, input_height, input_width); + xFpyrDownKernel(_src.data, _dst.data, input_height, input_width); return; } } diff --git a/include/imgproc/xf_pyr_down_gaussian_blur.hpp b/include/imgproc/xf_pyr_down_gaussian_blur.hpp index c87db8e..c63bb85 100644 --- a/include/imgproc/xf_pyr_down_gaussian_blur.hpp +++ b/include/imgproc/xf_pyr_down_gaussian_blur.hpp @@ -158,7 +158,7 @@ void xFPyrDownprocessgaussian(hls::stream< XF_TNAME(DEPTH,NPC) > & _src_mat, -template +template void xf_pyrdown_gaussian_nxn(hls::stream< XF_TNAME(DEPTH,NPC) > &_src_mat, hls::stream< XF_TNAME(DEPTH,NPC) > &_out_mat, ap_uint<8> win_size, uint16_t img_height, uint16_t img_width) @@ -181,8 +181,12 @@ void xf_pyrdown_gaussian_nxn(hls::stream< XF_TNAME(DEPTH,NPC) > &_src_mat, XF_TNAME(DEPTH,NPC) P0; XF_TNAME(DEPTH,NPC) buf[WIN_SZ][(COLS >> XF_BITSHIFT(NPC))]; -#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 +#pragma HLS ARRAY_RESHAPE variable=buf complete dim=1 +if (USE_URAM) { +#pragma HLS RESOURCE variable=buf core=XPM_MEMORY uram +} else { #pragma HLS RESOURCE variable=buf core=RAM_S2P_BRAM +} //initializing row index @@ -237,7 +241,7 @@ void xf_pyrdown_gaussian_nxn(hls::stream< XF_TNAME(DEPTH,NPC) > &_src_mat, } // Row_Loop } -template +template void xFPyrDownGaussianBlur( hls::stream< XF_TNAME(DEPTH,NPC) > &_src, hls::stream< XF_TNAME(DEPTH,NPC) > &_dst, ap_uint<8> win_size, @@ -249,7 +253,7 @@ void xFPyrDownGaussianBlur( imgwidth = imgwidth >> XF_BITSHIFT(NPC); - xf_pyrdown_gaussian_nxn>XF_BITSHIFT(NPC))+(WIN_SZ>>1),WIN_SZ, WIN_SZ_SQ>(_src, _dst,WIN_SZ,imgheight,imgwidth); + xf_pyrdown_gaussian_nxn>XF_BITSHIFT(NPC))+(WIN_SZ>>1),WIN_SZ, WIN_SZ_SQ, USE_URAM>(_src, _dst,WIN_SZ,imgheight,imgwidth); } From a40942392c046bdc3988eb88e4641f9533677e80 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Fri, 4 May 2018 20:10:47 +0900 Subject: [PATCH 29/73] xf_pyr_dense_optical_flow() URAM optimization: pyrDown() part of desin is roughly done. --- include/imgproc/xf_pyr_down_gaussian_blur.hpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/include/imgproc/xf_pyr_down_gaussian_blur.hpp b/include/imgproc/xf_pyr_down_gaussian_blur.hpp index c63bb85..069db49 100644 --- a/include/imgproc/xf_pyr_down_gaussian_blur.hpp +++ b/include/imgproc/xf_pyr_down_gaussian_blur.hpp @@ -99,8 +99,13 @@ void xFPyrDownprocessgaussian(hls::stream< XF_TNAME(DEPTH,NPC) > & _src_mat, #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=TC #pragma HLS pipeline + + XF_TNAME(DEPTH,NPC) bufWord[WIN_SZ]; +#pragma HLS ARRAY_PARTITION variable=bufWord complete dim=1 + for (int k=0; k Date: Sun, 6 May 2018 18:05:52 +0300 Subject: [PATCH 30/73] Add stereo pipeline project --- aws_demo/ide/vs/Stereo_Pipeline.vcxproj | 86 ++++++++ .../ide/vs/Stereo_Pipeline.vcxproj.filters | 42 ++++ aws_demo/ide/vs/aws_demo.sln | 9 +- aws_demo/ide/vs/examples.vcxproj | 10 + aws_demo/ide/vs/examples.vcxproj.filters | 29 +++ aws_demo/stereopipeline/afi/gen_afi.sh | 31 +++ aws_demo/stereopipeline/makefile | 183 ++++++++++++++++++ aws_demo/stereopipeline/run/run.sh | 5 + 8 files changed, 392 insertions(+), 3 deletions(-) create mode 100644 aws_demo/ide/vs/Stereo_Pipeline.vcxproj create mode 100644 aws_demo/ide/vs/Stereo_Pipeline.vcxproj.filters create mode 100644 aws_demo/stereopipeline/afi/gen_afi.sh create mode 100644 aws_demo/stereopipeline/makefile create mode 100644 aws_demo/stereopipeline/run/run.sh diff --git a/aws_demo/ide/vs/Stereo_Pipeline.vcxproj b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj new file mode 100644 index 0000000..aa93eca --- /dev/null +++ b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj @@ -0,0 +1,86 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + + {BE04D816-584B-4836-9C40-FBA3C41593F2} + Stereo_Pipeline + + + + Application + true + v110 + MultiByte + + + Application + false + v110 + true + MultiByte + + + + + + + + + + + + + + + Level3 + Disabled + ..\..\..\include;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + + + true + + + + + Level3 + MaxSpeed + true + true + ..\..\..\include;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + + + true + true + true + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/aws_demo/ide/vs/Stereo_Pipeline.vcxproj.filters b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj.filters new file mode 100644 index 0000000..f7ce491 --- /dev/null +++ b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj.filters @@ -0,0 +1,42 @@ + + + + + + + + + + + + + {c22c4267-6cf2-4761-b9f9-50716799aa60} + + + {4f3f7a8a-73c4-455b-a5de-39d8d14135a4} + + + + + xfopencv + + + xfopencv + + + xfopencv + + + h + + + h + + + h + + + h + + + \ No newline at end of file diff --git a/aws_demo/ide/vs/aws_demo.sln b/aws_demo/ide/vs/aws_demo.sln index 9a945b7..1b5179c 100644 --- a/aws_demo/ide/vs/aws_demo.sln +++ b/aws_demo/ide/vs/aws_demo.sln @@ -5,6 +5,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "examples", "examples.vcxpro EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Gaussian_Filter", "Gaussian_Filter.vcxproj", "{4F175088-E060-4DD3-B199-92A67421ACE2}" EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Stereo_Pipeline", "Stereo_Pipeline.vcxproj", "{BE04D816-584B-4836-9C40-FBA3C41593F2}" +EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution Debug|Win32 = Debug|Win32 @@ -19,11 +21,12 @@ Global {4F175088-E060-4DD3-B199-92A67421ACE2}.Debug|Win32.Build.0 = Debug|Win32 {4F175088-E060-4DD3-B199-92A67421ACE2}.Release|Win32.ActiveCfg = Release|Win32 {4F175088-E060-4DD3-B199-92A67421ACE2}.Release|Win32.Build.0 = Release|Win32 + {BE04D816-584B-4836-9C40-FBA3C41593F2}.Debug|Win32.ActiveCfg = Debug|Win32 + {BE04D816-584B-4836-9C40-FBA3C41593F2}.Debug|Win32.Build.0 = Debug|Win32 + {BE04D816-584B-4836-9C40-FBA3C41593F2}.Release|Win32.ActiveCfg = Release|Win32 + {BE04D816-584B-4836-9C40-FBA3C41593F2}.Release|Win32.Build.0 = Release|Win32 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE EndGlobalSection - GlobalSection(NestedProjects) = preSolution - {4F175088-E060-4DD3-B199-92A67421ACE2} = {AD803E82-EFC9-43A2-9B68-D4D96780DBDB} - EndGlobalSection EndGlobal diff --git a/aws_demo/ide/vs/examples.vcxproj b/aws_demo/ide/vs/examples.vcxproj index 2eab045..922b667 100644 --- a/aws_demo/ide/vs/examples.vcxproj +++ b/aws_demo/ide/vs/examples.vcxproj @@ -68,10 +68,20 @@ + + + + + + + + + + diff --git a/aws_demo/ide/vs/examples.vcxproj.filters b/aws_demo/ide/vs/examples.vcxproj.filters index 36f54e8..877d59f 100644 --- a/aws_demo/ide/vs/examples.vcxproj.filters +++ b/aws_demo/ide/vs/examples.vcxproj.filters @@ -10,6 +10,18 @@ accumulate + + stereopipeline + + + stereopipeline + + + stereopipeline + + + stereopipeline + @@ -18,10 +30,27 @@ accumulate + + stereopipeline + + + stereopipeline + {fdb0de10-a233-42a7-908e-33cb0564f49c} + + {8cbe6705-9bb3-4895-918d-c42dcf0d36f6} + + + + + stereopipeline + + + stereopipeline + \ No newline at end of file diff --git a/aws_demo/stereopipeline/afi/gen_afi.sh b/aws_demo/stereopipeline/afi/gen_afi.sh new file mode 100644 index 0000000..e89bb9a --- /dev/null +++ b/aws_demo/stereopipeline/afi/gen_afi.sh @@ -0,0 +1,31 @@ +#!/bin/bash +echo aws s3 rm --recursive s3://xfg +aws s3 rm --recursive s3://xfg + +echo aws s3 rb s3://xfg +aws s3 rb s3://xfg + + +echo aws s3 mb s3://xfg +aws s3 mb s3://xfg + +aws s3 mb s3://xfg/dcp +touch FILES_GO_HERE.txt +aws s3 cp FILES_GO_HERE.txt s3://xfg/dcp/ + + +aws s3 mb s3://xfg/log +touch LOGS_FILES_GO_HERE.txt +aws s3 cp LOGS_FILES_GO_HERE.txt s3://xfg/log/ + +aws s3 ls --recursive s3://xfg + +rm -f FILES_GO_HERE.txt +rm -f LOGS_FILES_GO_HERE.txt + +$SDACCEL_DIR/tools/create_sdaccel_afi.sh -xclbin=xf_gaussian_filter.xclbin -s3_bucket=xfg -s3_dcp_key=dcp -s3_logs_key=log + +cat *afi_id* + +echo use following command to check afi ready +echo aws ec2 describe-fpga-images --fpga-image-id diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile new file mode 100644 index 0000000..5974ed5 --- /dev/null +++ b/aws_demo/stereopipeline/makefile @@ -0,0 +1,183 @@ + +# compiler tools + +XILINX_SDX ?= /opt/Xilinx/SDx/2017.1.op +XILINX_VIVADO_HLS ?= $(XILINX_SDX)/Vivado_HLS + + +SDX_CXX ?= $(XILINX_SDX)/bin/xcpp +XOCC ?= $(XILINX_SDX)/bin/xocc +RM = rm -f +RMDIR = rm -rf + +SDX_PLATFORM = $(AWS_PLATFORM) + +XFOPENCV ?= /home/centos/src/project_data/xfopencv + +######################################## +# # +# Host section # +# # +######################################## + +XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter + +XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 +XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl + +CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ +CXXFLAGS += -I$(XFOPENCV)/include/ +#CXXFLAGS += -I$(XF_EXAMPLE_DIR)/ +CXXFLAGS += -I$(XCL2_LIB_DIR)/ +CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/Vivado_HLS/include +CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 + +#--- Specify OpenCV libraries ---# + +LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv +LDFLAGS += -lopencv_core +LDFLAGS += -lopencv_imgproc +LDFLAGS += -lopencv_highgui + +#--- Specify common libraries ---# + +LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o +LDFLAGS += -lstdc++ +LDFLAGS += -lpthread +LDFLAGS += -lrt + +#--- Specify AWS libraries ---# + +LDFLAGS += -L/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 +LDFLAGS += -lxilinxopencl + +#--- Specify runtime libraries ---# + +LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv +LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o +LDFLAGS += -Wl,-rpath,/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 + +#--- Specify objects ---# + +HOST_DEP = ../src/xcl2.hpp + +HOST_AWS_SRC += xf_gaussian_filter_accel_aws +HOST_AWS_SRC += xf_gaussian_filter_tb + +HOST_SDx_SRC += xcl2 + +HOST_XF_SRC += + +HOST_AWS_DIR = ./ +HOST_BLD_DIR = build/host + +HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) +HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) +HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) + +HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) + +HOST_EXE ?= gaussian_filter_test + +BUILD_SUBDIRS += $(HOST_BLD_DIR) + + +######################################## +# # +# Kernel section # +# # +######################################## + + +XOCC_OPTS = -t hw --platform $(SDX_PLATFORM) --save-temps --report system + +# +# OpenCL kernel files +# + +BINARY_CONTAINERS += xf_gaussian_filter.xclbin + +BUILD_SUBDIRS += build/kernel +BINARY_CONTAINER_1_OBJS += build/kernel/xf_gaussian_filter.xo +ALL_KERNEL_OBJS += build/kernel/xf_gaussian_filter.xo + +ALL_MESSAGE_FILES = $(subst .xo,.mdb,$(ALL_KERNEL_OBJS)) $(subst .xclbin,.mdb,$(BINARY_CONTAINERS)) + + +# +# primary build targets +# + +.PHONY: all clean + +all: krnl host + +host: $(HOST_EXE) + +krnl: $(BINARY_CONTAINERS) + +clean: + $(RMDIR) $(HOST_BLD_DIR) build/kernel +# -$(RM) $(BINARY_CONTAINERS) $(ALL_KERNEL_OBJS) $(ALL_MESSAGE_FILES) $(HOST_EXE) src/$(HOST_OBJ) +# -$(RM) *.xclbin.sh +# -$(RMDIR) $(BUILD_SUBDIRS) +# -$(RMDIR) _xocc* +# -$(RMDIR) .Xil +# -$(RM) xf_arg + +.PHONY: incremental +incremental: all + + +nothing: + +# +# binary container: binary_container_1.xclbin +# + +build/kernel/xf_gaussian_filter.xo: xf_gaussian_filter_kernel_aws.cpp + @mkdir -p $(@D) #-I"$(XF_EXAMPLE_DIR)" + $(XOCC) $(XOCC_OPTS) -c -k xf_gaussian_filter --max_memory_ports xf_gaussian_filter --messageDb $(subst .xo,.mdb,$@) -I"$( xf_gaussian_filter.xclbin.sh + $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) + +# +# host rules +# + +$(HOST_AWS_OBJ): $(HOST_BLD_DIR)/%.o : $(HOST_AWS_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + + +$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + +$(HOST_XF_OBJ): $(HOST_BLD_DIR)/%.o : $(XF_EXAMPLE_DIR)/%.cpp + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @mkdir -p $(HOST_BLD_DIR) + $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" + + +$(HOST_EXE): $(HOST_OBJ) + @echo "================================================================" + @echo "Linking of $@" + @echo "================================================================" + $(SDX_CXX) -o "$@" $(+) $(LDFLAGS) + + + diff --git a/aws_demo/stereopipeline/run/run.sh b/aws_demo/stereopipeline/run/run.sh new file mode 100644 index 0000000..103d272 --- /dev/null +++ b/aws_demo/stereopipeline/run/run.sh @@ -0,0 +1,5 @@ +#!/bin/sh + +source /opt/Xilinx/SDx/2017.1.rte.4ddr/setup.sh + +./xf_arg im1.jpg From eaec92255d01179ed6e115ede957041ed83f0bf9 Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 18:08:10 +0300 Subject: [PATCH 31/73] Comment out problem definition (duplicate define from other header and produce compilation error) --- include/common/xf_params.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/common/xf_params.h b/include/common/xf_params.h index 14e85bd..89d2327 100644 --- a/include/common/xf_params.h +++ b/include/common/xf_params.h @@ -37,7 +37,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "ap_int.h" -#define __ABS(X) ((X) < 0 ? (-(X)) : (X)) +// #define __ABS(X) ((X) < 0 ? (-(X)) : (X)) //Channels of an image enum _channel_extract From 0e417fbeccbd5ed4f44215774b8d336c71120dd8 Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 18:09:43 +0300 Subject: [PATCH 32/73] Format code of xfopencv library for convenience --- include/imgproc/xf_remap.hpp | 496 +++++++++--------- include/imgproc/xf_stereoBM.hpp | 889 ++++++++++++++++---------------- 2 files changed, 696 insertions(+), 689 deletions(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index f703ee5..5f6e26d 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -46,128 +46,128 @@ namespace xf{ template void xFRemapNNI( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - DST_T buf[WIN_ROW][COLS]; + DST_T buf[WIN_ROW][COLS]; #pragma HLS ARRAY_PARTITION variable=buf complete dim=1 - SRC_T s; + SRC_T s; - ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; + ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram - SRC_T sx8[8]; + SRC_T sx8[8]; #pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 - DST_T d; - MAP_T mx_fl; - MAP_T my_fl; + DST_T d; + MAP_T mx_fl; + MAP_T my_fl; - assert(rows <= ROWS); - assert(cols <= COLS); - int ishift=WIN_ROW/2; - int r[WIN_ROW] = {}; - int row_tripcount = ROWS+WIN_ROW; + assert(rows <= ROWS); + assert(cols <= COLS); + int ishift=WIN_ROW/2; + int r[WIN_ROW] = {}; + int row_tripcount = ROWS+WIN_ROW; - loop_height: for( int i=0; i< rows+ishift; i++) - { + loop_height: for( int i=0; i< rows+ishift; i++) + { #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - loop_width: for( int j=0; j< cols; j++) - { + loop_width: for( int j=0; j< cols; j++) + { #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false #pragma HLS dependence variable=r inter false #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if(i> s; + if(i> s; if (USE_URAM) { - sx8[j%8] = s; - for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; - } - } + sx8[j%8] = s; + for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + } + } if (!USE_URAM) - buf[i % WIN_ROW][j] = s; - r[i % WIN_ROW] = i; - - if(i>=ishift) - { - mapx >> mx_fl; - mapy >> my_fl; - int x = (int)mx_fl; - int y = (int)my_fl; - - bool in_range = (y>=0 && y=0 && x=ishift) + { + mapx >> mx_fl; + mapy >> my_fl; + int x = (int)mx_fl; + int y = (int)my_fl; + + bool in_range = (y>=0 && y=0 && x void xFRemapLI( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - // Add one to always get zero for boundary interpolation. Maybe need initialization here? - static DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. + // Add one to always get zero for boundary interpolation. Maybe need initialization here? + static DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 - SRC_T s; - + SRC_T s; + //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram SRC_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables - SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency + SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency #pragma HLS ARRAY_PARTITION complete variable=s3x3 dim=0 - SRC_T s3x3_2[9]; + SRC_T s3x3_2[9]; SRC_T s0,s3; - MAP_T mx; - MAP_T my; + MAP_T mx; + MAP_T my; - assert(rows <= ROWS); - assert(cols <= COLS); - int ishift=WIN_ROW/2; - int r1[WIN_ROW] = {}; - int r2[WIN_ROW] = {}; - int row_tripcount = ROWS+WIN_ROW; + assert(rows <= ROWS); + assert(cols <= COLS); + int ishift=WIN_ROW/2; + int r1[WIN_ROW] = {}; + int r2[WIN_ROW] = {}; + int row_tripcount = ROWS+WIN_ROW; - loop_height: for( int i=0; i< rows+ishift; i++) - { + loop_height: for( int i=0; i< rows+ishift; i++) + { #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - loop_width: for( int j=0; j< cols+3; j++) - { + loop_width: for( int j=0; j< cols+3; j++) + { #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false @@ -176,233 +176,237 @@ void xFRemapLI( #pragma HLS dependence variable=r2 inter false #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if(i> s; - } + if(i> s; + } if (USE_URAM && i0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; + if ((i/2)>0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; } else if (j0) { - for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); + for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); s3x3[!!(j&2)][6] = s0; s3x3[!!(j&2)][7] = s; s3x3[!!(j&2)][8] = 0; } - } + } } else if (j0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = s3x3_2[k]; + if ((j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = s3x3_2[k]; } else { // odd col s3x3_2[0] = s0; - s3x3_2[1] = lineBuf[j]; + s3x3_2[1] = lineBuf[j]; s3x3_2[3] = s3; - s3x3_2[4] = s; + s3x3_2[4] = s; - // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) + // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) s3x3_2[6] = 0; s3x3_2[7] = 0; s3x3_2[8] = 0; - //if (j==(cols-1)) { //these clearing and save is needed only at last column but may done every cycle - s3x3_2[2] = 0; - s3x3_2[5] = 0; - for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = s3x3_2[k]; - //} - } + //if (j==(cols-1)) { //these clearing and save is needed only at last column but may done every cycle + s3x3_2[2] = 0; + s3x3_2[5] = 0; + for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = s3x3_2[k]; + //} + } } } if (!USE_URAM && j=ishift && j> mx; - mapy >> my; - float x_fl = mx; - float y_fl = my; - - int x_fix = (int) ((float)x_fl * (float)HLS_INTER_TAB_SIZE); // mapx data in A16.HLS_INTER_TAB_SIZE format - int y_fix = (int) ((float)y_fl * (float)HLS_INTER_TAB_SIZE); // mapy data in A16.HLS_INTER_TAB_SIZE format - - int x = x_fix >> HLS_INTER_BITS; - int y = y_fix >> HLS_INTER_BITS; - int x_frac = x_fix & (HLS_INTER_TAB_SIZE-1); - int y_frac = y_fix & (HLS_INTER_TAB_SIZE-1); - int ynext = y+1; - - ap_ufixed iu, iv; - iu(HLS_INTER_BITS-1, 0) = x_frac; - iv(HLS_INTER_BITS-1, 0) = y_frac; - - // Note that the range here is larger than expected by 1 horizontal and 1 vertical pixel, to allow - // Interpolating at the edge of the image - bool in_range = (y>=0 && y=0 && x=ishift && j> mx; + mapy >> my; + float x_fl = mx; + float y_fl = my; + + int x_fix = (int) ((float)x_fl * (float)HLS_INTER_TAB_SIZE); // mapx data in A16.HLS_INTER_TAB_SIZE format + int y_fix = (int) ((float)y_fl * (float)HLS_INTER_TAB_SIZE); // mapy data in A16.HLS_INTER_TAB_SIZE format + + int x = x_fix >> HLS_INTER_BITS; + int y = y_fix >> HLS_INTER_BITS; + int x_frac = x_fix & (HLS_INTER_TAB_SIZE-1); + int y_frac = y_fix & (HLS_INTER_TAB_SIZE-1); + int ynext = y+1; + + ap_ufixed iu, iv; + iu(HLS_INTER_BITS-1, 0) = x_frac; + iv(HLS_INTER_BITS-1, 0) = y_frac; + + // Note that the range here is larger than expected by 1 horizontal and 1 vertical pixel, to allow + // Interpolating at the edge of the image + bool in_range = (y>=0 && y=0 && x k01 = (1-iv)*( iu); // iu-iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k10 = ( iv)*(1-iu); // iv-iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k11 = ( iv)*( iu); // iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k00 = 1-iv-k01; //(1-iv)*(1-iu) = 1-iu-iv+iu*iv = 1-iv-k01 - assert( k00 + k01 + k10 + k11 == 1); - - DST_T d; - - if(in_range) - d = d00 * k00 + d01 * k01 + d10 * k10 + d11 * k11; - else - d = 0; - - dst<< d; - } - } - } + d00 = d3x3[(y%2 )*3 + x%2 ]; + d01 = d3x3[(y%2 )*3 + x%2+1]; + d10 = d3x3[(y%2+1)*3 + x%2 ]; + d11 = d3x3[(y%2+1)*3 + x%2+1]; + } else { + d00=buf[ya0][0][xa0][0]; + d01=buf[ya0][0][xa1][1]; + d10=buf[ya1][1][xa0][0]; + d11=buf[ya1][1][xa1][1]; + + if(x%2) { + std::swap(d00,d01); + std::swap(d10,d11); + } + if(y%2) { + std::swap(d00,d10); + std::swap(d01,d11); + } + } + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k01 = (1-iv)*( iu); // iu-iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k10 = ( iv)*(1-iu); // iv-iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k11 = ( iv)*( iu); // iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k00 = 1-iv-k01; //(1-iv)*(1-iu) = 1-iu-iv+iu*iv = 1-iv-k01 + assert( k00 + k01 + k10 + k11 == 1); + + DST_T d; + + if(in_range) + d = d00 * k00 + d01 * k01 + d10 * k10 + d11 * k11; + else + d = 0; + + dst<< d; + } + } + } } template void xFRemapKernel( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - if(INTERPOLATION_TYPE == XF_INTERPOLATION_NN) { - xFRemapNNI(src, dst, mapx, mapy,rows,cols); - } else if(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR) { - xFRemapLI(src, dst, mapx, mapy,rows,cols); - } - else { - assert (((INTERPOLATION_TYPE == XF_INTERPOLATION_NN)||(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR)) && "The INTERPOLATION_TYPE must be either XF_INTERPOLATION_NN or XF_INTERPOLATION_BILINEAR"); - } + if(INTERPOLATION_TYPE == XF_INTERPOLATION_NN) { + xFRemapNNI(src, dst, mapx, mapy,rows,cols); + } else if(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR) { + xFRemapLI(src, dst, mapx, mapy,rows,cols); + } + else { + assert (((INTERPOLATION_TYPE == XF_INTERPOLATION_NN)||(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR)) && "The INTERPOLATION_TYPE must be either XF_INTERPOLATION_NN or XF_INTERPOLATION_BILINEAR"); + } } //#pragma SDS data data_mover("_src_mat.data":AXIDMA_SIMPLE,"_remapped_mat.data":AXIDMA_SIMPLE,"_mapx_mat.data":AXIDMA_SIMPLE,"_mapy_mat.data":AXIDMA_SIMPLE) //#pragma SDS data mem_attribute("_src_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_remapped_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapx_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapy_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS) #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL,"_remapped_mat.data":SEQUENTIAL,"_mapx_mat.data":SEQUENTIAL,"_mapy_mat.data":SEQUENTIAL) #pragma SDS data copy("_src_mat.data"[0:"_src_mat.rows*_src_mat.cols"], "_remapped_mat.data"[0:"_remapped_mat.size"],"_mapx_mat.data"[0:"_mapx_mat.size"],"_mapy_mat.data"[0:"_mapy_mat.size"]) -template -void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, - xf::Mat &_mapy_mat) + +//#NO template + +template +void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat) { -#pragma HLS inline off -#pragma HLS dataflow + #pragma HLS inline off + #pragma HLS dataflow - assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); -// assert ((SRC_T == XF_8UC1) && "The SRC_T must be XF_8UC1"); -// assert ((DST_T == XF_8UC1) && "The DST_T must be XF_8UC1"); - assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); + assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); +// assert ((SRC_T == XF_8UC1) && "The SRC_T must be XF_8UC1"); +// assert ((DST_T == XF_8UC1) && "The DST_T must be XF_8UC1"); + assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); - hls::stream< XF_TNAME(SRC_T,NPC)> _src; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; - hls::stream< XF_TNAME(DST_T,NPC)> _remapped; + hls::stream< XF_TNAME(SRC_T,NPC)> _src; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; + hls::stream< XF_TNAME(DST_T,NPC)> _remapped; - int depth_est = WIN_ROWS*_src_mat.cols; + int depth_est = WIN_ROWS*_src_mat.cols; - uint16_t rows = _src_mat.rows; - uint16_t cols = _src_mat.cols; + uint16_t rows = _src_mat.rows; + uint16_t cols = _src_mat.cols; - int loop_count = (rows*cols); - int TC=(ROWS*COLS); + int loop_count = (rows*cols); + int TC=(ROWS*COLS); - int ishift = WIN_ROWS/2; - int row_tripcount = ROWS+WIN_ROWS; + int ishift = WIN_ROWS/2; + int row_tripcount = ROWS+WIN_ROWS; - xfremap_rows_loop: - for (int i = 0; i < rows+ishift; i++) - { -#pragma HLS LOOP_FLATTEN OFF -#pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount + xfremap_rows_loop: + for (int i = 0; i < rows+ishift; i++) + { + #pragma HLS LOOP_FLATTEN OFF + #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - xfremap_cols_loop: - for (int j = 0; j < cols; j++) - { -#pragma HLS pipeline ii=1 -#pragma HLS LOOP_TRIPCOUNT min=1 max=COLS + xfremap_cols_loop: + for (int j = 0; j < cols; j++) + { + #pragma HLS pipeline ii=1 + #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if (i < rows) { - _src.write(*(_src_mat.data + i*cols + j)); - } - - if (i >= ishift) { - _mapx.write(*(_mapx_mat.data + (i-ishift)*cols + j)); - _mapy.write(*(_mapy_mat.data + (i-ishift)*cols + j)); - } - } - } - - xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); - - xfremap_output_loop: - for (int i = 0; i < loop_count; i++) - { -#pragma HLS pipeline ii=1 -#pragma HLS LOOP_TRIPCOUNT min=1 max=TC - _remapped_mat.data[i] = _remapped.read(); - } + if (i < rows) + { + _src.write(*(_src_mat.data + i*cols + j)); + } + + if (i >= ishift) + { + _mapx.write(*(_mapx_mat.data + (i-ishift)*cols + j)); + _mapy.write(*(_mapy_mat.data + (i-ishift)*cols + j)); + } + } + } + + xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); + + xfremap_output_loop: + for (int i = 0; i < loop_count; i++) + { + #pragma HLS pipeline ii=1 + #pragma HLS LOOP_TRIPCOUNT min=1 max=TC + _remapped_mat.data[i] = _remapped.read(); + } } } diff --git a/include/imgproc/xf_stereoBM.hpp b/include/imgproc/xf_stereoBM.hpp index 93448c5..91b1f9d 100644 --- a/include/imgproc/xf_stereoBM.hpp +++ b/include/imgproc/xf_stereoBM.hpp @@ -62,99 +62,99 @@ template T xFabsdiff2(T a, T b) { #pragma HLS INLINE - int x = a-b; + int x = a-b; #pragma HLS RESOURCE variable=x core=AddSubnS - T r; - if (x > 0) - { - r = x; - } - else - { - r = -x; - } - return r; + T r; + if (x > 0) + { + r = x; + } + else + { + r = -x; + } + return r; } template class xFMinSAD { public: - template - static void find(T a[SIZE], T_idx &loc, T &val) - { + template + static void find(T a[SIZE], T_idx &loc, T &val) + { #pragma HLS INLINE #pragma HLS array_partition variable=a complete dim=0 - T a1[SIZE/2]; - T a2[SIZE-SIZE/2]; + T a1[SIZE/2]; + T a2[SIZE-SIZE/2]; - for(int i = 0; i < SIZE/2; i++) - { + for(int i = 0; i < SIZE/2; i++) + { #pragma HLS UNROLL - a1[i] = a[i]; - } - for(int i = 0; i < SIZE-SIZE/2; i++) - { + a1[i] = a[i]; + } + for(int i = 0; i < SIZE-SIZE/2; i++) + { #pragma HLS UNROLL - a2[i] = a[i+SIZE/2]; - } - - T_idx l1,l2; - T v1,v2; - xFMinSAD::find(a1,l1,v1); - xFMinSAD::find(a2,l2,v2); - - if(v2 <= v1) - { - val = v2; - loc = l2+SIZE/2; - } - else - { - val = v1; - loc = l1; - } - } + a2[i] = a[i+SIZE/2]; + } + + T_idx l1,l2; + T v1,v2; + xFMinSAD::find(a1,l1,v1); + xFMinSAD::find(a2,l2,v2); + + if(v2 <= v1) + { + val = v2; + loc = l2+SIZE/2; + } + else + { + val = v1; + loc = l1; + } + } }; template<> class xFMinSAD<1> { public: - template - static void find(T a[1], T_idx &loc, T &val) - { + template + static void find(T a[1], T_idx &loc, T &val) + { #pragma HLS INLINE - loc = 0; - val = a[0]; - } + loc = 0; + val = a[0]; + } }; template<> class xFMinSAD<2> { public: - template - static void find(T a[2], T_idx &loc, T &val) - { + template + static void find(T a[2], T_idx &loc, T &val) + { #pragma HLS INLINE #pragma HLS array_partition variable=a complete dim=0 - T_idx l1=0, l2=1; - T v1=a[0], v2=a[1]; - if(v2 <= v1) - { - val = v2; - loc = l2; - } - else - { - val = v1; - loc = l1; - } - } + T_idx l1=0, l2=1; + T v1=a[0], v2=a[1]; + if(v2 <= v1) + { + val = v2; + loc = l2; + } + else + { + val = v1; + loc = l1; + } + } }; /* TEXTURE THRESHOLD computation */ @@ -163,32 +163,32 @@ void xFUpdateTextureSum(unsigned char window[WSIZE][L_WIN_COLS],unsigned char l_ { #pragma HLS INLINE - int abs_diff[WSIZE]; - int col_sums = 0; + int abs_diff[WSIZE]; + int col_sums = 0; - text_sum_loop1: - for (int i = 0; i < WSIZE; i++) - { + text_sum_loop1: + for (int i = 0; i < WSIZE; i++) + { #pragma HLS UNROLL - col_sums += (i > row? 0 : xFabsdiff2((int)(l_tmp[i]), cap)) - (((col < WSIZE) || (i > row) ) ? 0 : xFabsdiff2((int)window[i][WSIZE-1], cap)); - } + col_sums += (i > row? 0 : xFabsdiff2((int)(l_tmp[i]), cap)) - (((col < WSIZE) || (i > row) ) ? 0 : xFabsdiff2((int)window[i][WSIZE-1], cap)); + } - int tmp_prev[2]; - int tmp_int_sums; + int tmp_prev[2]; + int tmp_int_sums; - tmp_prev[0] = col>0 ? (int)text_sum[0]:(int)0; - tmp_prev[1] = col_sums; + tmp_prev[0] = col>0 ? (int)text_sum[0]:(int)0; + tmp_prev[1] = col_sums; - //shift right - for(int j = WSIZE-1; j >= 1; j--) - { + //shift right + for(int j = WSIZE-1; j >= 1; j--) + { #pragma HLS UNROLL - text_sum[j] = text_sum[j-1]; - } + text_sum[j] = text_sum[j-1]; + } - // shift_right, NDISP_UNITS,SAD_COL_SIZE,NPC>(text_sum); - tmp_int_sums = tmp_prev[0] + tmp_prev[1]; - text_sum[0] = tmp_int_sums; + // shift_right, NDISP_UNITS,SAD_COL_SIZE,NPC>(text_sum); + tmp_int_sums = tmp_prev[0] + tmp_prev[1]; + text_sum[0] = tmp_int_sums; } template @@ -196,57 +196,57 @@ void xFShiftRight(T buf[ROWS][COLS]) { #pragma HLS INLINE - shift_right_loop2: - for(unsigned char j = COLS-1; j >= 1; j--) - { + shift_right_loop2: + for(unsigned char j = COLS-1; j >= 1; j--) + { #pragma HLS UNROLL - shift_right_loop1: - for(unsigned char i = 0; i < ROWS; i++) - { + shift_right_loop1: + for(unsigned char i = 0; i < ROWS; i++) + { #pragma HLS UNROLL - buf[i][j] = buf[i][j-1]; - } - } + buf[i][j] = buf[i][j-1]; + } + } } template void xFInsertLeft(T buf[ROWS][COLS],T tmp[ROWS]) { #pragma HLS INLINE - insert_right_loop1: - for(unsigned char i = 0; i < ROWS; i++) - { + insert_right_loop1: + for(unsigned char i = 0; i < ROWS; i++) + { #pragma HLS UNROLL - buf[i][0] = tmp[i]; - } + buf[i][0] = tmp[i]; + } } template short int xFSADComputeInc( - T l_win[WSIZE][L_WIN_COLS], - T r_win_s[WSIZE][R_WIN_COLS], - unsigned char d, - unsigned short col, - short int sad_cols_d[WSIZE]) + T l_win[WSIZE][L_WIN_COLS], + T r_win_s[WSIZE][R_WIN_COLS], + unsigned char d, + unsigned short col, + short int sad_cols_d[WSIZE]) { #pragma HLS inline - short int a_sum = 0, b_sum = 0; - // compute new column sads; - for (unsigned char i = 0; i < WSIZE; i++) { - b_sum += __ABS((unsigned char)l_win[i][0] - (unsigned char)r_win_s[i][d]); - } - // valid guard; - if (col < d) b_sum = 0; - // get previous sad_cols value; - a_sum = sad_cols_d[WSIZE-1]; - // shift sad_cols[d]; - for (unsigned char j = WSIZE-1; j > 0; j--) { - sad_cols_d[j] = sad_cols_d[j-1]; - } - // fill in sad_cols with newly computed values; - sad_cols_d[0] = b_sum; - - return (-a_sum+b_sum); + short int a_sum = 0, b_sum = 0; + // compute new column sads; + for (unsigned char i = 0; i < WSIZE; i++) { + b_sum += __ABS((unsigned char)l_win[i][0] - (unsigned char)r_win_s[i][d]); + } + // valid guard; + if (col < d) b_sum = 0; + // get previous sad_cols value; + a_sum = sad_cols_d[WSIZE-1]; + // shift sad_cols[d]; + for (unsigned char j = WSIZE-1; j > 0; j--) { + sad_cols_d[j] = sad_cols_d[j-1]; + } + // fill in sad_cols with newly computed values; + sad_cols_d[0] = b_sum; + + return (-a_sum+b_sum); } @@ -256,264 +256,264 @@ int WSIZE,int NDISP,int NDISP_UNIT, int SWEEP_FACT, int ROW_TC, int COL_TC,int BUF_SIZE, int LWINWIDTH,int RWINWIDTH,int DISPWORDWIDTH,int SADWORDWIDTH> void xFSADBlockMatching( - hls::stream &left, - hls::stream &right, - hls::stream& out, - xf::xFSBMState& state, - short int height, short int width) + hls::stream &left, + hls::stream &right, + hls::stream& out, + xf::xFSBMState& state, + short int height, short int width) { - //create the left and right line buffers. - XF_TNAME(WORDWIDTH_SRC,1) left_line_buf[WSIZE][BUF_SIZE]; -#if PLATFORM_ZCU104 + //create the left and right line buffers. + XF_TNAME(WORDWIDTH_SRC,1) left_line_buf[WSIZE][BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=left_line_buf core=XPM_MEMORY uram #endif #pragma HLS ARRAY_PARTITION variable=left_line_buf complete dim=1 - XF_TNAME(WORDWIDTH_SRC,1) right_line_buf[WSIZE][BUF_SIZE]; -#if PLATFORM_ZCU104 + XF_TNAME(WORDWIDTH_SRC,1) right_line_buf[WSIZE][BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=right_line_buf core=XPM_MEMORY uram #endif #pragma HLS ARRAY_PARTITION variable=right_line_buf complete dim=1 - //create the left and right window buffers. - unsigned char l_window[WSIZE][LWINWIDTH]; + //create the left and right window buffers. + unsigned char l_window[WSIZE][LWINWIDTH]; #pragma HLS ARRAY_PARTITION variable=l_window complete dim=2 #pragma HLS ARRAY_PARTITION variable=l_window complete dim=1 - unsigned char r_window[WSIZE][RWINWIDTH]; + unsigned char r_window[WSIZE][RWINWIDTH]; #pragma HLS ARRAY_PARTITION variable=r_window complete dim=2 #pragma HLS ARRAY_PARTITION variable=r_window complete dim=1 - int TMP_INT_MAX_PACK; - TMP_INT_MAX_PACK = 2147483647; + int TMP_INT_MAX_PACK; + TMP_INT_MAX_PACK = 2147483647; - short int FILTERED = 0;//((state.minDisparity - 1) << 4); - unsigned char cap = state.preFilterCap; - unsigned char l_tmp[WSIZE]; + short int FILTERED = 0;//((state.minDisparity - 1) << 4); + unsigned char cap = state.preFilterCap; + unsigned char l_tmp[WSIZE]; #pragma HLS array_partition variable=l_tmp complete dim=0 - unsigned char r_tmp[WSIZE]; + unsigned char r_tmp[WSIZE]; #pragma HLS array_partition variable=r_tmp complete dim=0 - int text_sum[WSIZE]; + int text_sum[WSIZE]; #pragma HLS ARRAY_PARTITION variable=text_sum complete dim=0 - int sad[NDISP_UNIT]; + int sad[NDISP_UNIT]; #pragma HLS array_partition variable=sad complete dim=0 - short int sad_cols[NDISP_UNIT][WSIZE]; + short int sad_cols[NDISP_UNIT][WSIZE]; #pragma HLS array_partition variable=sad_cols complete dim=0 - int minsad[COLS+WSIZE-1]; -#if PLATFORM_ZCU104 + int minsad[COLS+WSIZE-1]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=minsad core=XPM_MEMORY uram #endif - XF_TNAME(WORDWIDTH_DST,1) mind[BUF_SIZE]; -#if PLATFORM_ZCU104 + XF_TNAME(WORDWIDTH_DST,1) mind[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=mind core=XPM_MEMORY uram #endif - bool skip[BUF_SIZE]; -#if PLATFORM_ZCU104 + bool skip[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=skip core=XPM_MEMORY uram #endif - loop_row: - for (unsigned short row = 0; row < height+WSIZE-1; row++) { + loop_row: + for (unsigned short row = 0; row < height+WSIZE-1; row++) { #pragma HLS LOOP_TRIPCOUNT min=ROW_TC max=ROW_TC - loop_mux: - for (unsigned char sweep = 0; sweep < state.sweepFactor; sweep++) { + loop_mux: + for (unsigned char sweep = 0; sweep < state.sweepFactor; sweep++) { #pragma HLS LOOP_TRIPCOUNT min=SWEEP_FACT max=SWEEP_FACT - loop_sad_init: - for (unsigned char d = 0; d < NDISP_UNIT; d++) { + loop_sad_init: + for (unsigned char d = 0; d < NDISP_UNIT; d++) { #pragma HLS unroll - sad[d] = 0; - for (unsigned char i = 0; i < WSIZE; i++) { + sad[d] = 0; + for (unsigned char i = 0; i < WSIZE; i++) { #pragma HLS unroll - sad_cols[d][i] = 0; - } - } - loop_col: - for (unsigned short col = 0; col < width+WSIZE-1; col++) { + sad_cols[d][i] = 0; + } + } + loop_col: + for (unsigned short col = 0; col < width+WSIZE-1; col++) { #pragma HLS LOOP_TRIPCOUNT min=COL_TC max=COL_TC #pragma HLS loop_flatten #pragma HLS pipeline II=1 - unsigned char tmp_l = cap,tmp_r=cap; + unsigned char tmp_l = cap,tmp_r=cap; - if (sweep == 0) { - // load and shifting buffs - // shift down - for(unsigned char sd = WSIZE-1; sd > 0; sd--) { + if (sweep == 0) { + // load and shifting buffs + // shift down + for(unsigned char sd = WSIZE-1; sd > 0; sd--) { #pragma HLS unroll - left_line_buf[sd][col] = left_line_buf[sd-1][col]; - } + left_line_buf[sd][col] = left_line_buf[sd-1][col]; + } - for(unsigned char sd = WSIZE-1; sd > 0; sd--) { + for(unsigned char sd = WSIZE-1; sd > 0; sd--) { #pragma HLS unroll - right_line_buf[sd][col] = right_line_buf[sd-1][col]; - } - - if (!(row < (WSIZE-1)/2 || row >= height+(WSIZE-1)/2 || col < (WSIZE-1)/2 || col >= width+(WSIZE-1)/2)) { - tmp_l = left.read(); - tmp_r = right.read(); - } - // insert bottom - left_line_buf[0][col] = tmp_l; - right_line_buf[0][col] = tmp_r; - loop_get_data_from_linebuff: - for (unsigned char i = 0; i < WSIZE; i++) { - l_tmp[i] = left_line_buf[i][col]; - r_tmp[i] = right_line_buf[i][col]; - } - } else { - unsigned short offset = sweep * NDISP_UNIT; - loop_get_data_from_linebuff_with_offset: - for (unsigned char i = 0; i < WSIZE; i++) { - l_tmp[i] = left_line_buf[i][col]; - r_tmp[i] = right_line_buf[i][col-offset < 0 ? 0 : col-offset]; - } - } - - xFUpdateTextureSum(l_window,l_tmp,row,col,state.preFilterCap,text_sum); - - xFShiftRight(l_window); - xFShiftRight(r_window); - xFInsertLeft(l_window,l_tmp); - xFInsertLeft(r_window,r_tmp); - - loop_sad_compute: - for (unsigned char d = 0; d < NDISP_UNIT; d++) { - sad[d] += (int)xFSADComputeInc(l_window, r_window, d, col, sad_cols[d]); - } - - int skip_val[BUF_SIZE]; -#if PLATFORM_ZCU104 + right_line_buf[sd][col] = right_line_buf[sd-1][col]; + } + + if (!(row < (WSIZE-1)/2 || row >= height+(WSIZE-1)/2 || col < (WSIZE-1)/2 || col >= width+(WSIZE-1)/2)) { + tmp_l = left.read(); + tmp_r = right.read(); + } + // insert bottom + left_line_buf[0][col] = tmp_l; + right_line_buf[0][col] = tmp_r; + loop_get_data_from_linebuff: + for (unsigned char i = 0; i < WSIZE; i++) { + l_tmp[i] = left_line_buf[i][col]; + r_tmp[i] = right_line_buf[i][col]; + } + } else { + unsigned short offset = sweep * NDISP_UNIT; + loop_get_data_from_linebuff_with_offset: + for (unsigned char i = 0; i < WSIZE; i++) { + l_tmp[i] = left_line_buf[i][col]; + r_tmp[i] = right_line_buf[i][col-offset < 0 ? 0 : col-offset]; + } + } + + xFUpdateTextureSum(l_window,l_tmp,row,col,state.preFilterCap,text_sum); + + xFShiftRight(l_window); + xFShiftRight(r_window); + xFInsertLeft(l_window,l_tmp); + xFInsertLeft(r_window,r_tmp); + + loop_sad_compute: + for (unsigned char d = 0; d < NDISP_UNIT; d++) { + sad[d] += (int)xFSADComputeInc(l_window, r_window, d, col, sad_cols[d]); + } + + int skip_val[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=skip_val core=XPM_MEMORY uram #endif - int edge_neighbor[BUF_SIZE]; -#if PLATFORM_ZCU104 + int edge_neighbor[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=edge_neighbor core=XPM_MEMORY uram #endif - int edge[BUF_SIZE]; -#if PLATFORM_ZCU104 + int edge[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=edge core=XPM_MEMORY uram #endif - int minsad_p[BUF_SIZE]; -#if PLATFORM_ZCU104 + int minsad_p[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=minsad_p core=XPM_MEMORY uram #endif - int minsad_n[BUF_SIZE]; -#if PLATFORM_ZCU104 + int minsad_n[BUF_SIZE]; +#if PLATFORM_ZCU104 #pragma HLS RESOURCE variable=minsad_n core=XPM_MEMORY uram #endif - // SAD computing and store output - if (row >= WSIZE-1 && col >= WSIZE-1) { - int skip_flag = 0; - if (text_sum[0] < state.textureThreshold) skip_flag = 1; // texture threshold check - if ((row - WSIZE+1) < (WSIZE-1)/2 || (row - WSIZE+1) >= height - (WSIZE-1)/2) skip_flag = 1; // border skip horizontal - if ((col - WSIZE+1) < NDISP-1 + (WSIZE-1)/2 || (col - WSIZE+1) >= width - (WSIZE-1)/2) skip_flag = 1; // border skip vertical - - int gminsad = TMP_INT_MAX_PACK; - XF_TNAME(WORDWIDTH_DST,1) gmind = 0; - bool gskip = 0; - int gskip_val = TMP_INT_MAX_PACK; - int gedge_neighbor = TMP_INT_MAX_PACK; // for uniqueness check - int gedge=0; // for subpixel interpolation - if (NDISP_UNIT != 1) - gedge = sad[1]; - - int lminsad = TMP_INT_MAX_PACK; - XF_TNAME(WORDWIDTH_DST,1) lmind = 0; - int gminsad_p = TMP_INT_MAX_PACK; - int gminsad_n = TMP_INT_MAX_PACK; - - if (sweep > 0) { - gminsad = minsad[col]; - gmind = mind[col]; - gskip = skip[col]; - gskip_val = skip_val[col]; - gedge_neighbor = edge_neighbor[col]; - if (sweep == 1 && NDISP_UNIT == 1) - gedge_neighbor = TMP_INT_MAX_PACK; - gedge = edge[col]; - gminsad_p = minsad_p[col]; - gminsad_n = (gmind == sweep*NDISP_UNIT-1 ? sad[0] : minsad_n[col]); - } - - xFMinSAD::find(sad, lmind, lminsad); - - if (lminsad <= gminsad) { - gskip = 0; - if (state.uniquenessRatio > 0) { - int thresh = lminsad + (lminsad * state.uniquenessRatio / 100); - if (gminsad <= thresh && lmind+sweep*NDISP_UNIT > gmind+1) { - gskip = 1; - gskip_val = gminsad; - } else if (gminsad <= thresh && lmind+sweep*NDISP_UNIT == gmind+1 && gskip_val <= thresh) { - gskip = 1; - // gskip_val unchanged; - } else if (gminsad <= thresh && lmind+sweep*NDISP_UNIT == gmind+1 && gedge_neighbor <= thresh) { - gskip = 1; - gskip_val = gedge_neighbor; - } - loop_unique_search_0: - for (unsigned char d = 0; d < NDISP_UNIT; d++) { - if (sad[d] <= thresh && sad[d] < gskip_val && (d < lmind-1 || d > lmind+1)) { - gskip = 1; - gskip_val = sad[d]; - } - } - } - // update global values; - gminsad_p = (lmind == 0 ? gedge : sad[lmind-1]); - if (NDISP_UNIT == 1) - gminsad_n = sad[lmind == NDISP_UNIT-1 ? 0 : (int)(lmind+1)]; - else - gminsad_n = sad[lmind == NDISP_UNIT-1 ? lmind-1 : lmind+1]; - gminsad = lminsad; - gmind = lmind + sweep*NDISP_UNIT; - } else { - if (state.uniquenessRatio > 0) { - int thresh = gminsad + (gminsad * state.uniquenessRatio / 100); - loop_unique_search_1: - for (unsigned char d = 0; d < NDISP_UNIT; d++) { - if (sad[d] <= thresh && sad[d] < gskip_val && ((gmind == (sweep*NDISP_UNIT-1)) ? ((sweep*NDISP_UNIT+d) > (gmind+1)) : 1)) { - gskip = 1; - gskip_val = sad[d]; - } - } - } - } - minsad[col] = gminsad; - mind[col] = gmind; - skip[col] = gskip; - skip_val[col] = gskip_val; - if (NDISP_UNIT == 1) - edge_neighbor[col] = edge[col]; - else - edge_neighbor[col] = sad[NDISP_UNIT-2]; - edge[col] = sad[NDISP_UNIT-1]; - minsad_p[col] = gminsad_p; - minsad_n[col] = gminsad_n; - - if (sweep == state.sweepFactor-1) { - ap_int::Value> p = gmind==0?gminsad_n:gminsad_p; - ap_int::Value> n = gmind==NDISP-1?gminsad_p:gminsad_n; - ap_int::Value> k = p + n - 2*gminsad + __ABS((int)p - (int)n); - - ap_int::Value+8> num = p - n; - num = num << 8; - ap_int<10> delta = 0; - if (k != 0) delta = num/k; - XF_TNAME(WORDWIDTH_DST,1) out_disp = ((gmind*256 + delta + 15) >> 4); - - skip_flag |= gskip; - if (skip_flag) out_disp = FILTERED; - out.write(out_disp); - } - } - } - } - } + // SAD computing and store output + if (row >= WSIZE-1 && col >= WSIZE-1) { + int skip_flag = 0; + if (text_sum[0] < state.textureThreshold) skip_flag = 1; // texture threshold check + if ((row - WSIZE+1) < (WSIZE-1)/2 || (row - WSIZE+1) >= height - (WSIZE-1)/2) skip_flag = 1; // border skip horizontal + if ((col - WSIZE+1) < NDISP-1 + (WSIZE-1)/2 || (col - WSIZE+1) >= width - (WSIZE-1)/2) skip_flag = 1; // border skip vertical + + int gminsad = TMP_INT_MAX_PACK; + XF_TNAME(WORDWIDTH_DST,1) gmind = 0; + bool gskip = 0; + int gskip_val = TMP_INT_MAX_PACK; + int gedge_neighbor = TMP_INT_MAX_PACK; // for uniqueness check + int gedge=0; // for subpixel interpolation + if (NDISP_UNIT != 1) + gedge = sad[1]; + + int lminsad = TMP_INT_MAX_PACK; + XF_TNAME(WORDWIDTH_DST,1) lmind = 0; + int gminsad_p = TMP_INT_MAX_PACK; + int gminsad_n = TMP_INT_MAX_PACK; + + if (sweep > 0) { + gminsad = minsad[col]; + gmind = mind[col]; + gskip = skip[col]; + gskip_val = skip_val[col]; + gedge_neighbor = edge_neighbor[col]; + if (sweep == 1 && NDISP_UNIT == 1) + gedge_neighbor = TMP_INT_MAX_PACK; + gedge = edge[col]; + gminsad_p = minsad_p[col]; + gminsad_n = (gmind == sweep*NDISP_UNIT-1 ? sad[0] : minsad_n[col]); + } + + xFMinSAD::find(sad, lmind, lminsad); + + if (lminsad <= gminsad) { + gskip = 0; + if (state.uniquenessRatio > 0) { + int thresh = lminsad + (lminsad * state.uniquenessRatio / 100); + if (gminsad <= thresh && lmind+sweep*NDISP_UNIT > gmind+1) { + gskip = 1; + gskip_val = gminsad; + } else if (gminsad <= thresh && lmind+sweep*NDISP_UNIT == gmind+1 && gskip_val <= thresh) { + gskip = 1; + // gskip_val unchanged; + } else if (gminsad <= thresh && lmind+sweep*NDISP_UNIT == gmind+1 && gedge_neighbor <= thresh) { + gskip = 1; + gskip_val = gedge_neighbor; + } + loop_unique_search_0: + for (unsigned char d = 0; d < NDISP_UNIT; d++) { + if (sad[d] <= thresh && sad[d] < gskip_val && (d < lmind-1 || d > lmind+1)) { + gskip = 1; + gskip_val = sad[d]; + } + } + } + // update global values; + gminsad_p = (lmind == 0 ? gedge : sad[lmind-1]); + if (NDISP_UNIT == 1) + gminsad_n = sad[lmind == NDISP_UNIT-1 ? 0 : (int)(lmind+1)]; + else + gminsad_n = sad[lmind == NDISP_UNIT-1 ? lmind-1 : lmind+1]; + gminsad = lminsad; + gmind = lmind + sweep*NDISP_UNIT; + } else { + if (state.uniquenessRatio > 0) { + int thresh = gminsad + (gminsad * state.uniquenessRatio / 100); + loop_unique_search_1: + for (unsigned char d = 0; d < NDISP_UNIT; d++) { + if (sad[d] <= thresh && sad[d] < gskip_val && ((gmind == (sweep*NDISP_UNIT-1)) ? ((sweep*NDISP_UNIT+d) > (gmind+1)) : 1)) { + gskip = 1; + gskip_val = sad[d]; + } + } + } + } + minsad[col] = gminsad; + mind[col] = gmind; + skip[col] = gskip; + skip_val[col] = gskip_val; + if (NDISP_UNIT == 1) + edge_neighbor[col] = edge[col]; + else + edge_neighbor[col] = sad[NDISP_UNIT-2]; + edge[col] = sad[NDISP_UNIT-1]; + minsad_p[col] = gminsad_p; + minsad_n[col] = gminsad_n; + + if (sweep == state.sweepFactor-1) { + ap_int::Value> p = gmind==0?gminsad_n:gminsad_p; + ap_int::Value> n = gmind==NDISP-1?gminsad_p:gminsad_n; + ap_int::Value> k = p + n - 2*gminsad + __ABS((int)p - (int)n); + + ap_int::Value+8> num = p - n; + num = num << 8; + ap_int<10> delta = 0; + if (k != 0) delta = num/k; + XF_TNAME(WORDWIDTH_DST,1) out_disp = ((gmind*256 + delta + 15) >> 4); + + skip_flag |= gskip; + if (skip_flag) out_disp = FILTERED; + out.write(out_disp); + } + } + } + } + } } @@ -522,65 +522,65 @@ template void xFImageClipUtility(int i, int j, int k, int height, int width, int *pix) { #pragma HLS INLINE OFF - if (i<1 || i > height-2 || (j*(1< width-2) - *pix = 0; + if (i<1 || i > height-2 || (j*(1< width-2) + *pix = 0; } /* Clips the Output from the Sobel function based on the Cap value input */ template void xFImageClip( - hls::stream& src, - hls::stream& dst, - int cap, short int height, short int width) + hls::stream& src, + hls::stream& dst, + int cap, short int height, short int width) { - loop_row_clip: - for (short i = 0; i < height; i++) - { + loop_row_clip: + for (short i = 0; i < height; i++) + { #pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS #pragma HLS LOOP_FLATTEN off - loop_col_clip: - for (short j = 0; j < (width>>XF_BITSHIFT(NPC)); j++) - { + loop_col_clip: + for (short j = 0; j < (width>>XF_BITSHIFT(NPC)); j++) + { #pragma HLS PIPELINE II=1 #pragma HLS LOOP_TRIPCOUNT min=COLS_TC max=COLS_TC - XF_TNAME(SRC_T,1) tmp = src.read(); - XF_TNAME(DST_T,1) tmp_out; - for (int k = 0; k < (1<(i,j,k,height,width,&pix); - - XF_PTNAME(DEPTH_DST) p = (XF_PTNAME(DEPTH_DST))(pix < -cap ? 0 : pix > cap ? cap*2 : pix + cap); - tmp_out.range((k+1)*XF_PIXELDEPTH(DEPTH_DST)-1,k*XF_PIXELDEPTH(DEPTH_DST)) = (XF_PTNAME(DEPTH_DST))p; - } - dst.write(tmp_out); - } - } + int pix = (XF_PTNAME(DEPTH_SRC))tmp.range((k+1)*XF_PIXELDEPTH(DEPTH_SRC)-1,k*XF_PIXELDEPTH(DEPTH_SRC)); + xFImageClipUtility(i,j,k,height,width,&pix); + + XF_PTNAME(DEPTH_DST) p = (XF_PTNAME(DEPTH_DST))(pix < -cap ? 0 : pix > cap ? cap*2 : pix + cap); + tmp_out.range((k+1)*XF_PIXELDEPTH(DEPTH_DST)-1,k*XF_PIXELDEPTH(DEPTH_DST)) = (XF_PTNAME(DEPTH_DST))p; + } + dst.write(tmp_out); + } + } } /* For reading the Gradient-Y stream, rather than letting the stream dangling */ template void xFReadOutStream( - hls::stream& src, - short int height,short int width) + hls::stream& src, + short int height,short int width) { - loop_row_clip: - for (short i = 0; i < height; i++) - { + loop_row_clip: + for (short i = 0; i < height; i++) + { #pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS #pragma HLS LOOP_FLATTEN off - loop_col_clip: - for (short j = 0; j < (width>>XF_BITSHIFT(NPC)); j++) - { + loop_col_clip: + for (short j = 0; j < (width>>XF_BITSHIFT(NPC)); j++) + { #pragma HLS PIPELINE II=1 #pragma HLS LOOP_TRIPCOUNT min=COLS_TC max=COLS_TC - XF_TNAME(SRC_T,1) tmp = src.read(); - } - } + XF_TNAME(SRC_T,1) tmp = src.read(); + } + } } @@ -589,138 +589,138 @@ template void xFStereoPreProcess(hls::stream &in_strm, hls::stream& clipped_strm, int preFilterType,int preFilterCap, short int height, short int width) { #pragma HLS INLINE - hls::stream in_sobel_x("in_sobel_x"); - hls::stream in_sobel_y("in_sobel_y"); + hls::stream in_sobel_x("in_sobel_x"); + hls::stream in_sobel_y("in_sobel_y"); - xFSobelFilter(in_strm ,in_sobel_x ,in_sobel_y ,3,XF_BORDER_CONSTANT,height,width); - xFImageClip(in_sobel_x,clipped_strm,preFilterCap,height,width); - xFReadOutStream(in_sobel_y,height,width); + xFSobelFilter(in_strm ,in_sobel_x ,in_sobel_y ,3,XF_BORDER_CONSTANT,height,width); + xFImageClip(in_sobel_x,clipped_strm,preFilterCap,height,width); + xFReadOutStream(in_sobel_y,height,width); } /* This function performs preprocessing and disparity computation for NO mode */ template void xFFindStereoCorrespondenceLBMNO_pipeline (hls::stream &_left_strm, - hls::stream &_right_strm, - XF_TNAME(DST_T,NPC) *disp_ptr , - xf::xFSBMState &sbmstate, - short int height, short int width) + hls::stream &_right_strm, + XF_TNAME(DST_T,NPC) *disp_ptr , + xf::xFSBMState &sbmstate, + short int height, short int width) { #pragma HLS INLINE - hls::stream< XF_TNAME(SRC_T,NPC) > left_clipped("left_clipped"); - hls::stream< XF_TNAME(SRC_T,NPC) > right_clipped("right_clipped"); + hls::stream< XF_TNAME(SRC_T,NPC) > left_clipped("left_clipped"); + hls::stream< XF_TNAME(SRC_T,NPC) > right_clipped("right_clipped"); - hls::stream< XF_TNAME(DST_T,NPC) > _disp_strm("disparity stream"); + hls::stream< XF_TNAME(DST_T,NPC) > _disp_strm("disparity stream"); #pragma HLS DATAFLOW - int TC=(ROWS*COLS); + int TC=(ROWS*COLS); - /* Sobel and Clipping */ - xFStereoPreProcess(_left_strm,left_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); - xFStereoPreProcess(_right_strm,right_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); + /* Sobel and Clipping */ + xFStereoPreProcess(_left_strm,left_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); + xFStereoPreProcess(_right_strm,right_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); - /* SAD and disparity computation */ - xFSADBlockMatching(left_clipped,right_clipped,_disp_strm,sbmstate,height,width); + /* SAD and disparity computation */ + xFSADBlockMatching(left_clipped,right_clipped,_disp_strm,sbmstate,height,width); - for (int i = 0; i < height*width; i++) - { + for (int i = 0; i < height*width; i++) + { #pragma HLS pipeline ii=1 #pragma HLS LOOP_TRIPCOUNT min=1 max=TC - *(disp_ptr + i) = _disp_strm.read(); - } + *(disp_ptr + i) = _disp_strm.read(); + } } /* This function performs preprocessing and disparity computation for NO mode */ template void xFFindStereoCorrespondenceLBMNO (XF_TNAME(SRC_T,NPC) *left_ptr, - XF_TNAME(SRC_T,NPC) *right_ptr, - XF_TNAME(DST_T,NPC) *disp_ptr , - xf::xFSBMState &sbmstate, - short int height, short int width) + XF_TNAME(SRC_T,NPC) *right_ptr, + XF_TNAME(DST_T,NPC) *disp_ptr , + xf::xFSBMState &sbmstate, + short int height, short int width) { - hls::stream< XF_TNAME(SRC_T,NPC) > _left_strm; - hls::stream< XF_TNAME(SRC_T,NPC) > _right_strm; + hls::stream< XF_TNAME(SRC_T,NPC) > _left_strm; + hls::stream< XF_TNAME(SRC_T,NPC) > _right_strm; - hls::stream< XF_TNAME(SRC_T,NPC) > left_clipped("left_clipped"); - hls::stream< XF_TNAME(SRC_T,NPC) > right_clipped("right_clipped"); + hls::stream< XF_TNAME(SRC_T,NPC) > left_clipped("left_clipped"); + hls::stream< XF_TNAME(SRC_T,NPC) > right_clipped("right_clipped"); - hls::stream< XF_TNAME(DST_T,NPC) > _disp_strm("disparity stream"); + hls::stream< XF_TNAME(DST_T,NPC) > _disp_strm("disparity stream"); #pragma HLS DATAFLOW - int TC=(ROWS*COLS); - for (int i = 0; i < height*width; i++) - { + int TC=(ROWS*COLS); + for (int i = 0; i < height*width; i++) + { #pragma HLS pipeline ii=1 #pragma HLS LOOP_TRIPCOUNT min=1 max=TC - _left_strm.write(*(left_ptr + i)); - _right_strm.write(*(right_ptr + i)); - } + _left_strm.write(*(left_ptr + i)); + _right_strm.write(*(right_ptr + i)); + } - /* Sobel and Clipping */ - xFStereoPreProcess(_left_strm,left_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); - xFStereoPreProcess(_right_strm,right_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); + /* Sobel and Clipping */ + xFStereoPreProcess(_left_strm,left_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); + xFStereoPreProcess(_right_strm,right_clipped,sbmstate.preFilterType,sbmstate.preFilterCap,height,width); - /* SAD and disparity computation */ - xFSADBlockMatching(left_clipped,right_clipped,_disp_strm,sbmstate,height,width); + /* SAD and disparity computation */ + xFSADBlockMatching(left_clipped,right_clipped,_disp_strm,sbmstate,height,width); - for (int i = 0; i < height*width; i++) - { + for (int i = 0; i < height*width; i++) + { #pragma HLS pipeline ii=1 #pragma HLS LOOP_TRIPCOUNT min=1 max=TC - *(disp_ptr + i) = _disp_strm.read(); - } + *(disp_ptr + i) = _disp_strm.read(); + } } /* Calls the functions based on the PIXEL PARALLELISM configuration */ template void xFFindStereoCorrespondenceLBM_pipeline(hls::stream &_left_strm, - hls::stream &_right_strm, - XF_TNAME(DST_T,NPC) *out_ptr, - xf::xFSBMState &sbmstate, - short int height,short int width) + hls::stream &_right_strm, + XF_TNAME(DST_T,NPC) *out_ptr, + xf::xFSBMState &sbmstate, + short int height,short int width) { #pragma HLS INLINE - assert((SRC_T == XF_8UW) && " WORDWIDTH_SRC must be XF_8UW "); - assert((DST_T == XF_16UW) && " WORDWIDTH_DST must be XF_16UW "); - assert((NPC == XF_NPPC1) && " NPC must be XF_NPPC1 "); - assert((WSIZE%2 == 1) && (WSIZE < __XF_MIN(height,width) && (WSIZE >= 5)) && " WSIZE must be an odd number, less than minimum of height & width and greater than or equal to '5' "); - assert(((NDISP > 1) && (NDISP < width)) && " NDISP must be greater than '1' and less than the image width "); - assert((NDISP >= NDISP_UNIT) && " NDISP must not be lesser than NDISP_UNIT"); - assert((((NDISP/NDISP_UNIT)*NDISP_UNIT) == NDISP) && " NDISP/NDISP_UNIT must be a non-fractional number "); - assert(sbmstate.uniquenessRatio >= 0 && "uniqueness ratio must be non-negative"); - assert(sbmstate.preFilterCap >=1 && sbmstate.preFilterCap <= 63 && "preFilterCap must be within 1..63"); - assert(sbmstate.preFilterType == XF_STEREO_PREFILTER_SOBEL_TYPE); - - xFFindStereoCorrespondenceLBMNO_pipeline(_left_strm,_right_strm,out_ptr,sbmstate,height,width); + assert((SRC_T == XF_8UW) && " WORDWIDTH_SRC must be XF_8UW "); + assert((DST_T == XF_16UW) && " WORDWIDTH_DST must be XF_16UW "); + assert((NPC == XF_NPPC1) && " NPC must be XF_NPPC1 "); + assert((WSIZE%2 == 1) && (WSIZE < __XF_MIN(height,width) && (WSIZE >= 5)) && " WSIZE must be an odd number, less than minimum of height & width and greater than or equal to '5' "); + assert(((NDISP > 1) && (NDISP < width)) && " NDISP must be greater than '1' and less than the image width "); + assert((NDISP >= NDISP_UNIT) && " NDISP must not be lesser than NDISP_UNIT"); + assert((((NDISP/NDISP_UNIT)*NDISP_UNIT) == NDISP) && " NDISP/NDISP_UNIT must be a non-fractional number "); + assert(sbmstate.uniquenessRatio >= 0 && "uniqueness ratio must be non-negative"); + assert(sbmstate.preFilterCap >=1 && sbmstate.preFilterCap <= 63 && "preFilterCap must be within 1..63"); + assert(sbmstate.preFilterType == XF_STEREO_PREFILTER_SOBEL_TYPE); + + xFFindStereoCorrespondenceLBMNO_pipeline(_left_strm,_right_strm,out_ptr,sbmstate,height,width); } /* Calls the functions based on the PIXEL PARALLELISM configuration */ template void xFFindStereoCorrespondenceLBM(XF_TNAME(SRC_T,NPC) *left_ptr, - XF_TNAME(SRC_T,NPC) *right_ptr, - XF_TNAME(DST_T,NPC) *out_ptr, - xf::xFSBMState &sbmstate, - short int height,short int width) + XF_TNAME(SRC_T,NPC) *right_ptr, + XF_TNAME(DST_T,NPC) *out_ptr, + xf::xFSBMState &sbmstate, + short int height,short int width) { - assert((SRC_T == XF_8UW) && " WORDWIDTH_SRC must be XF_8UW "); - assert((DST_T == XF_16UW) && " WORDWIDTH_DST must be XF_16UW "); - assert((NPC == XF_NPPC1) && " NPC must be XF_NPPC1 "); - assert((WSIZE%2 == 1) && (WSIZE < __XF_MIN(height,width) && (WSIZE >= 5)) && " WSIZE must be an odd number, less than minimum of height & width and greater than or equal to '5' "); - assert(((NDISP > 1) && (NDISP < width)) && " NDISP must be greater than '1' and less than the image width "); - assert((NDISP >= NDISP_UNIT) && " NDISP must not be lesser than NDISP_UNIT"); - assert((((NDISP/NDISP_UNIT)*NDISP_UNIT) == NDISP) && " NDISP/NDISP_UNIT must be a non-fractional number "); - assert(sbmstate.uniquenessRatio >= 0 && "uniqueness ratio must be non-negative"); - assert(sbmstate.preFilterCap >=1 && sbmstate.preFilterCap <= 63 && "preFilterCap must be within 1..63"); - assert(sbmstate.preFilterType == XF_STEREO_PREFILTER_SOBEL_TYPE); - - xFFindStereoCorrespondenceLBMNO(left_ptr,right_ptr,out_ptr,sbmstate,height,width); + assert((SRC_T == XF_8UW) && " WORDWIDTH_SRC must be XF_8UW "); + assert((DST_T == XF_16UW) && " WORDWIDTH_DST must be XF_16UW "); + assert((NPC == XF_NPPC1) && " NPC must be XF_NPPC1 "); + assert((WSIZE%2 == 1) && (WSIZE < __XF_MIN(height,width) && (WSIZE >= 5)) && " WSIZE must be an odd number, less than minimum of height & width and greater than or equal to '5' "); + assert(((NDISP > 1) && (NDISP < width)) && " NDISP must be greater than '1' and less than the image width "); + assert((NDISP >= NDISP_UNIT) && " NDISP must not be lesser than NDISP_UNIT"); + assert((((NDISP/NDISP_UNIT)*NDISP_UNIT) == NDISP) && " NDISP/NDISP_UNIT must be a non-fractional number "); + assert(sbmstate.uniquenessRatio >= 0 && "uniqueness ratio must be non-negative"); + assert(sbmstate.preFilterCap >=1 && sbmstate.preFilterCap <= 63 && "preFilterCap must be within 1..63"); + assert(sbmstate.preFilterType == XF_STEREO_PREFILTER_SOBEL_TYPE); + + xFFindStereoCorrespondenceLBMNO(left_ptr,right_ptr,out_ptr,sbmstate,height,width); } @@ -731,16 +731,19 @@ void xFFindStereoCorrespondenceLBM(XF_TNAME(SRC_T,NPC) *left_ptr, #pragma SDS data copy("_left_mat.data"[0:"_left_mat.size"]) #pragma SDS data copy("_right_mat.data"[0:"_right_mat.size"]) #pragma SDS data copy("_disp_mat.data"[0:"_disp_mat.size"]) -template + +//#NO template + +template void StereoBM(xf::Mat &_left_mat, - xf::Mat &_right_mat, - xf::Mat &_disp_mat, - xf::xFSBMState &sbmstate) + xf::Mat &_right_mat, + xf::Mat &_disp_mat, + xf::xFSBMState &sbmstate) { #pragma HLS INLINE OFF - xFFindStereoCorrespondenceLBM(_left_mat.data,_right_mat.data,_disp_mat.data,sbmstate, - _left_mat.rows,_left_mat.cols); + xFFindStereoCorrespondenceLBM(_left_mat.data,_right_mat.data,_disp_mat.data,sbmstate, + _left_mat.rows,_left_mat.cols); } } From 0052c3746a6ba8fa8182c0589290dc250d221c41 Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 18:11:11 +0300 Subject: [PATCH 33/73] Exclude memcpy() calls from xFInitUndistortRectifyMapInverseKernel() to solve XOCC compilation error --- include/imgproc/xf_stereo_pipeline.hpp | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/include/imgproc/xf_stereo_pipeline.hpp b/include/imgproc/xf_stereo_pipeline.hpp index caa5c3c..880f704 100644 --- a/include/imgproc/xf_stereo_pipeline.hpp +++ b/include/imgproc/xf_stereo_pipeline.hpp @@ -123,9 +123,20 @@ void xFInitUndistortRectifyMapInverseKernel ( #pragma HLS ARRAY_PARTITION variable=distCoeffsHLS complete dim=0 #pragma HLS ARRAY_PARTITION variable=iRnewCameraMatrixHLS complete dim=0 - memcpy(cameraMatrixHLS,cameraMatrix,4*CM_SIZE); - memcpy(distCoeffsHLS,distCoeffs,4*N); - memcpy(iRnewCameraMatrixHLS,ir,4*CM_SIZE); +//#NO memcpy(cameraMatrixHLS,cameraMatrix,4*CM_SIZE); +//#NO memcpy(distCoeffsHLS,distCoeffs,4*N); +//#NO memcpy(iRnewCameraMatrixHLS,ir,4*CM_SIZE); + + for(int r = 0; r < CM_SIZE; r++) + { + cameraMatrixHLS[r] = cameraMatrix[r]; + iRnewCameraMatrixHLS[r] = ir[r]; + } + + for(int n = 0; n < N; n++) + { + distCoeffsHLS[n] = distCoeffs[n]; + } MAP_T mx; MAP_T my; From 32855964cc920951f7aee4e10745d2d17a088869 Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 18:12:29 +0300 Subject: [PATCH 34/73] Format xf_stereo_pipeline_config.h and comment out function declaration --- .../stereopipeline/xf_stereo_pipeline_config.h | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h index f6512e5..97bff99 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h @@ -44,8 +44,8 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /* config width and height */ -#define XF_HEIGHT 1080 -#define XF_WIDTH 1920 +#define XF_HEIGHT 1080 +#define XF_WIDTH 1920 #define XF_CAMERA_MATRIX_SIZE 9 #define XF_DIST_COEFF_SIZE 5 @@ -53,11 +53,13 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define IN_TYPE ap_uint<8> #define OUT_TYPE ap_uint<16> +/* void stereopipeline_accel(xf::Mat &leftMat, xf::Mat &rightMat, xf::Mat &dispMat, - xf::Mat &mapxLMat, xf::Mat &mapyLMat, xf::Mat &mapxRMat, - xf::Mat &mapyRMat, xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, - xf::xFSBMState &bm_state, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix, ap_fixed<32,12> *distC_r_fix, - ap_fixed<32,12> *irA_l_fix, ap_fixed<32,12> *irA_r_fix, int _cm_size, int _dc_size); + xf::Mat &mapxLMat, xf::Mat &mapyLMat, xf::Mat &mapxRMat, + xf::Mat &mapyRMat, xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, + xf::xFSBMState &bm_state, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix, ap_fixed<32,12> *distC_r_fix, + ap_fixed<32,12> *irA_l_fix, ap_fixed<32,12> *irA_r_fix, int _cm_size, int _dc_size); +*/ #endif // _XF_STEREO_PIPELINE_CONFIG_H_ From c2c5083ba279fad1d61e17feed9af8b68ebb049f Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 18:14:53 +0300 Subject: [PATCH 35/73] Success compilation of xf::InitUndistortRectifyMapInverse() calling --- .../xf_stereo_pipeline_kernel_aws.cpp | 369 ++++++++++-------- 1 file changed, 203 insertions(+), 166 deletions(-) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index ed59436..7dfc811 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -5,238 +5,275 @@ #include "xf_stereo_pipeline_config.h" -template -void remap_aws( XF_TNAME(SRC_T,NPC) *_src_mat, XF_TNAME(SRC_T,NPC) *_remapped_mat, XF_TNAME(SRC_T,NPC) *_mapx_mat, XF_TNAME(SRC_T,NPC) *_mapy_mat, int m_rows, int m_cols ); - - -extern "C" - { - void xf_stereopipeline - ( - XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , //xf::Mat &leftMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, //xf::Mat &rightMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , //xf::Mat &dispMat, - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, //xf::Mat &mapxLMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, //xf::Mat &mapyLMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, //xf::Mat &mapxRMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, //xf::Mat &mapyRMat, //out + internal stream - - XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, //xf::Mat &leftRemappedMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, //xf::Mat &rightRemappedMat, - - xf::xFSBMState bm_state, - - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - - int _cm_size, int _dc_size - - int rows, - int cols - ); +extern "C" + { + void xf_stereopipeline + ( + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l , + +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, + +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s , + + XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, + XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, + + ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , + + int cm_size, int dc_size, + + int rows, + int cols + ); } -void xf_stereopipeline( - XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , //xf::Mat &leftMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, //xf::Mat &rightMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , //xf::Mat &dispMat, - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, //xf::Mat &mapxLMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, //xf::Mat &mapyLMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, //xf::Mat &mapxRMat, //out + internal stream - - XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, //xf::Mat &mapyRMat, //out + internal stream - - XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, //xf::Mat &leftRemappedMat, - - XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, //xf::Mat &rightRemappedMat, - - xf::xFSBMState bm_state, - - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - - int _cm_size, int _dc_size, - - int rows, - int cols +void xf_stereopipeline( + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l, + +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, + +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s, + + XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, + XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, + + ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , + + int cm_size, int dc_size, + + int rows, + int cols ) { - #pragma HLS INTERFACE m_axi port=leftMat offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=rightMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_0 +// #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_0 - #pragma HLS INTERFACE m_axi port=dispMat offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 + #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 - #pragma HLS INTERFACE m_axi port=mapxRMat offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=mapyRMat offset=slave bundle=gmem - - #pragma HLS INTERFACE m_axi port=leftRemappedMat offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=rightRemappedMat offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem +// +// #pragma HLS INTERFACE m_axi port=mapxRMat offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=mapyRMat offset=slave bundle=gmem +// +// #pragma HLS INTERFACE m_axi port=leftRemappedMat offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=rightRemappedMat offset=slave bundle=gmem #pragma HLS INTERFACE m_axi port=cameraMA_l_fix offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem #pragma HLS INTERFACE m_axi port=distC_l_fix offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=distC_r_fix offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=distC_r_fix offset=slave bundle=gmem #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem +// #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem - #pragma HLS INTERFACE s_axilite port=leftMat bundle=control - #pragma HLS INTERFACE s_axilite port=rightMat bundle=control + #pragma HLS INTERFACE s_axilite port=img_l bundle=control +// #pragma HLS INTERFACE s_axilite port=img_r bundle=control - #pragma HLS INTERFACE s_axilite port=dispMat bundle=control +// #pragma HLS INTERFACE s_axilite port=img_s bundle=control + + #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control + #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control - #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control - #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control +// #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control +// #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control - #pragma HLS INTERFACE s_axilite port=mapxRMat bundle=control - #pragma HLS INTERFACE s_axilite port=mapyRMat bundle=control +// #pragma HLS INTERFACE s_axilite port=mapxRMat bundle=control +// #pragma HLS INTERFACE s_axilite port=mapyRMat bundle=control - #pragma HLS INTERFACE s_axilite port=leftRemappedMat bundle=control - #pragma HLS INTERFACE s_axilite port=rightRemappedMat bundle=control +// #pragma HLS INTERFACE s_axilite port=leftRemappedMat bundle=control +// #pragma HLS INTERFACE s_axilite port=rightRemappedMat bundle=control #pragma HLS INTERFACE s_axilite port=cameraMA_l_fix bundle=control - #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control +// #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control #pragma HLS INTERFACE s_axilite port=distC_l_fix bundle=control - #pragma HLS INTERFACE s_axilite port=distC_r_fix bundle=control +// #pragma HLS INTERFACE s_axilite port=distC_r_fix bundle=control #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control - #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control +// #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control - #pragma HLS INTERFACE s_axilite port=_cm_size bundle=control - #pragma HLS INTERFACE s_axilite port=_dc_size bundle=control + #pragma HLS INTERFACE s_axilite port=cm_size bundle=control + #pragma HLS INTERFACE s_axilite port=dc_size bundle=control #pragma HLS INTERFACE s_axilite port=rows bundle=control #pragma HLS INTERFACE s_axilite port=cols bundle=control #pragma HLS INTERFACE s_axilite port=return bundle=control - #pragma HLS inline off + #pragma HLS dataflow + const int pROWS = XF_HEIGHT; + const int pCOLS = XF_WIDTH ; + + const int pNPC = XF_NPPC1; - XF_TNAME(XF_32FC1, XF_NPPC1) map_x_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; - XF_TNAME(XF_32FC1, XF_NPPC1) map_y_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; +// xf::Mat leftMat; +// xf::Mat rightMat; - XF_TNAME(XF_32FC1, XF_NPPC1) map_x_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; - XF_TNAME(XF_32FC1, XF_NPPC1) map_y_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; +// #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC +// #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC - XF_TNAME(XF_8UC1 , XF_NPPC1) remapped_l[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; - XF_TNAME(XF_8UC1 , XF_NPPC1) remapped_r[ XF_HEIGHT * (XF_WIDTH>>(XF_BITSHIFT(XF_NPPC1))) ]; +// xf::Mat dispMat; +// +// #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC - xf::xFInitUndistortRectifyMapInverseKernel, XF_DIST_COEFF_SIZE, XF_TNAME(XF_32FC1, XF_NPPC1)>(cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, rows, cols); + xf::Mat map_x_l; + xf::Mat map_y_l; - remap_aws( leftMat, remapped_l, map_x_l, map_y_l, rows, cols ); + #pragma HLS stream variable=map_x_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=map_y_l.data depth=pCOLS/pNPC +// xf::Mat map_x_r; +// xf::Mat map_y_r; +// #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC +// #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC + xf::Mat remapped_l; +// xf::Mat remapped_r; - xf::xFInitUndistortRectifyMapInverseKernel, XF_DIST_COEFF_SIZE, XF_TNAME(XF_32FC1, XF_NPPC1)>(cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, rows, cols); +// #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC +// #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC - remap_aws( rightMat, remapped_r, map_x_r, map_y_r, rows, cols ); + //=================================================// +// xf::xFSBMState bm_state; +// ap_fixed<32,12> cameraMA_l_fix[XF_CAMERA_MATRIX_SIZE]; +// ap_fixed<32,12> cameraMA_r_fix[XF_CAMERA_MATRIX_SIZE]; +// #pragma HLS stream variable=cameraMA_l_fix depth=2 +// #pragma HLS stream variable=cameraMA_r_fix depth=2 + +// ap_fixed<32,12> distC_l_fix[XF_DIST_COEFF_SIZE]; +// ap_fixed<32,12> distC_r_fix[XF_DIST_COEFF_SIZE]; - xf::xFFindStereoCorrespondenceLBM(remapped_l, remapped_r, dispMat, bm_state, rows, cols); -} +// #pragma HLS stream variable=distC_l_fix depth=2 +// #pragma HLS stream variable=distC_r_fix depth=2 +// ap_fixed<32,12> irA_l_fix[XF_CAMERA_MATRIX_SIZE]; +// ap_fixed<32,12> irA_r_fix[XF_CAMERA_MATRIX_SIZE]; +// #pragma HLS stream variable=irA_l_fix depth=2 +// #pragma HLS stream variable=irA_r_fix depth=2 + //================================================// +// for(int i=0; i < rows; i++) +// { +// #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS +// +// for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) +// { +// #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC +// #pragma HLS PIPELINE +// #pragma HLS loop_flatten off +// +// *(leftMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); +// } +// } + + xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, cm_size, dc_size); +// xf::remap ( leftMat, remapped_l, map_x_l, map_y_l ); +// xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, cm_size, dc_size); + +// xf::remap ( rightMat, remapped_r, map_x_r, map_y_r); + + + + +// xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state ); + + + + + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } + + + -template -void remap_aws( XF_TNAME(SRC_T,NPC) *_src_mat, XF_TNAME(SRC_T,NPC) *_remapped_mat, XF_TNAME(SRC_T,NPC) *_mapx_mat, XF_TNAME(SRC_T,NPC) *_mapy_mat, int m_rows, int m_cols ) -{ - #pragma HLS inline off - #pragma HLS dataflow - assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); - assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); - - hls::stream< XF_TNAME(SRC_T,NPC)> _src; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; - hls::stream< XF_TNAME(DST_T,NPC)> _remapped; - - int depth_est = WIN_ROWS * m_cols; - - uint16_t rows = m_rows; - uint16_t cols = m_cols; - - int loop_count = (rows*cols); - int TC=(ROWS*COLS); - - int ishift = WIN_ROWS/2; - int row_tripcount = ROWS+WIN_ROWS; - - xfremap_rows_loop: - for(int i = 0; i < rows+ishift; i++) - { - #pragma HLS LOOP_FLATTEN OFF - #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - - xfremap_cols_loop: - for (int j = 0; j < cols; j++) - { - #pragma HLS pipeline ii=1 - #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - - if (i < rows) - { - _src.write(*(_src_mat + i*cols + j)); - } - - if (i >= ishift) - { - _mapx.write(*(_mapx_mat + (i-ishift)*cols + j)); - _mapy.write(*(_mapy_mat + (i-ishift)*cols + j)); - } - } - } - - xf::xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); - - xfremap_output_loop: - for (int i = 0; i < loop_count; i++) - { - #pragma HLS pipeline ii=1 - #pragma HLS LOOP_TRIPCOUNT min=1 max=TC - _remapped_mat[i] = _remapped.read(); - } } + + + + + + + +// void xf_stereopipeline +// ( +// XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , // xf::Mat &leftMat, +// +// XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, // xf::Mat &rightMat, +// +// XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , // xf::Mat &dispMat, +// +// XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, // xf::Mat &mapxLMat, out + internal stream +// +// XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, // xf::Mat &mapyLMat, out + internal stream +// +// XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, // xf::Mat &mapxRMat, out + internal stream +// +// XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, // xf::Mat &mapyRMat, out + internal stream +// +// XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, // xf::Mat &leftRemappedMat, +// +// XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, // xf::Mat &rightRemappedMat, +// +// xf::xFSBMState bm_state, +// +// ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, +// ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , +// ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , +// +// int cm_size, int dc_size +// +// int rows, +// int cols +// ); + + + + + + + From 66eeb6c015487e16837bcba97cc0e879883d8d3a Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 6 May 2018 21:51:31 +0300 Subject: [PATCH 36/73] Success compilation of xf::InitUndistortRectifyMapInverse() + remap() calling for left image only --- .../xf_stereo_pipeline_kernel_aws.cpp | 49 ++++++++++++------- 1 file changed, 30 insertions(+), 19 deletions(-) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index 7dfc811..1f80a37 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -18,6 +18,8 @@ extern "C" XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l , + ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , @@ -39,6 +41,8 @@ void xf_stereopipeline( XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l , + ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , @@ -57,6 +61,8 @@ void xf_stereopipeline( #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 + #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0 + // #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem // #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem // @@ -84,6 +90,8 @@ void xf_stereopipeline( #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control + + #pragma HLS INTERFACE s_axilite port=img_remapped_l bundle=control // #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control // #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control @@ -123,10 +131,10 @@ void xf_stereopipeline( const int pNPC = XF_NPPC1; -// xf::Mat leftMat; + xf::Mat leftMat; // xf::Mat rightMat; -// #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC + #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC // #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC @@ -150,7 +158,7 @@ void xf_stereopipeline( xf::Mat remapped_l; // xf::Mat remapped_r; -// #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC // #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC //=================================================// @@ -178,24 +186,24 @@ void xf_stereopipeline( //================================================// -// for(int i=0; i < rows; i++) -// { -// #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS -// -// for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) -// { -// #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC -// #pragma HLS PIPELINE -// #pragma HLS loop_flatten off -// -// *(leftMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); -// } -// } + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(leftMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, cm_size, dc_size); -// xf::remap ( leftMat, remapped_l, map_x_l, map_y_l ); + xf::remap ( leftMat, remapped_l, map_x_l, map_y_l ); @@ -221,8 +229,11 @@ void xf_stereopipeline( #pragma HLS PIPELINE #pragma HLS loop_flatten off - *(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - *(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + + *(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } } From f6a1be8737a591f7f70c81fcf70e54bfdb5f30f7 Mon Sep 17 00:00:00 2001 From: Serge Date: Mon, 7 May 2018 01:20:49 +0300 Subject: [PATCH 37/73] Fix error: static modifier removed because it prevent using few instances of function simultaneously. --- include/imgproc/xf_remap.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index 5f6e26d..125f6f6 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -137,7 +137,7 @@ void xFRemapLI( ) { // Add one to always get zero for boundary interpolation. Maybe need initialization here? - static DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. + DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 SRC_T s; From b6ce8a6571d4d6bf83e9f0923fa54054093a93b8 Mon Sep 17 00:00:00 2001 From: Serge Date: Mon, 7 May 2018 01:24:27 +0300 Subject: [PATCH 38/73] Successful compilation of preliminary processing of both images. --- .../xf_stereo_pipeline_kernel_aws.cpp | 136 ++++++++++++------ 1 file changed, 94 insertions(+), 42 deletions(-) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index 1f80a37..2725f7b 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -11,18 +11,22 @@ extern "C" ( XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l , -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, // XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s , - XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, - XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l , +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, + + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , int cm_size, int dc_size, @@ -34,18 +38,22 @@ extern "C" void xf_stereopipeline( XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, // XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s, - XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, - XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, + +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l , + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, + XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, - ap_fixed<32,12> *cameraMA_l_fix, // ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , // ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , // ap_fixed<32,12> *irA_r_fix , + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , int cm_size, int dc_size, @@ -53,15 +61,19 @@ void xf_stereopipeline( int cols ) { - #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_0 -// #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_0 + #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_0_l + #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_0_r // #pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 - #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 +// #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 +// #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 + +// #pragma HLS INTERFACE m_axi port=img_map_x_r offset=slave bundle=gmem_1 +// #pragma HLS INTERFACE m_axi port=img_map_y_r offset=slave bundle=gmem_1 - #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0 + #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0_l + #pragma HLS INTERFACE m_axi port=img_remapped_r offset=slave bundle=gmem_0_r // #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem // #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem @@ -73,25 +85,29 @@ void xf_stereopipeline( // #pragma HLS INTERFACE m_axi port=rightRemappedMat offset=slave bundle=gmem - #pragma HLS INTERFACE m_axi port=cameraMA_l_fix offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=cameraMA_l_fix offset=slave bundle=gmem_l + #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem_r - #pragma HLS INTERFACE m_axi port=distC_l_fix offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=distC_r_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=distC_l_fix offset=slave bundle=gmem_l + #pragma HLS INTERFACE m_axi port=distC_r_fix offset=slave bundle=gmem_r - #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem_l + #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem_r #pragma HLS INTERFACE s_axilite port=img_l bundle=control -// #pragma HLS INTERFACE s_axilite port=img_r bundle=control + #pragma HLS INTERFACE s_axilite port=img_r bundle=control // #pragma HLS INTERFACE s_axilite port=img_s bundle=control - #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control - #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control +// #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control +// #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control + +// #pragma HLS INTERFACE s_axilite port=img_map_x_r bundle=control +// #pragma HLS INTERFACE s_axilite port=img_map_y_r bundle=control #pragma HLS INTERFACE s_axilite port=img_remapped_l bundle=control + #pragma HLS INTERFACE s_axilite port=img_remapped_r bundle=control // #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control // #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control @@ -104,13 +120,13 @@ void xf_stereopipeline( #pragma HLS INTERFACE s_axilite port=cameraMA_l_fix bundle=control -// #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control + #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control #pragma HLS INTERFACE s_axilite port=distC_l_fix bundle=control -// #pragma HLS INTERFACE s_axilite port=distC_r_fix bundle=control + #pragma HLS INTERFACE s_axilite port=distC_r_fix bundle=control #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control -// #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control + #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control #pragma HLS INTERFACE s_axilite port=cm_size bundle=control @@ -122,6 +138,7 @@ void xf_stereopipeline( #pragma HLS INTERFACE s_axilite port=return bundle=control + #pragma HLS INLINE OFF #pragma HLS dataflow @@ -132,10 +149,10 @@ void xf_stereopipeline( xf::Mat leftMat; -// xf::Mat rightMat; + xf::Mat rightMat; #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC -// #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC + #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC @@ -149,17 +166,17 @@ void xf_stereopipeline( #pragma HLS stream variable=map_x_l.data depth=pCOLS/pNPC #pragma HLS stream variable=map_y_l.data depth=pCOLS/pNPC -// xf::Mat map_x_r; -// xf::Mat map_y_r; + xf::Mat map_x_r; + xf::Mat map_y_r; -// #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC -// #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC xf::Mat remapped_l; -// xf::Mat remapped_r; + xf::Mat remapped_r; #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC -// #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC //=================================================// @@ -196,7 +213,23 @@ void xf_stereopipeline( #pragma HLS PIPELINE #pragma HLS loop_flatten off - *(leftMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); +// *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } + + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + +// *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); } } @@ -207,9 +240,9 @@ void xf_stereopipeline( -// xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, cm_size, dc_size); + xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, cm_size, dc_size); -// xf::remap ( rightMat, remapped_r, map_x_r, map_y_r); + xf::remap ( rightMat, remapped_r, map_x_r, map_y_r); @@ -233,11 +266,30 @@ void xf_stereopipeline( //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); *(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); +// *(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); } } + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + +// *(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + + } + } From 0def3f12a8a0a034992880b3036ccab7dd55c900 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 9 May 2018 15:06:58 +0900 Subject: [PATCH 39/73] xf_pyr_dense_optical_flow() URAM optimization:scale_up() function is roughly done (no Co-sim and further checks). --- .../xf_pyr_dense_optical_flow_accel.cpp | 2 +- include/imgproc/xf_pyr_dense_optical_flow.hpp | 5 +- .../xf_pyr_dense_optical_flow_scale.hpp | 141 +++++++++++------- .../xf_pyr_dense_optical_flow_wrapper.hpp | 4 +- 4 files changed, 95 insertions(+), 57 deletions(-) diff --git a/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp b/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp index 4e482fb..79653c8 100644 --- a/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp +++ b/examples/lkdensepyrof/xf_pyr_dense_optical_flow_accel.cpp @@ -46,6 +46,6 @@ void pyr_dense_optical_flow_pyr_down_accel(xf::Mat & _current_img, xf::Mat & _next_image, xf::Mat & _streamFlowin, xf::Mat & _streamFlowout, const int level, const unsigned char scale_up_flag, float scale_in, ap_uint<1> init_flag) { - xf::densePyrOpticalFlow(_current_img, _next_image, _streamFlowin, _streamFlowout, level, scale_up_flag, scale_in, init_flag); + xf::densePyrOpticalFlow(_current_img, _next_image, _streamFlowin, _streamFlowout, level, scale_up_flag, scale_in, init_flag); } diff --git a/include/imgproc/xf_pyr_dense_optical_flow.hpp b/include/imgproc/xf_pyr_dense_optical_flow.hpp index d7ce4ff..7727606 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow.hpp @@ -232,7 +232,7 @@ void find_flow(hls::stream< ap_fixed > &strmSigmaIx2, hls } // end find_flow() -template +template void xFLKOpticalFlowDenseKernel(unsigned char *currImg, unsigned char *nextImg, unsigned int *strmFlowin, unsigned int *strmFlow, const unsigned int rows, const unsigned int cols, const unsigned int prev_rows, const unsigned int prev_cols, const int level, const bool scale_up_flag, float scale_in, ap_uint<1> init_flag) { const int WINDOW_SIZE = WINDOW_SIZE_FL; @@ -290,8 +290,7 @@ const int ITCMP_INT = FLOW_INT+12; split_stream_int_fixed(strmFlowin, strmFlowU_split, strmFlowV_split, prev_rows, prev_cols, level); //scaling up U and V streams whenever scaleup is enabled - scale_up( strmFlowU_split, strmFlowU_scaled, prev_rows, prev_cols, rows, cols, 2, scale_up_flag, scale_in); - scale_up( strmFlowV_split, strmFlowV_scaled, prev_rows, prev_cols, rows, cols, 2, scale_up_flag, scale_in); + scale_up( strmFlowU_split, strmFlowU_scaled, strmFlowV_split, strmFlowV_scaled, prev_rows, prev_cols, rows, cols, 2, scale_up_flag, scale_in); //Finding the Temporal and space gradients for the input set of images findGradients(currImg, nextImg, strmIt_float, strmIx, strmIy, rows, cols, strmFlowU_scaled, strmFlowV_scaled, strmFlowU_in1, strmFlowV_in1, level); diff --git a/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp b/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp index 42ec06e..775af57 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp @@ -31,7 +31,9 @@ #define __XF_PYR_DENSE_OPTICAL_FLOW_SCALE__ template -void load_data (hls::stream< ap_fixed > &inStrm, ap_fixed buf[MAXWIDTH], int rows, int cols, bool &flagLoaded, int i, ap_ufixed scaleI, ap_fixed &fracI, int &prevIceil) { +void load_data (hls::stream< ap_fixed > &inStrm0, + hls::stream< ap_fixed > &inStrm1, + ap_fixed buf[2][MAXWIDTH], int rows, int cols, bool &flagLoaded, int i, ap_ufixed scaleI, ap_fixed &fracI, int &prevIceil) { #pragma HLS inline off ap_fixed iSmall = i * scaleI; int iSmallFloor = (int) iSmall; @@ -42,7 +44,8 @@ void load_data (hls::stream< ap_fixed > &inStrm, ap_fixed compute_result(ap_fixed fra } // end compute_result() template -void process(ap_fixed buf[MAXWIDTH], ap_fixed buffer[2][MAXWIDTH], unsigned short int outRows, unsigned short int outCols, hls::stream< ap_fixed >& outStrm, bool flagLoaded, int row, ap_ufixed scaleI, ap_ufixed scaleJ, ap_fixed fracI, int mul) { -#pragma HLS array_partition variable=buffer dim=1 complete +void process(ap_fixed buf[2][MAXWIDTH], ap_fixed buffer[2][2][MAXWIDTH], unsigned short int outRows, unsigned short int outCols, + hls::stream< ap_fixed >& outStrm0, + hls::stream< ap_fixed >& outStrm1, + bool flagLoaded, int row, ap_ufixed scaleI, ap_ufixed scaleJ, ap_fixed fracI, int mul) { #pragma HLS inline off int bufCount = 0; ap_fixed regLoad; int prevJceil = -1; - ap_fixed i0=0, i1=0, i2=0, i3=0; + ap_fixed i0[2]={0,0}; + ap_fixed i1[2]={0,0}; + ap_fixed i2[2]={0,0}; + ap_fixed i3[2]={0,0}; L3:for (ap_uint<16> j=0; j buf[MAXWIDTH], ap_fixed reg = buf[bufCount]; - buffer[1][bufCount] = reg; - i3 = reg; + for (int k=0; k<2; k++) { + ap_fixed reg = buf[k][bufCount]; + buffer[k][1][bufCount] = reg; + i3[k] = reg; + } fracI = 1; fracJ = 1; bufCount++; prevJceil = 0; } else if (j reg = buf[bufCount]; - buffer[1][bufCount] = reg; - i3 = reg; + for (int k=0; k<2; k++) { + i2[k] = i3[k]; + ap_fixed reg = buf[k][bufCount]; + buffer[k][1][bufCount] = reg; + i3[k] = reg; + } bufCount++; prevJceil = jSmallFloor + 1; } } else { - i3 = buffer[1][bufCount-1]; + i3[0] = buffer[0][1][bufCount-1]; + i3[1] = buffer[1][1][bufCount-1]; fracI = 1; fracJ = 1; } } else if (row < outRows-1) { if (j==0) { - i0 = 0; i2 = 0; + i0[0] = 0; i2[0] = 0; + i0[1] = 0; i2[1] = 0; fracJ = 1; if (flagLoaded) { - ap_fixed reg = buf[bufCount]; - ap_fixed tmp = buffer[1][bufCount]; - buffer[0][bufCount] = tmp; - i1 = tmp; - buffer[1][bufCount] = reg; - i3 = reg; + for (int k=0; k<2; k++) { + ap_fixed reg = buf[k][bufCount]; + ap_fixed tmp = buffer[k][1][bufCount]; + buffer[k][0][bufCount] = tmp; + i1[k] = tmp; + buffer[k][1][bufCount] = reg; + i3[k] = reg; + } bufCount++; } else { - i1 = buffer[0][bufCount]; - i3 = buffer[1][bufCount]; + for (int k=0; k<2; k++) { + i1[k] = buffer[k][0][bufCount]; + i3[k] = buffer[k][1][bufCount]; + } bufCount++; } prevJceil = 0; } else if (j < outCols) { if (prevJceil == jSmallFloor) { - i0 = i1; i2 = i3; + i0[0] = i1[0]; i2[0] = i3[0]; + i0[1] = i1[1]; i2[1] = i3[1]; if (flagLoaded) { - ap_fixed reg = buf[bufCount]; - ap_fixed tmp = buffer[1][bufCount]; - buffer[0][bufCount] = tmp; - i1 = tmp; - buffer[1][bufCount] = reg; - i3 = reg; + for (int k=0; k<2; k++) { + ap_fixed reg = buf[k][bufCount]; + ap_fixed tmp = buffer[k][1][bufCount]; + buffer[k][0][bufCount] = tmp; + i1[k] = tmp; + buffer[k][1][bufCount] = reg; + i3[k] = reg; + } bufCount++; } else { - i1 = buffer[0][bufCount]; - i3 = buffer[1][bufCount]; + for (int k=0; k<2; k++) { + i1[k] = buffer[k][0][bufCount]; + i3[k] = buffer[k][1][bufCount]; + } bufCount++; } prevJceil = jSmallFloor + 1; @@ -160,40 +183,55 @@ void process(ap_fixed buf[MAXWIDTH], ap_fixed reg = buffer[1][bufCount]; - i3 = reg; + for (int k=0; k<2; k++) { + i2[k] = i3[k]; + ap_fixed reg = buffer[k][1][bufCount]; + i3[k] = reg; + } bufCount++; prevJceil = jSmallFloor + 1; } fracI = 1; } else { - i3 = buffer[1][bufCount-1]; + i3[0] = buffer[0][1][bufCount-1]; + i3[1] = buffer[1][1][bufCount-1]; fracI = 1; fracJ = 1; } } // end else - ap_fixed resIf = compute_result (fracI, fracJ, i0, i1, i2, i3); - outStrm.write(resIf<<1); + ap_fixed resIf0 = compute_result (fracI, fracJ, i0[0], i1[0], i2[0], i3[0]); + outStrm0.write(resIf0<<1); + ap_fixed resIf1 = compute_result (fracI, fracJ, i0[1], i1[1], i2[1], i3[1]); + outStrm1.write(resIf1<<1); } // end L3 } // end process() -template -void scale_up( hls::stream< ap_fixed > &inStrm, hls::stream< ap_fixed > &outStrm, +template +void scale_up( hls::stream< ap_fixed > &inStrm0, hls::stream< ap_fixed > &outStrm0, + hls::stream< ap_fixed > &inStrm1, hls::stream< ap_fixed > &outStrm1, unsigned short int inRows, unsigned short int inCols, unsigned short int outRows, unsigned short int outCols, int mul, const bool scale_up_flag, float scale_comp) { #pragma HLS inline off - ap_fixed buffer[2][MAXWIDTH]; -#pragma HLS array_partition variable=buffer dim=1 complete - ap_fixed buf0[MAXWIDTH], buf1[MAXWIDTH]; + ap_fixed buffer[2][2][MAXWIDTH]; +#pragma HLS array_reshape variable=buffer dim=1 complete +#pragma HLS array_reshape variable=buffer dim=2 complete + ap_fixed buf0[2][MAXWIDTH], buf1[2][MAXWIDTH]; +#pragma HLS array_reshape variable=buf0 dim=1 complete +#pragma HLS array_reshape variable=buf1 dim=1 complete +if (USE_URAM) { +#pragma HLS RESOURCE variable=buffer core=XPM_MEMORY uram +#pragma HLS RESOURCE variable=buf0 core=XPM_MEMORY uram +#pragma HLS RESOURCE variable=buf1 core=XPM_MEMORY uram +} ap_ufixed scaleI = (ap_ufixed)scale_comp; ap_ufixed scaleJ = (ap_ufixed)scale_comp; @@ -213,32 +251,33 @@ void scale_up( hls::stream< ap_fixed > &inStrm, hls::stream #pragma HLS LOOP_TRIPCOUNT min=1 max=MAXWIDTH #pragma HLS pipeline II=1 #pragma HLS LOOP_FLATTEN OFF - outStrm.write((ap_fixed)inStrm.read()); + outStrm0.write((ap_fixed)inStrm0.read()); + outStrm1.write((ap_fixed)inStrm1.read()); } } } else{ int prevIceil = -1; - load_data(inStrm, buf0, inRows, inCols, flagLoaded0, 0, scaleI, fracI0, prevIceil); + load_data(inStrm0, inStrm1, buf0, inRows, inCols, flagLoaded0, 0, scaleI, fracI0, prevIceil); L2:for (ap_uint<16> i=0; i(inStrm, buf1, inRows, inCols, flagLoaded1, i+1, scaleI, fracI1, prevIceil); - process(buf0, buffer, outRows, outCols, outStrm, flagLoaded0, i, scaleI, scaleJ, fracI0, mul); + load_data(inStrm0, inStrm1, buf1, inRows, inCols, flagLoaded1, i+1, scaleI, fracI1, prevIceil); + process(buf0, buffer, outRows, outCols, outStrm0, outStrm1, flagLoaded0, i, scaleI, scaleJ, fracI0, mul); flag = 1; } else { - load_data(inStrm, buf0, inRows, inCols, flagLoaded0, i+1, scaleI, fracI0, prevIceil); - process(buf1, buffer, outRows, outCols, outStrm, flagLoaded1, i, scaleI, scaleJ, fracI1, mul); + load_data(inStrm0, inStrm1, buf0, inRows, inCols, flagLoaded0, i+1, scaleI, fracI0, prevIceil); + process(buf1, buffer, outRows, outCols, outStrm0, outStrm1, flagLoaded1, i, scaleI, scaleJ, fracI1, mul); flag = 0; } } // end L2 if (flag ==0) { - process(buf0, buffer, outRows, outCols, outStrm, flagLoaded0, outRows-1, scaleI, scaleJ, fracI0, mul); + process(buf0, buffer, outRows, outCols, outStrm0, outStrm1, flagLoaded0, outRows-1, scaleI, scaleJ, fracI0, mul); } else { - process(buf1, buffer, outRows, outCols, outStrm, flagLoaded1, outRows-1, scaleI, scaleJ, fracI1, mul); + process(buf1, buffer, outRows, outCols, outStrm0, outStrm1, flagLoaded1, outRows-1, scaleI, scaleJ, fracI1, mul); } } diff --git a/include/imgproc/xf_pyr_dense_optical_flow_wrapper.hpp b/include/imgproc/xf_pyr_dense_optical_flow_wrapper.hpp index af41219..655aee1 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_wrapper.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_wrapper.hpp @@ -51,11 +51,11 @@ namespace xf{ #pragma SDS data data_mover("_next_image.data":AXIDMA_SIMPLE) #pragma SDS data data_mover("_streamFlowin.data":AXIDMA_SIMPLE) #pragma SDS data data_mover("_streamFlowout.data":AXIDMA_SIMPLE) -template +template void densePyrOpticalFlow(xf::Mat & _current_img, xf::Mat & _next_image, xf::Mat & _streamFlowin, xf::Mat & _streamFlowout, const int level, const unsigned char scale_up_flag, float scale_in, ap_uint<1> init_flag) { #pragma HLS INLINE OFF - xFLKOpticalFlowDenseKernel((unsigned char *)_current_img.data, (unsigned char *)_next_image.data, (unsigned int *)_streamFlowin.data, (unsigned int *)_streamFlowout.data, _current_img.rows, _current_img.cols, _streamFlowin.rows, _streamFlowin.cols, level, scale_up_flag, scale_in, init_flag); + xFLKOpticalFlowDenseKernel((unsigned char *)_current_img.data, (unsigned char *)_next_image.data, (unsigned int *)_streamFlowin.data, (unsigned int *)_streamFlowout.data, _current_img.rows, _current_img.cols, _streamFlowin.rows, _streamFlowin.cols, level, scale_up_flag, scale_in, init_flag); } } #endif From 676c92fa963d117b99430ff2ab94a0c3c61ab036 Mon Sep 17 00:00:00 2001 From: Serge Date: Mon, 7 May 2018 01:20:49 +0300 Subject: [PATCH 40/73] xf_remap() fix: added just for intiialization "staic" is removed according to fix by Serge on 07.05.2018. --- include/imgproc/xf_remap.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index f703ee5..c9f9f29 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -137,7 +137,8 @@ void xFRemapLI( ) { // Add one to always get zero for boundary interpolation. Maybe need initialization here? - static DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. + //AK,ZoTech: static may be added for initialization, otherwise X are generated in co-sim. + DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 SRC_T s; From c42e888394723921069d7ba9f1e06df3e3cccab1 Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 10 May 2018 09:32:17 +0300 Subject: [PATCH 41/73] Rearrange kernel parameters - first all input buffers, next output. SW/HW emulation passed. --- aws_demo/ide/vs/Gaussian_Filter.vcxproj | 4 +- aws_demo/ide/vs/Stereo_Pipeline.vcxproj | 4 +- aws_demo/stereopipeline/makefile | 24 +-- .../xf_stereo_pipeline_accel_aws.cpp | 99 +++++---- .../xf_stereo_pipeline_config.h | 36 +++- .../xf_stereo_pipeline_kernel_aws.cpp | 156 ++++++--------- .../stereopipeline/xf_stereo_pipeline_tb.cpp | 188 ++++++++---------- 7 files changed, 253 insertions(+), 258 deletions(-) diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj b/aws_demo/ide/vs/Gaussian_Filter.vcxproj index be61aa0..8a8e3e4 100644 --- a/aws_demo/ide/vs/Gaussian_Filter.vcxproj +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj @@ -55,7 +55,7 @@ Level3 Disabled - ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;..\..\..\..\SDx\include;%(AdditionalIncludeDirectories) true @@ -67,7 +67,7 @@ MaxSpeed true true - ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;..\..\..\..\SDx\include;%(AdditionalIncludeDirectories) true diff --git a/aws_demo/ide/vs/Stereo_Pipeline.vcxproj b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj index aa93eca..1cc6c15 100644 --- a/aws_demo/ide/vs/Stereo_Pipeline.vcxproj +++ b/aws_demo/ide/vs/Stereo_Pipeline.vcxproj @@ -43,7 +43,7 @@ Level3 Disabled - ..\..\..\include;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;..\..\..\..\SDx\include;%(AdditionalIncludeDirectories) true @@ -55,7 +55,7 @@ MaxSpeed true true - ..\..\..\include;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;%(AdditionalIncludeDirectories) + ..\..\..\include;..\..\..\examples\gaussianfilter;..\..\..\..\aws-fpga\SDAccel\examples\xilinx\libs\xcl2;..\..\..\..\OpenCV;..\..\..\..\OpenCL;..\..\..\..\SDx\include;%(AdditionalIncludeDirectories) true diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile index 5974ed5..2028e9e 100644 --- a/aws_demo/stereopipeline/makefile +++ b/aws_demo/stereopipeline/makefile @@ -25,7 +25,7 @@ XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl -CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 +CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 -DHLS_NO_XIL_FPO_LIB CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ CXXFLAGS += -I$(XFOPENCV)/include/ @@ -63,8 +63,8 @@ LDFLAGS += -Wl,-rpath,/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 HOST_DEP = ../src/xcl2.hpp -HOST_AWS_SRC += xf_gaussian_filter_accel_aws -HOST_AWS_SRC += xf_gaussian_filter_tb +HOST_AWS_SRC += xf_stereo_pipeline_accel_aws +HOST_AWS_SRC += xf_stereo_pipeline_tb HOST_SDx_SRC += xcl2 @@ -79,7 +79,7 @@ HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) -HOST_EXE ?= gaussian_filter_test +HOST_EXE ?= run/stereo_pipeline_test BUILD_SUBDIRS += $(HOST_BLD_DIR) @@ -97,11 +97,11 @@ XOCC_OPTS = -t hw --platform $(SDX_PLATFORM) --save-temps --report system # OpenCL kernel files # -BINARY_CONTAINERS += xf_gaussian_filter.xclbin +BINARY_CONTAINERS += xf_stereo_pipeline.xclbin BUILD_SUBDIRS += build/kernel -BINARY_CONTAINER_1_OBJS += build/kernel/xf_gaussian_filter.xo -ALL_KERNEL_OBJS += build/kernel/xf_gaussian_filter.xo +BINARY_CONTAINER_1_OBJS += build/kernel/xf_stereo_pipeline.xo +ALL_KERNEL_OBJS += build/kernel/xf_stereo_pipeline.xo ALL_MESSAGE_FILES = $(subst .xo,.mdb,$(ALL_KERNEL_OBJS)) $(subst .xclbin,.mdb,$(BINARY_CONTAINERS)) @@ -137,14 +137,14 @@ nothing: # binary container: binary_container_1.xclbin # -build/kernel/xf_gaussian_filter.xo: xf_gaussian_filter_kernel_aws.cpp +build/kernel/xf_stereo_pipeline.xo: xf_stereo_pipeline_kernel_aws.cpp @mkdir -p $(@D) #-I"$(XF_EXAMPLE_DIR)" - $(XOCC) $(XOCC_OPTS) -c -k xf_gaussian_filter --max_memory_ports xf_gaussian_filter --messageDb $(subst .xo,.mdb,$@) -I"$( xf_gaussian_filter.xclbin.sh - $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) +xf_stereo_pipeline.xclbin: $(BINARY_CONTAINER_1_OBJS) + -@echo $(XOCC) $(XOCC_OPTS) -l --nk xf_stereo_pipeline:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) > xf_stereo_pipeline.xclbin.sh + $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_stereo_pipeline:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) # # host rules diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp index b4fe941..6f77ebf 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp @@ -6,24 +6,29 @@ #include "xf_stereo_pipeline_config.h" -void stereopipeline_accel +#define CL_MIGRATE_MEM_OBJECT_KERNEL 0 //OpenCL define constant to indicate memory object migration to host only, to make program more readable define "counterpart" constant + +void stereo_pipeline_accel ( - xf::Mat &leftMat, xf::Mat &rightMat, + xf::Mat &xf_img_l , xf::Mat &xf_img_r, + + xf::Mat &xf_img_s , + + xf::Mat &xf_map_x_l , + xf::Mat &xf_map_y_l , + xf::Mat &xf_map_x_r, + xf::Mat &xf_map_y_r, - xf::Mat &dispMat, - - xf::Mat &mapxLMat, xf::Mat &mapyLMat, - xf::Mat &mapxRMat, xf::Mat &mapyRMat, + xf::Mat &xf_remaped_l , xf::Mat &xf_remaped_r, - xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, - xf::xFSBMState &bm_state, - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - - int _cm_size, int _dc_size + ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int cm_size, + int dc_size ) { std::vector devices = xcl::get_xil_devices(); @@ -35,40 +40,56 @@ void stereopipeline_accel cl::CommandQueue q(context, device, CL_QUEUE_PROFILING_ENABLE); std::string device_name = device.getInfo(); - std::string binaryFile = "xf_stereopipeline.awsxclbin"; + std::string binaryFile = "xf_stereo_pipeline.awsxclbin"; std::cout << "========" << binaryFile << " ==================" << std::endl; cl::Program::Binaries bins = xcl::import_binary_file(binaryFile); devices.resize(1); cl::Program program(context, devices, bins); - cl::Kernel kernel(program,"xf_stereopipeline"); + cl::Kernel kernel(program,"xf_stereo_pipeline"); //----------- Allocate Buffer in Global Memory -----------// -// cl::Buffer buffer_inp(context,CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY , imgInput.rows * imgInput.cols, imgInput.data); -// cl::Buffer buffer_out(context,CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY, imgOutput.rows * imgOutput.cols, imgOutput.data); -// -// std::vector writeBufVec; -// writeBufVec.push_back(buffer_inp); -// -// //----------- Migrate input data to device global memory -----------// -// -// q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host -// -// auto krnl = cl::KernelFunctor(kernel); -// -// //----------- Launch the Kernel -----------// -// -// krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_inp, buffer_out, imgInput.rows, imgInput.cols, sigma, imgOutput.rows, imgOutput.cols); -// -// //----------- Copy Result from Device Global Memory to Host Local Memory -----------// -// -// std::vector readBufVec; -// readBufVec.push_back(buffer_out); -// -// q.enqueueMigrateMemObjects(readBufVec,CL_MIGRATE_MEM_OBJECT_HOST); -// -// q.finish(); + int rows = xf_img_l.rows; + int cols = xf_img_l.cols; + + int pixel_qnt = rows * cols; + + cl::Buffer buffer_l (context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), pixel_qnt * 1, (void*)xf_img_l.data ); cl::Buffer buffer_r (context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), pixel_qnt * 1, (void*)xf_img_r.data); + + cl::Buffer buffer_cm_l(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), cm_size * 4, (void*)cameraMA_l_fix); cl::Buffer buffer_cm_r(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), cm_size * 4, (void*)cameraMA_r_fix); + cl::Buffer buffer_dc_l(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), dc_size * 4, (void*)distC_l_fix ); cl::Buffer buffer_dc_r(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), dc_size * 4, (void*)distC_r_fix ); + cl::Buffer buffer_ir_l(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), cm_size * 4, (void*)irA_l_fix ); cl::Buffer buffer_ir_r(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), cm_size * 4, (void*)irA_r_fix ); + + cl::Buffer buffer_s (context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY), pixel_qnt * 2, xf_img_s.data); + + std::vector kernel_wr_buf; + + kernel_wr_buf.push_back(buffer_l ); kernel_wr_buf.push_back(buffer_r ); + kernel_wr_buf.push_back(buffer_cm_l); kernel_wr_buf.push_back(buffer_cm_r); + kernel_wr_buf.push_back(buffer_dc_l); kernel_wr_buf.push_back(buffer_dc_r); + kernel_wr_buf.push_back(buffer_ir_l); kernel_wr_buf.push_back(buffer_ir_r); + + //----------- Migrate input data to device global memory -----------// + + q.enqueueMigrateMemObjects(kernel_wr_buf, CL_MIGRATE_MEM_OBJECT_KERNEL); + + // The kernel parameters should be rearranged: input buffers, output buffers, variables + // + // img_l img_r cm_l cm_r dc_l dc_r ir_l ir_r img_s cm_size dc_size rows cols + auto krnl = cl::KernelFunctor(kernel); + + //----------- Launch the Kernel -----------// + + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_l, buffer_r, buffer_cm_l, buffer_cm_r, buffer_dc_l, buffer_dc_r, buffer_ir_l, buffer_ir_r, buffer_s, cm_size, dc_size, rows, cols); + + //----------- Copy Result from Device Global Memory to Host Local Memory -----------// + + std::vector kernel_rd_buf; + kernel_rd_buf.push_back(buffer_s); + + q.enqueueMigrateMemObjects(kernel_rd_buf, CL_MIGRATE_MEM_OBJECT_HOST); + q.finish(); } diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h index 97bff99..8dfa4ce 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h @@ -36,10 +36,6 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "common/xf_common.h" #include "common/xf_utility.h" -#include "imgproc/xf_stereo_pipeline.hpp" -#include "imgproc/xf_remap.hpp" -#include "imgproc/xf_stereoBM.hpp" - #include "xf_config_params.h" @@ -53,13 +49,31 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define IN_TYPE ap_uint<8> #define OUT_TYPE ap_uint<16> -/* -void stereopipeline_accel(xf::Mat &leftMat, xf::Mat &rightMat, xf::Mat &dispMat, - xf::Mat &mapxLMat, xf::Mat &mapyLMat, xf::Mat &mapxRMat, - xf::Mat &mapyRMat, xf::Mat &leftRemappedMat, xf::Mat &rightRemappedMat, - xf::xFSBMState &bm_state, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix, ap_fixed<32,12> *distC_r_fix, - ap_fixed<32,12> *irA_l_fix, ap_fixed<32,12> *irA_r_fix, int _cm_size, int _dc_size); -*/ + +void stereo_pipeline_accel + ( + xf::Mat &xf_img_l , xf::Mat &xf_img_r, + + xf::Mat &xf_img_s , + + + xf::Mat &xf_map_x_l , + xf::Mat &xf_map_y_l , + xf::Mat &xf_map_x_r, + xf::Mat &xf_map_y_r, + + xf::Mat &xf_remaped_l , xf::Mat &xf_remaped_r, + + xf::xFSBMState &bm_state, + + ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + + int cm_size, + int dc_size + ); + #endif // _XF_STEREO_PIPELINE_CONFIG_H_ diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index 2725f7b..0748e5e 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -5,15 +5,20 @@ #include "xf_stereo_pipeline_config.h" +#include "imgproc/xf_stereo_pipeline.hpp" +#include "imgproc/xf_remap.hpp" +#include "imgproc/xf_stereoBM.hpp" + + extern "C" { - void xf_stereopipeline + void xf_stereo_pipeline ( XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l , XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s , +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s , // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, @@ -21,26 +26,29 @@ extern "C" // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - int cm_size, int dc_size, + XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s , + + int cm_size, + int dc_size, int rows, int cols ); } -void xf_stereopipeline( +void xf_stereo_pipeline( XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l, XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s, +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, @@ -48,13 +56,15 @@ void xf_stereopipeline( // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, +// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s, + int cm_size, int dc_size, int rows, @@ -72,8 +82,8 @@ void xf_stereopipeline( // #pragma HLS INTERFACE m_axi port=img_map_x_r offset=slave bundle=gmem_1 // #pragma HLS INTERFACE m_axi port=img_map_y_r offset=slave bundle=gmem_1 - #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0_l - #pragma HLS INTERFACE m_axi port=img_remapped_r offset=slave bundle=gmem_0_r +// #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0_l +// #pragma HLS INTERFACE m_axi port=img_remapped_r offset=slave bundle=gmem_0_r // #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem // #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem @@ -94,6 +104,8 @@ void xf_stereopipeline( #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem_l #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem_r +#pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem + #pragma HLS INTERFACE s_axilite port=img_l bundle=control #pragma HLS INTERFACE s_axilite port=img_r bundle=control @@ -106,8 +118,8 @@ void xf_stereopipeline( // #pragma HLS INTERFACE s_axilite port=img_map_x_r bundle=control // #pragma HLS INTERFACE s_axilite port=img_map_y_r bundle=control - #pragma HLS INTERFACE s_axilite port=img_remapped_l bundle=control - #pragma HLS INTERFACE s_axilite port=img_remapped_r bundle=control +// #pragma HLS INTERFACE s_axilite port=img_remapped_l bundle=control +// #pragma HLS INTERFACE s_axilite port=img_remapped_r bundle=control // #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control // #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control @@ -128,6 +140,7 @@ void xf_stereopipeline( #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control +#pragma HLS INTERFACE s_axilite port=img_s bundle=control #pragma HLS INTERFACE s_axilite port=cm_size bundle=control #pragma HLS INTERFACE s_axilite port=dc_size bundle=control @@ -142,10 +155,10 @@ void xf_stereopipeline( #pragma HLS dataflow - const int pROWS = XF_HEIGHT; - const int pCOLS = XF_WIDTH ; - - const int pNPC = XF_NPPC1; + const int pROWS = XF_HEIGHT; + const int pCOLS = XF_WIDTH ; + + const int pNPC = XF_NPPC1; xf::Mat leftMat; @@ -156,9 +169,9 @@ void xf_stereopipeline( -// xf::Mat dispMat; -// -// #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC + xf::Mat dispMat; + + #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC xf::Mat map_x_l; xf::Mat map_y_l; @@ -180,7 +193,7 @@ void xf_stereopipeline( //=================================================// -// xf::xFSBMState bm_state; + xf::xFSBMState bm_state; // ap_fixed<32,12> cameraMA_l_fix[XF_CAMERA_MATRIX_SIZE]; // ap_fixed<32,12> cameraMA_r_fix[XF_CAMERA_MATRIX_SIZE]; @@ -203,37 +216,22 @@ void xf_stereopipeline( //================================================// - for(int i=0; i < rows; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS - - for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - - *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); -// *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - } - } - - for(int i=0; i < rows; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS - - for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - -// *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - } - } + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS - + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } + + xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, cm_size, dc_size); xf::remap ( leftMat, remapped_l, map_x_l, map_y_l ); @@ -247,52 +245,30 @@ void xf_stereopipeline( -// xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state ); + xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state ); - for(int i=0; i < rows; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS - - for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - - //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - - *(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); -// *(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - - } - } + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off - for(int i=0; i < rows; i++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS - - for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) - { - #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC - #pragma HLS PIPELINE - #pragma HLS loop_flatten off - - //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - -// *(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - *(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - - } - } - + //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + //*(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(img_s + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(dispMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } } @@ -302,7 +278,7 @@ void xf_stereopipeline( -// void xf_stereopipeline +// void xf_stereo_pipeline // ( // XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , // xf::Mat &leftMat, // diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp index c982adc..e5d023a 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp @@ -35,107 +35,91 @@ using namespace std; int main(int argc, char** argv) { - cv::setUseOptimized(false); - - if(argc != 3) - { - fprintf(stderr,"Invalid Number of Arguments!\nUsage: \n"); - return -1; - } - - - cv::Mat left_img, right_img; - left_img = cv::imread(argv[1],0); - right_img = cv::imread(argv[2],0); - - ////////////////// HLS TOP Function Call //////////////////////// - xf::Mat leftMat(left_img.rows,left_img.cols); - xf::Mat rightMat(right_img.rows,right_img.cols); - - int rows = left_img.rows; - int cols = left_img.cols; - - xf::Mat mapxLMat(rows,cols); - xf::Mat mapyLMat(rows,cols); - xf::Mat mapxRMat(rows,cols); - xf::Mat mapyRMat(rows,cols); - - xf::Mat leftRemappedMat(rows,cols); - xf::Mat rightRemappedMat(rows,cols); - - xf::Mat dispMat(rows,cols); - - // camera parameters for rectification -#if __SDSCC__ - ap_fixed<32,12> *cameraMA_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *cameraMA_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *irA_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *irA_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *distC_l_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *distC_r_fix = (ap_fixed<32,12>*)sds_alloc_non_cacheable(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); -#else - ap_fixed<32,12> *cameraMA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *cameraMA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *irA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *irA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *distC_l_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); - ap_fixed<32,12> *distC_r_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE*sizeof(ap_fixed<32,12>)); -#endif - -// leftMat.copyTo(left_img.data); -// rightMat.copyTo(right_img.data); - leftMat = xf::imread(argv[1], 0); - rightMat = xf::imread(argv[2], 0); - - xf::xFSBMState bm_state; - bm_state.preFilterCap = 31; - bm_state.uniquenessRatio = 15; - bm_state.textureThreshold = 20; - bm_state.minDisparity = 0; - - // copy camera params - for(int i=0; i)cameraMA_l[i]; - cameraMA_r_fix[i] = (ap_fixed<32,12>)cameraMA_r[i]; - irA_l_fix[i] = (ap_fixed<32,12>)irA_l[i]; - irA_r_fix[i] = (ap_fixed<32,12>)irA_r[i]; - } - - // copy distortion coefficients - for(int i=0; i)distC_l[i]; - distC_r_fix[i] = (ap_fixed<32,12>)distC_r[i]; - } - - printf("starting the kernel...\n"); - -#ifdef __SDSCC__ - perf_counter hw_ctr; - hw_ctr.start(); -#endif - stereopipeline_accel(leftMat,rightMat,dispMat,mapxLMat,mapyLMat,mapxRMat,mapyRMat,leftRemappedMat,rightRemappedMat,bm_state,cameraMA_l_fix,cameraMA_r_fix,distC_l_fix, distC_r_fix, irA_l_fix, irA_r_fix,9,5); -#ifdef __SDSCC__ - hw_ctr.stop(); - printf("end of kernel...\n"); - uint64_t hw_cycles = hw_ctr.avg_cpu_cycles(); -#endif - - cv::Mat out_disp_16(rows,cols,CV_16UC1); - cv::Mat out_disp_img(rows,cols,CV_8UC1); - - out_disp_16.data = dispMat.copyFrom(); - -/* for (int i=0; i(i,j) = (unsigned short)dispMat.data[i*cols+j]; - } - }*/ - out_disp_16.convertTo(out_disp_img, CV_8U, (256.0/NO_OF_DISPARITIES)/(16.)); - imwrite("hls_output.png",out_disp_img); - printf ("run complete !\n\n"); - - return 0; + cv::setUseOptimized(false); + + if(argc != 3) + { + fprintf(stderr,"Invalid Number of Arguments!\nUsage: \n"); + return -1; + } + + + cv::Mat cv_img_l, cv_img_r; + + cv_img_l = cv::imread(argv[1], 0); + cv_img_r = cv::imread(argv[2], 0); + + ////////////////// HLS TOP Function Call //////////////////////// + + xf::Mat xf_img_l(cv_img_l.rows, cv_img_l.cols); + xf::Mat xf_img_r(cv_img_r.rows, cv_img_r.cols); + + int rows = cv_img_l.rows; + int cols = cv_img_l.cols; + + xf::Mat mapxLMat(rows,cols); + xf::Mat mapyLMat(rows,cols); + xf::Mat mapxRMat(rows,cols); + xf::Mat mapyRMat(rows,cols); + + xf::Mat leftRemappedMat(rows,cols); + xf::Mat rightRemappedMat(rows,cols); + + xf::Mat xf_img_s(rows,cols); + + // camera parameters for rectification + + ap_fixed<32,12> *cameraMA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *cameraMA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_l_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *irA_r_fix = (ap_fixed<32,12>*)malloc(XF_CAMERA_MATRIX_SIZE*sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_l_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE *sizeof(ap_fixed<32,12>)); + ap_fixed<32,12> *distC_r_fix = (ap_fixed<32,12>*)malloc(XF_DIST_COEFF_SIZE *sizeof(ap_fixed<32,12>)); + + + xf_img_l = xf::imread(argv[1], 0); + xf_img_r = xf::imread(argv[2], 0); + + xf::xFSBMState bm_state; + + bm_state.preFilterCap = 31; + bm_state.uniquenessRatio = 15; + bm_state.textureThreshold = 20; + bm_state.minDisparity = 0; + + // copy camera params + for(int i=0; i)cameraMA_l[i]; + cameraMA_r_fix[i] = (ap_fixed<32,12>)cameraMA_r[i]; + irA_l_fix [i] = (ap_fixed<32,12>)irA_l [i]; + irA_r_fix [i] = (ap_fixed<32,12>)irA_r [i]; + } + + // copy distortion coefficients + for(int i=0; i)distC_l[i]; + distC_r_fix[i] = (ap_fixed<32,12>)distC_r[i]; + } + + printf("starting the kernel...\n"); + + + stereo_pipeline_accel(xf_img_l, xf_img_r, xf_img_s, mapxLMat, mapyLMat, mapxRMat, mapyRMat, leftRemappedMat, rightRemappedMat, bm_state, cameraMA_l_fix, cameraMA_r_fix, distC_l_fix, distC_r_fix, irA_l_fix, irA_r_fix, 9, 5); + + + cv::Mat out_disp_16(rows,cols,CV_16UC1); + cv::Mat out_disp_08(rows,cols,CV_8UC1 ); + + out_disp_16.data = xf_img_s.copyFrom(); + + out_disp_16.convertTo(out_disp_08, CV_8U, (256.0/NO_OF_DISPARITIES)/(16.)); + + imwrite("hls_output.png",out_disp_08); + + printf ("run complete !\n\n"); + + return 0; } From c1bb34e984fe32779608e17bf6c03a38518f9d0c Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 11 May 2018 23:10:10 +0300 Subject: [PATCH 42/73] Change defines to match test images size --- aws_demo/stereopipeline/makefile | 19 +++---------------- .../xf_stereo_pipeline_accel_aws.cpp | 8 ++++---- .../xf_stereo_pipeline_config.h | 4 ++-- 3 files changed, 9 insertions(+), 22 deletions(-) diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile index 2028e9e..a204cd3 100644 --- a/aws_demo/stereopipeline/makefile +++ b/aws_demo/stereopipeline/makefile @@ -20,8 +20,6 @@ XFOPENCV ?= /home/centos/src/project_data/xfopencv # # ######################################## -XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter - XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl @@ -29,7 +27,6 @@ CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 -DHLS_NO_XIL_FPO_LIB CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ CXXFLAGS += -I$(XFOPENCV)/include/ -#CXXFLAGS += -I$(XF_EXAMPLE_DIR)/ CXXFLAGS += -I$(XCL2_LIB_DIR)/ CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/Vivado_HLS/include CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 @@ -68,16 +65,13 @@ HOST_AWS_SRC += xf_stereo_pipeline_tb HOST_SDx_SRC += xcl2 -HOST_XF_SRC += - HOST_AWS_DIR = ./ HOST_BLD_DIR = build/host HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) -HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) -HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) +HOST_OBJ = $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) HOST_EXE ?= run/stereo_pipeline_test @@ -138,8 +132,8 @@ nothing: # build/kernel/xf_stereo_pipeline.xo: xf_stereo_pipeline_kernel_aws.cpp - @mkdir -p $(@D) #-I"$(XF_EXAMPLE_DIR)" - $(XOCC) $(XOCC_OPTS) -c -k xf_stereo_pipeline --max_memory_ports xf_stereo_pipeline --messageDb $(subst .xo,.mdb,$@) -I"$( kernel_rd_buf; kernel_rd_buf.push_back(buffer_s); - q.enqueueMigrateMemObjects(kernel_rd_buf, CL_MIGRATE_MEM_OBJECT_HOST); + q.enqueueMigrateMemObjects(kernel_rd_buf, CL_MIGRATE_MEM_OBJECT_HOST); q.finish(); } diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h index 8dfa4ce..371bfb9 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h @@ -40,8 +40,8 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /* config width and height */ -#define XF_HEIGHT 1080 -#define XF_WIDTH 1920 +#define XF_HEIGHT 720 +#define XF_WIDTH 1280 #define XF_CAMERA_MATRIX_SIZE 9 #define XF_DIST_COEFF_SIZE 5 From bf5e97fdd9e962407a6ac11d37cafa0713aca23c Mon Sep 17 00:00:00 2001 From: Serge Date: Mon, 14 May 2018 23:09:05 +0300 Subject: [PATCH 43/73] Add emulation flow, extract common part of examples makefiles into single common_makefile --- aws_demo/common_makefile | 217 ++++++++++++++++++ .../gaussianfilter/{ => hw}/afi/gen_afi.sh | 0 aws_demo/gaussianfilter/{ => hw}/run/run.sh | 2 +- aws_demo/gaussianfilter/hw_emu/run.sh | 5 + aws_demo/gaussianfilter/hw_emu/sdaccel.ini | 5 + aws_demo/gaussianfilter/makefile | 166 +------------- aws_demo/gaussianfilter/sw_emu/run/run.sh | 5 + .../gaussianfilter/sw_emu/run/sdaccel.ini | 5 + .../xf_gaussian_filter_accel_aws.cpp | 2 +- aws_demo/stereopipeline/afi/gen_afi.sh | 31 --- aws_demo/stereopipeline/hw/afi/gen_afi.sh | 31 +++ aws_demo/stereopipeline/{ => hw}/run/run.sh | 2 +- aws_demo/stereopipeline/left.png | Bin 0 -> 365405 bytes aws_demo/stereopipeline/makefile | 153 +----------- aws_demo/stereopipeline/right.png | Bin 0 -> 368706 bytes .../xf_stereo_pipeline_accel_aws.cpp | 2 +- 16 files changed, 278 insertions(+), 348 deletions(-) create mode 100644 aws_demo/common_makefile rename aws_demo/gaussianfilter/{ => hw}/afi/gen_afi.sh (100%) rename aws_demo/gaussianfilter/{ => hw}/run/run.sh (61%) create mode 100644 aws_demo/gaussianfilter/hw_emu/run.sh create mode 100644 aws_demo/gaussianfilter/hw_emu/sdaccel.ini create mode 100644 aws_demo/gaussianfilter/sw_emu/run/run.sh create mode 100644 aws_demo/gaussianfilter/sw_emu/run/sdaccel.ini delete mode 100644 aws_demo/stereopipeline/afi/gen_afi.sh create mode 100644 aws_demo/stereopipeline/hw/afi/gen_afi.sh rename aws_demo/stereopipeline/{ => hw}/run/run.sh (61%) create mode 100644 aws_demo/stereopipeline/left.png create mode 100644 aws_demo/stereopipeline/right.png diff --git a/aws_demo/common_makefile b/aws_demo/common_makefile new file mode 100644 index 0000000..2e75fe4 --- /dev/null +++ b/aws_demo/common_makefile @@ -0,0 +1,217 @@ +######################################## +# # +# Tools section # +# # +######################################## + +XILINX_SDX ?= /opt/Xilinx/SDx/2017.1.op +XILINX_HLS ?= $(XILINX_SDX)/Vivado_HLS + + +SDX_CXX ?= $(XILINX_SDX)/bin/xcpp +XOCC ?= $(XILINX_SDX)/bin/xocc + +RM = rm -f +RMDIR = rm -rf + +ifeq "$(AWS_PLATFORM)" "$(AWS_PLATFORM_1DDR)" + XILINX_SDX_RUNTIME=/opt/Xilinx/2017.1.rte.1ddr/runtime/lib/x86_64 +else ifeq "$(AWS_PLATFORM)" "$(AWS_PLATFORM_4DDR)" + XILINX_SDX_RUNTIME=/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 +else ifeq "$(AWS_PLATFORM)" "$(AWS_PLATFORM_4DDR_DEBUG)" + XILINX_SDX_RUNTIME=/opt/Xilinx/2017.1.rte.4ddr_debug/runtime/lib/x86_64 +endif + +XFOPENCV ?= /home/centos/src/project_data/xfopencv + +TARGET ?= hw_emu + +######################################## +# # +# Host section # +# # +######################################## + +XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter + +XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 +XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl + +CXXFLAGS += -DSDX_PLATFORM=$(AWS_PLATFORM) -D__USE_XOPEN2K8 +CXXFLAGS += -I$(XILINX_SDX)/runtime/include/1_2/ +CXXFLAGS += -I$(XILINX_SDX)/include/ +CXXFLAGS += -I$(XFOPENCV)/include/ +CXXFLAGS += -I$(XCL2_LIB_DIR)/ +CXXFLAGS += -I$(XILINX_HLS)/include +CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 + +#--- Specify OpenCV libraries ---# + +LDFLAGS += -L$(XILINX_SDX)/lnx64/tools/opencv +LDFLAGS += -lopencv_core +LDFLAGS += -lopencv_imgproc +LDFLAGS += -lopencv_highgui + +#--- Specify common libraries ---# + +LDFLAGS += -L$(XILINX_SDX)/lib/lnx64.o +LDFLAGS += -lstdc++ +LDFLAGS += -lpthread +LDFLAGS += -lrt + +#--- Specify AWS libraries ---# + +LDFLAGS += -L$(XILINX_SDX_RUNTIME) +LDFLAGS += -lxilinxopencl + +#--- Specify runtime libraries ---# + +LDFLAGS += -Wl,-rpath,$(XILINX_SDX)/lnx64/tools/opencv +LDFLAGS += -Wl,-rpath,$(XILINX_SDX)/lib/lnx64.o +LDFLAGS += -Wl,-rpath,$(XILINX_SDX_RUNTIME) + +#--- Specify objects ---# + +# TEST_NAME = gaussian_filter_test +# +# HOST_AWS_SRC += xf_gaussian_filter_accel_aws +# HOST_AWS_SRC += xf_gaussian_filter_tb +# +# HOST_SDx_SRC += xcl2 +# +# HOST_XF_SRC += + +HOST_AWS_DIR = ./ +HOST_BLD_DIR = $(TARGET)/build/host +HOST_RUN_DIR = $(TARGET)/run + +HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) +HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) +HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) + +HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) + +HOST_EXE ?= $(HOST_RUN_DIR)/$(TEST_NAME) + +BUILD_SUBDIRS += $(HOST_BLD_DIR) + + +######################################## +# # +# Kernel section # +# # +######################################## + +# KERNEL = xf_gaussian_filter + +XOCC_OPTS += --platform $(AWS_PLATFORM) +XOCC_OPTS += --save-temps +XOCC_OPTS += --report system + +XOCC_INCL += -I$(XFOPENCV)/include +XOCC_INCL += -I/opt/Xilinx/SDx/2017.4/include/ocv + +KERNEL_BLD_DIR = $(TARGET)/build/kernel + +ifeq "$(TARGET)" "hw" + KERNEL_RUN_DIR = $(TARGET)/afi +else + KERNEL_RUN_DIR = $(TARGET)/run + XOCC_OPTS += -g +endif + +BUILD_SUBDIRS += $(KERNEL_BLD_DIR) + +KERNEL_OBJ += $(addsuffix .xo , $(addprefix $(KERNEL_BLD_DIR)/, $(KERNEL)) ) +KERNEL_BIN += $(addsuffix .xclbin, $(addprefix $(KERNEL_RUN_DIR)/, $(KERNEL)) ) + + +######################################## +# # +# Build section # +# # +######################################## + +.PHONY: all + +all: host krnl + +host: $(HOST_EXE) + +krnl: $(KERNEL_BIN) + +clean: + $(RMDIR) $(BUILD_SUBDIRS) + $(RMDIR) .Xil + $(RM) $(HOST_RUN_DIR)/*.jpg $(HOST_RUN_DIR)/*.png *.log *.csv *.html + $(RM) $(KERNEL_BIN) + $(RM) $(HOST_EXE) + $(RM) $(HOST_EXE)/*.*xclbin + +.PHONY: all + +#--- Kernel rules ---# + +$(KERNEL_OBJ): $(KERNEL_BLD_DIR)/%.xo : %_kernel_aws.cpp + @echo " " + @echo "================================================================" + @echo "Compilation of $< to $@" + @echo "================================================================" + @echo " " + @mkdir -p $(@D) + $(XOCC) -c -t $(TARGET) $(XOCC_OPTS) $(XOCC_INCL) -k $(*F) --max_memory_ports $(*F) -I$( xf_gaussian_filter.xclbin.sh - $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_gaussian_filter:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) - -# -# host rules -# - -$(HOST_AWS_OBJ): $(HOST_BLD_DIR)/%.o : $(HOST_AWS_DIR)/%.cpp - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" - - -$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" - -$(HOST_XF_OBJ): $(HOST_BLD_DIR)/%.o : $(XF_EXAMPLE_DIR)/%.cpp - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" - - -$(HOST_EXE): $(HOST_OBJ) - @echo "================================================================" - @echo "Linking of $@" - @echo "================================================================" - $(SDX_CXX) -o "$@" $(+) $(LDFLAGS) - diff --git a/aws_demo/gaussianfilter/sw_emu/run/run.sh b/aws_demo/gaussianfilter/sw_emu/run/run.sh new file mode 100644 index 0000000..4593b10 --- /dev/null +++ b/aws_demo/gaussianfilter/sw_emu/run/run.sh @@ -0,0 +1,5 @@ +emconfigutil -f $AWS_PLATFORM + +export XCL_EMULATION_MODE=sw_emu + +./gaussian_filter_test ../../img0.jpg diff --git a/aws_demo/gaussianfilter/sw_emu/run/sdaccel.ini b/aws_demo/gaussianfilter/sw_emu/run/sdaccel.ini new file mode 100644 index 0000000..63a1cac --- /dev/null +++ b/aws_demo/gaussianfilter/sw_emu/run/sdaccel.ini @@ -0,0 +1,5 @@ +[Debug] +timeline_trace=true +device_profile=true +app_debug=true +profile=true diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp index bb05799..511751d 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp @@ -17,7 +17,7 @@ void gaussian_filter_accel(xf::Mat &img_inp, cl::CommandQueue q(context, device, CL_QUEUE_PROFILING_ENABLE); std::string device_name = device.getInfo(); - std::string binaryFile = "xf_gaussian_filter.awsxclbin"; + std::string binaryFile = (xcl::is_emulation() || xcl::is_hw_emulation ()) ? "xf_gaussian_filter.xclbin" : "xf_gaussian_filter.awsxclbin"; std::cout << "========" << binaryFile << " ==================" << std::endl; diff --git a/aws_demo/stereopipeline/afi/gen_afi.sh b/aws_demo/stereopipeline/afi/gen_afi.sh deleted file mode 100644 index e89bb9a..0000000 --- a/aws_demo/stereopipeline/afi/gen_afi.sh +++ /dev/null @@ -1,31 +0,0 @@ -#!/bin/bash -echo aws s3 rm --recursive s3://xfg -aws s3 rm --recursive s3://xfg - -echo aws s3 rb s3://xfg -aws s3 rb s3://xfg - - -echo aws s3 mb s3://xfg -aws s3 mb s3://xfg - -aws s3 mb s3://xfg/dcp -touch FILES_GO_HERE.txt -aws s3 cp FILES_GO_HERE.txt s3://xfg/dcp/ - - -aws s3 mb s3://xfg/log -touch LOGS_FILES_GO_HERE.txt -aws s3 cp LOGS_FILES_GO_HERE.txt s3://xfg/log/ - -aws s3 ls --recursive s3://xfg - -rm -f FILES_GO_HERE.txt -rm -f LOGS_FILES_GO_HERE.txt - -$SDACCEL_DIR/tools/create_sdaccel_afi.sh -xclbin=xf_gaussian_filter.xclbin -s3_bucket=xfg -s3_dcp_key=dcp -s3_logs_key=log - -cat *afi_id* - -echo use following command to check afi ready -echo aws ec2 describe-fpga-images --fpga-image-id diff --git a/aws_demo/stereopipeline/hw/afi/gen_afi.sh b/aws_demo/stereopipeline/hw/afi/gen_afi.sh new file mode 100644 index 0000000..d3ec1e7 --- /dev/null +++ b/aws_demo/stereopipeline/hw/afi/gen_afi.sh @@ -0,0 +1,31 @@ +#!/bin/bash +echo aws s3 rm --recursive s3://xfsp +aws s3 rm --recursive s3://xfsp + +echo aws s3 rb s3://xfsp +aws s3 rb s3://xfsp + + +echo aws s3 mb s3://xfsp +aws s3 mb s3://xfsp + +aws s3 mb s3://xfsp/dcp +touch FILES_GO_HERE.txt +aws s3 cp FILES_GO_HERE.txt s3://xfsp/dcp/ + + +aws s3 mb s3://xfsp/log +touch LOGS_FILES_GO_HERE.txt +aws s3 cp LOGS_FILES_GO_HERE.txt s3://xfsp/log/ + +aws s3 ls --recursive s3://xfsp + +rm -f FILES_GO_HERE.txt +rm -f LOGS_FILES_GO_HERE.txt + +$SDACCEL_DIR/tools/create_sdaccel_afi.sh -xclbin=xf_stereo_pipeline.xclbin -s3_bucket=xfsp -s3_dcp_key=dcp -s3_logs_key=log + +cat *afi_id* + +echo "use following command to check afi ready" +echo "aws ec2 describe-fpga-images --fpga-image-id " diff --git a/aws_demo/stereopipeline/run/run.sh b/aws_demo/stereopipeline/hw/run/run.sh similarity index 61% rename from aws_demo/stereopipeline/run/run.sh rename to aws_demo/stereopipeline/hw/run/run.sh index 103d272..9c32ecd 100644 --- a/aws_demo/stereopipeline/run/run.sh +++ b/aws_demo/stereopipeline/hw/run/run.sh @@ -2,4 +2,4 @@ source /opt/Xilinx/SDx/2017.1.rte.4ddr/setup.sh -./xf_arg im1.jpg +./stereo_pipeline_test ../../im0.jpg diff --git a/aws_demo/stereopipeline/left.png b/aws_demo/stereopipeline/left.png new file mode 100644 index 0000000000000000000000000000000000000000..28190829544c737161e54a17ecf77315e43f2a2e GIT binary patch literal 365405 zcmXuKdsLEXzd!uEzdf@j%QDeQ(=-qnwE+PeJjCeEQ=)iE(Gm|23QQ{C2&vJSuHBgD zBd9=Vj#_ydH7g<1(fxQx5wJ1OLb)@*NwX%%8qC9cKfiaq{NZ9P^uBMu*Z2E5T^B`R zAr}rGJbCaR|MN zq(s6cBf>V*Bbl$2(EfpJZXku=v;!^tH)$CMv@?*wmKj~AgLUd=-C;J6Rd3BZ2_*PMUc@k|h z(WaZf0M=bf}d~3Jz-TNcj+JacLm(zP)r3riT9^PiSx_~M5M>P)THKN66 zkDXsfsta)-VZp_8iyG5Fh@IH{o-s}k>v1HM8zxa>v>3A)`Dhh#d?WlKLPAc3iLr`d z370)VohW!)*C=^=)k;~4Dq^*?1lO^oq9bd^Taaspt-9COiu@2t$>!OS0~>!`Re#ow zs9<7>8sjxdpBQlv(=QFv(h`R54DIgP?!R4Iz?fJr<-1#0vJMGbe&Z_(DG@MkV=$r& zy<$vCtd`Ik_IC`MTP6)hOpGEV>e^DKa9M*Lx})Y)9z3U+opRpK7~K0f9(oHbp?fn} zvIym(LBwlrhK*qFN$Bc+%Y3Z-UsF|CJ~?kzcCW~w)mf}VTTJT$_3X)UK$bylo3wd=sj`okd?)f{`!yU|3G{3k)b0rmqaQ< zgLaY6AgCi2`lCu?7rBbc5?0Q<#jc3T7Z$zGIU`t$Fq2c?V8+a~m_*nLEeesu6b9K~ zs!uk@Qdz_$pmHlObH1#3?Y*n$X1I92wcbGT3{+q?@LC~1JikUjekhon**Sf`l>Fu6 zkmv8e@9n%nsxKmN0%9%m+zXLD``lWgW4H}WSf8+G__S@PXqfc5L#3d}^As+fwnpr} zKy{KwSUxPX5Xj^{3Yhq^VnnMG@4Ybb&xcx(TJc5YuN|sx0}bbslZKd4`xvN+e7=zq zn{m+wW|&q-+2p(VTSzn*Nw5c+to{ZUMB}tL_z%h=NY#$KkqI9gCmtccc;HYG(>?o7 z2)p%Gp~}f@@?JI3atxa{Nf8P1NDqPTyLwf9&Aqz7l)EAnC^6|%6iBG@4_aM5_bEn= zp^aeV^q2H2eD3eR*PlZ?BAjz|;ejRAOWp_}QoKlp@l+x#y^wvtE|dbSm?A!TG$XgP18ECHGq5p_rV9BIjvsgomYw6$4F_p$2PHLu+3Kktro#2)F$ zcEEc}9!qFzN~N-z=!ie1C9NqJ;u8`~xD(kEYD}AyEUZskD_>}q#bQFM3`ib{pGDFp z7faOULm&66Z1V)bz?1JZy>{!veJ`d?WU&K9q+$)&>c}XDhgHyB#BN1|d^JagM??(c zDKEz=Tg+YJbx275QPh!8VW4N86i$gSmY7p#U)2^sQ>6V&S*JHA9Fbhjl-&a0#^vsM#JNyMn8cnZ2;w6pWsX)NcaOz4AZniJ>RsBPk>ye~iaI40cPHfRe))It z^gj!2gF`|K6!goC*H_h;Wg#znqCfafzG|{a$_WY?U-Qb*ZO?SX1|lx_9~PwepdZN= z#54Bc%#DeeW%qFairIYG;((eXp>ag4wS`BoHTRme4<(&)d%fb#3+$-8vW0A+3(6%i znjerRbGdjNFhxNuX}{Lz&ag^*TwBZkL!MnIq3IjB0fRV%6^A%sJciZy=;A=yTC{CS zwXM28F@P!b{?0^d&l@-+nVl@)$o`xNlNNCNG#9ncO_@PK?7{=!72m2By7!`c;vH(@ zOjUhg`Ri-{O20NiK~UCkPmwI4RE2iI98t=fy#_A~X-B2YI~RinN53RV3g z+r^u&jMaio>`E=iw9lDRoV@>Tk5LJ|ZfyZ5*_ZBp?EXh1{aLb|Pd?3#D^tZRA}_f7 zhKKn~kSFrpP6^O>|HyM+b`1I!-omqQIQG>qVwIV56w$(nX#6uF{M`ICeaYYbHXinlkcZF?Zmj8x(nRoCA9d7mGI zU|C6gEns>?o{>u^OBf`d$)13RMl51|?d3xjH7ceMS6C%mM|wGkD}$_(jeIm5TeXko z8+HJq09%7q$5kJc+Jhvg@P0NB(0xeEtAEn^E=lu|W+O$}ZfhfKk0U1cn#*7R*9AtB zTs|YGm}x;mSuAr3VPFWAZ$BOtk`Pu38bU#xs$WxvjBhly;qS|j&cL)JgwZ+N!;)VF z#5)+KK%x0bHly`nupE07nK`>U&Bn_9_NTRHDEUrkei^@@^u!vH=Z+L0Nz?${3#P0; 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######################################## # # # Host section # # # ######################################## -XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 -XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl - -CXXFLAGS += -DSDX_PLATFORM=$(SDX_PLATFORM) -D__USE_XOPEN2K8 -DHLS_NO_XIL_FPO_LIB -CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/runtime/include/1_2/ -CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/include/ -CXXFLAGS += -I$(XFOPENCV)/include/ -CXXFLAGS += -I$(XCL2_LIB_DIR)/ -CXXFLAGS += -I/opt/Xilinx/SDx/2017.1.op/Vivado_HLS/include -CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 - -#--- Specify OpenCV libraries ---# - -LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv -LDFLAGS += -lopencv_core -LDFLAGS += -lopencv_imgproc -LDFLAGS += -lopencv_highgui - -#--- Specify common libraries ---# - -LDFLAGS += -L/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o -LDFLAGS += -lstdc++ -LDFLAGS += -lpthread -LDFLAGS += -lrt - -#--- Specify AWS libraries ---# - -LDFLAGS += -L/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 -LDFLAGS += -lxilinxopencl - -#--- Specify runtime libraries ---# - -LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lnx64/tools/opencv -LDFLAGS += -Wl,-rpath,/opt/Xilinx/SDx/2017.1.op/lib/lnx64.o -LDFLAGS += -Wl,-rpath,/opt/Xilinx/2017.1.rte.4ddr/runtime/lib/x86_64 - -#--- Specify objects ---# - -HOST_DEP = ../src/xcl2.hpp - HOST_AWS_SRC += xf_stereo_pipeline_accel_aws HOST_AWS_SRC += xf_stereo_pipeline_tb HOST_SDx_SRC += xcl2 -HOST_AWS_DIR = ./ -HOST_BLD_DIR = build/host - -HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) -HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) - -HOST_OBJ = $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) - -HOST_EXE ?= run/stereo_pipeline_test - -BUILD_SUBDIRS += $(HOST_BLD_DIR) - - ######################################## # # # Kernel section # # # ######################################## - -XOCC_OPTS = -t hw --platform $(SDX_PLATFORM) --save-temps --report system - -# -# OpenCL kernel files -# - -BINARY_CONTAINERS += xf_stereo_pipeline.xclbin - -BUILD_SUBDIRS += build/kernel -BINARY_CONTAINER_1_OBJS += build/kernel/xf_stereo_pipeline.xo -ALL_KERNEL_OBJS += build/kernel/xf_stereo_pipeline.xo - -ALL_MESSAGE_FILES = $(subst .xo,.mdb,$(ALL_KERNEL_OBJS)) $(subst .xclbin,.mdb,$(BINARY_CONTAINERS)) - - -# -# primary build targets -# - -.PHONY: all clean - -all: krnl host - -host: $(HOST_EXE) - -krnl: $(BINARY_CONTAINERS) - -clean: - $(RMDIR) $(HOST_BLD_DIR) build/kernel -# -$(RM) $(BINARY_CONTAINERS) $(ALL_KERNEL_OBJS) $(ALL_MESSAGE_FILES) $(HOST_EXE) src/$(HOST_OBJ) -# -$(RM) *.xclbin.sh -# -$(RMDIR) $(BUILD_SUBDIRS) -# -$(RMDIR) _xocc* -# -$(RMDIR) .Xil -# -$(RM) xf_arg - -.PHONY: incremental -incremental: all - - -nothing: - -# -# binary container: binary_container_1.xclbin -# - -build/kernel/xf_stereo_pipeline.xo: xf_stereo_pipeline_kernel_aws.cpp - @mkdir -p $(@D) - $(XOCC) $(XOCC_OPTS) -c -k xf_stereo_pipeline --max_memory_ports xf_stereo_pipeline --messageDb $(subst .xo,.mdb,$@) -I"$( xf_stereo_pipeline.xclbin.sh - $(XOCC) $(XOCC_OPTS) -l --jobs 20 --nk xf_stereo_pipeline:1 --messageDb $(subst .xclbin,.mdb,$@) --xp misc:solution_name=build/kernel/xocc_link_kernel --remote_ip_cache /root/workspace/ip_cache -o"$@" $(+) - -# -# host rules -# - -$(HOST_AWS_OBJ): $(HOST_BLD_DIR)/%.o : $(HOST_AWS_DIR)/%.cpp - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" - - -$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o "$@" "$<" - - -$(HOST_EXE): $(HOST_OBJ) - @echo 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z5!;Vy`Ag!ThojMTgB7|wDG4Zfw+2)8i>%xAB%iY59gcm)6j$Lq9f_+;jPZCl%JeJ8 zo}?dFQMT=Et!pjxZ)5c?E5g#N!C77@rmJC^_EKFh-|y&r*R0DVm+aC++usODCzI2u z{Ikg8n%dIr8p_@7rgZaV;Xir^#yx?~eKI|IQAK|Fim5o#!%>W!V<%}f@id<{kEPny z-+}n9Urki4h;wdBUw1^ew@rNi00T1T#J+1iv|G2lnX5p2j#Xb@_h0biu*ketcuE)`~0B z;aH`BrEZae{F3{>t Date: Fri, 18 May 2018 06:53:09 +0300 Subject: [PATCH 53/73] Create README.md --- aws_demo/README.md | 118 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 118 insertions(+) diff --git a/aws_demo/README.md b/aws_demo/README.md index fd40910..5c03ca3 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -1,4 +1,122 @@ +AWS Demo +====================== +The AWS Demo is set of examples demonstrate how use xfOpenCV library in kernels build for Amazone F1 instance. Each example could be build to run on FPGA (only F1 instance with "*FPGA Developer AMI*" could be used) or emulated for debug purpose in HW or SW emulation mode (any instance with "*FPGA Developer AMI*"could be used). +## EXAMPLES FILE HIERARCHY +Each example is organized into the following folders +| Folder Name | Contents | +| - +| <example name> | **Root folder of example.** Folder contains input image(s), headers with kernel configuration and declaration, makefile, source code of host application, kernel wrapper and kernel.| +|      hw |**Folder for FPGA flow.** | +|           afi |**Folder for AWS FPGA binary file generation.** After successful build folder will contain the kernel container binary (`.xclbin`) to generate AWS FPGA binary file for Amazon F1 instance and register AFI. During generation all intermediate files will be stored there. | +|           run |**Run folder of the example.** After successful build folder will contain host application executable. All result, intermediate and reference images generated by kernel and application will be stored there. Kernel container | +|      hw_emu |**Folder for HW emulation flow.** | +|           run |**Emulation folder of the example.** After successful build folder will contain host application executable and kernel container (`.xclbin`) for HW emulation. Emulation logs and data, result, intermediate and reference images generated by kernel emulation and application will be stored there. | +|      sw_emu |**Folder for HW emulation flow.** | +|           run |**Emulation folder of the example.** After successful build folder will contain host application executable and kernel container (`.xclbin`) for HW emulation. Emulation logs and data, result, intermediate and reference images generated by kernel emulation and application will be stored there. | + +## HOW TO BUILD EXAMPLE + +### Prepare environment +Run following code to prepare environment for build. +``` +cd $AWS_FPGA_REPO_DIR +source sdaccel_setup.sh +source $XILINX_SDX/settings64.sh +``` + +### Build example for SW/HW emulation + +1. Go to root folder of example. +2. Build whole example (`all`), kernel part only (`krnl`) or host application only (`host`) for HW (`hw_emu`) or SW (`sw_emu`) emulation with the following command: +``` +make TARGET=hw_emu|sw_emu all|host|krnl +``` + +To erase all build data including host application executable and kernel binary files use following command: +``` +make TARGET=hw_emu|sw_emu clean +``` + +### Build example for FPGA + +To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to [***What Is the AWS Command Line Interface?***](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html) and [***Getting Started with Amazon S3***](https://aws.amazon.com/s3/getting-started/). +1. Go to root folder of example. +2. Build whole example (`all`), kernel part only (`krnl`) or host application only (`host`) for HW (`hw_emu`) or SW (`sw_emu`) emulation with the following command: +``` +make TARGET=hw all|host|krnl +``` +3. After kernel build complete go to ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI +4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) ( see [***What Is the AWS Command Line Interface?***](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)) +5. Run script placed in ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI +``` +source ./gen_afi.sh +``` +Script will create S3 bucket for FPGA image and launch image generation in background process. When script finish the FPGA image will not be ready. +6. Wait until FPGA image will be generated. To check generation completion periodically run following command: +``` +aws ec2 describe-fpga-images --fpga-image-id +``` +You can get `` from script message or from file **`*_afi_id.txt`**. During generation you will see following message: +``` +... + "State": { + "Code": "pending" + }, +... +``` +The FPGA image is ready if command print `available`: +``` +... + "State": { + "Code": "available" + }, +... +``` + +7. Copy `.awsxclbin` into ***hw/run*** folder + +To erase all build data including host application executable but except content of ***afi*** folder use following command: +``` +make TARGET=hw clean +``` + +## HOW TO RUN EXAMPLE + +### Prepare environment +If you relaunch Amazon instance after build you need to repeat environment preparation step: +``` +cd $AWS_FPGA_REPO_DIR +source sdaccel_setup.sh +source $XILINX_SDX/settings64.sh +``` +### Run SW/HW emulation of example + +1. Go to emulation folder of example (**`hw_emu/run`** or **`sw_emu/run`**). +2. Set desired emulation option in `sdaccel.ini` file +3. Launch emulation with the following command: +``` +source run.sh +``` + +### Run example on FPGA + +1. Go to run folder of example (**`hw/run`**). +2. Launch shell +``` +sudo sh +``` +3. Launch application with the following command: +``` +source run.sh +``` + +## REVISION HISTORY + +Date | Readme Version | Release Notes +-------- |----------------|------------------------- +May 2018 | 1.0 | Initial version. + From 96ae1fe0256cc980bd611f5145ea3a6e4b6ac640 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 18 May 2018 07:01:00 +0300 Subject: [PATCH 54/73] Update format --- aws_demo/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aws_demo/README.md b/aws_demo/README.md index 5c03ca3..490a7da 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -7,7 +7,7 @@ Each example is organized into the following folders | Folder Name | Contents | -| - +| :----- | :------ | <example name> | **Root folder of example.** Folder contains input image(s), headers with kernel configuration and declaration, makefile, source code of host application, kernel wrapper and kernel.| |      hw |**Folder for FPGA flow.** | |           afi |**Folder for AWS FPGA binary file generation.** After successful build folder will contain the kernel container binary (`.xclbin`) to generate AWS FPGA binary file for Amazon F1 instance and register AFI. During generation all intermediate files will be stored there. | From 7025ff99ee265727c463d31740058174393d692d Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 18 May 2018 07:12:32 +0300 Subject: [PATCH 55/73] Update README.md --- aws_demo/README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/aws_demo/README.md b/aws_demo/README.md index 490a7da..d585359 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -19,6 +19,12 @@ Each example is organized into the following folders ## HOW TO BUILD EXAMPLE +Place xfOpenCV library (`xfopencv` folder) together with Amazon's FPGA framework +``` +project_data + ├─ aws-fpga + └─ xfopencv +``` ### Prepare environment Run following code to prepare environment for build. From 6a160070aa45f6b9eb458d50ddf52382aad851a1 Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 18 May 2018 07:15:52 +0300 Subject: [PATCH 56/73] Update format --- aws_demo/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/aws_demo/README.md b/aws_demo/README.md index d585359..2126795 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -49,14 +49,14 @@ make TARGET=hw_emu|sw_emu clean ### Build example for FPGA -To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to [***What Is the AWS Command Line Interface?***](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html) and [***Getting Started with Amazon S3***](https://aws.amazon.com/s3/getting-started/). +To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)*** and [***Getting Started with Amazon S3***](https://aws.amazon.com/s3/getting-started/). 1. Go to root folder of example. 2. Build whole example (`all`), kernel part only (`krnl`) or host application only (`host`) for HW (`hw_emu`) or SW (`sw_emu`) emulation with the following command: ``` make TARGET=hw all|host|krnl ``` 3. After kernel build complete go to ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI -4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) ( see [***What Is the AWS Command Line Interface?***](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)) +4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) ( see ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)***) 5. Run script placed in ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI ``` source ./gen_afi.sh From fc15fcecfdbd8f786522b4ded51ed1bbc8d35f8c Mon Sep 17 00:00:00 2001 From: Serge Date: Fri, 18 May 2018 08:30:56 +0300 Subject: [PATCH 57/73] Update format --- aws_demo/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/aws_demo/README.md b/aws_demo/README.md index 2126795..b0b5568 100644 --- a/aws_demo/README.md +++ b/aws_demo/README.md @@ -49,19 +49,19 @@ make TARGET=hw_emu|sw_emu clean ### Build example for FPGA -To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)*** and [***Getting Started with Amazon S3***](https://aws.amazon.com/s3/getting-started/). +To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)*** and ***[Getting Started with Amazon S3](https://aws.amazon.com/s3/getting-started/)***. 1. Go to root folder of example. 2. Build whole example (`all`), kernel part only (`krnl`) or host application only (`host`) for HW (`hw_emu`) or SW (`sw_emu`) emulation with the following command: ``` make TARGET=hw all|host|krnl ``` 3. After kernel build complete go to ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI -4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) ( see ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)***) +4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) (see ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)***) 5. Run script placed in ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI ``` source ./gen_afi.sh ``` -Script will create S3 bucket for FPGA image and launch image generation in background process. When script finish the FPGA image will not be ready. +Script will create S3 bucket for FPGA image and launch image generation in background process. When script finish the FPGA image will not be ready. 6. Wait until FPGA image will be generated. To check generation completion periodically run following command: ``` aws ec2 describe-fpga-images --fpga-image-id From 22c9f7686a05ecc38c9c453ba2c96c257dc21323 Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 24 May 2018 01:27:29 +0300 Subject: [PATCH 58/73] Add description + cosmetic changes in source code and makefiles --- aws_demo/Code_Structure.png | Bin 0 -> 7534 bytes aws_demo/README.md | 6 +- aws_demo/common_makefile | 32 +--- aws_demo/gaussianfilter/makefile | 4 - aws_demo/gaussianfilter/readme.md | 167 ++++++++++++++++++ aws_demo/gaussianfilter/xf_config_params.h | 3 - .../xf_gaussian_filter_config.h | 15 +- .../gaussianfilter/xf_gaussian_filter_tb.cpp | 1 - aws_demo/make_description.md | 71 ++++++++ aws_demo/stereopipeline/makefile | 2 - 10 files changed, 248 insertions(+), 53 deletions(-) create mode 100644 aws_demo/Code_Structure.png create mode 100644 aws_demo/gaussianfilter/readme.md create mode 100644 aws_demo/make_description.md diff --git a/aws_demo/Code_Structure.png b/aws_demo/Code_Structure.png new file mode 100644 index 0000000000000000000000000000000000000000..e83b55e04c67e08da00920f9cfa3a1e2368a8957 GIT binary patch literal 7534 zcmeHMc~sK-w#Tw#1E%INIXRG-+ATBD!kjZov$XVR+2Bx+Q%;!!PDmqaD5TZNR5bLI zmL-`vr9kFDmUAV}p0vP$p+q1=;Gv$n=l=25y6dj@?ptrI`v(htzwflad+*O@52U#r zc2ZuwVKo2%PZ)`?SRdB7W$BY zmWB*7HS^xz4J^C&4##4j2P8bkZMrr?77jnMIx2jRit+o97$fx=9Sez}+g2YwO6DMw zAHA@ZEI)cw0r2=(tUlo7$+H&A0FU=C{$wS`38(!^0D#`#)nO4yvk^xDfRGESFu%Db zrP7G{`9lD}k>@+mGqf4VY;SS$i#ZuuVgh)n&MuXGWj3n#3DDI?)dqy8p zB&X1IbAm$!?G#E$wf%+UP;2l*O0L%O^Q+)11BCadz80Iie{IKmaV5PXfzVg>s~JVR z2(iWTPRr4s-Zv!KyW2_wF4PxDf-XxK8 z1rptDcLYzw4cmkbG5o-B+)PjoFF~PL9cEfLRCqhlvj=xblL56F5dMx0v4#?iD!QO+ z#0HGk?T?*-F@mU#Y1hu$r{Gu9bY(3s^^32Jx9547bHiN{LyMc-gh>`O@~Un|U)2Sg z#rd{V!{e08(<}1!$+ecXe_O43rb)E5v-cb7txW6~PdX^1u>=JpHMx*GF*xJcZupk|&TiV-D_GvH zCbtB3Vh1x%AA{K&G(CnGc|+?;r?1(a2D;qOhi{R@%xx)3!%B57!FWww{>+C4YUf#* zF6OfH^FBVn&#?Q-1;4<9SYMU3dB^N90rkEwotMm)8`fX9we{8Tsq;uI@7fw(UvuP? 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For more information please see [make_description.md](make_description.md) + ### Prepare environment Run following code to prepare environment for build. ``` @@ -49,14 +51,14 @@ make TARGET=hw_emu|sw_emu clean ### Build example for FPGA -To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)*** and ***[Getting Started with Amazon S3](https://aws.amazon.com/s3/getting-started/)***. +To build examples for FPGA F1 instance you will need access to [**AWS CLI**](https://aws.amazon.com/cli/) and [**S3**](https://aws.amazon.com/s3/). Please refer to **_[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)_** and **_[Getting Started with Amazon S3](https://aws.amazon.com/s3/getting-started/)_**. 1. Go to root folder of example. 2. Build whole example (`all`), kernel part only (`krnl`) or host application only (`host`) for HW (`hw_emu`) or SW (`sw_emu`) emulation with the following command: ``` make TARGET=hw all|host|krnl ``` 3. After kernel build complete go to ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI -4. Setup [**AWS CLI**](https://aws.amazon.com/cli/) (see ***[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)***) +4. Setup **[AWS CLI](https://aws.amazon.com/cli/)** (see **_[What Is the AWS Command Line Interface?](https://docs.aws.amazon.com/cli/latest/userguide/cli-chap-welcome.html)_**) 5. Run script placed in ***afi*** folder to generate AWS FPGA binary file for Amazon F1 instance and register AFI ``` source ./gen_afi.sh diff --git a/aws_demo/common_makefile b/aws_demo/common_makefile index e9630fb..b996b1e 100644 --- a/aws_demo/common_makefile +++ b/aws_demo/common_makefile @@ -32,16 +32,15 @@ TARGET ?= hw_emu # # ######################################## -XF_EXAMPLE_DIR = $(XFOPENCV)/examples/gaussianfilter +HOST_SDx_SRC ?= xcl2 -XCL2_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 -XCL_LIB_DIR = $(SDACCEL_DIR)/examples/xilinx/libs/xcl +SDx_LIB_DIR ?= $(SDACCEL_DIR)/examples/xilinx/libs/xcl2 CXXFLAGS += -DSDX_PLATFORM=$(AWS_PLATFORM) -D__USE_XOPEN2K8 CXXFLAGS += -I$(XILINX_SDX)/runtime/include/1_2/ CXXFLAGS += -I$(XILINX_SDX)/include/ CXXFLAGS += -I$(XFOPENCV)/include/ -CXXFLAGS += -I$(XCL2_LIB_DIR)/ +CXXFLAGS += -I$(SDx_LIB_DIR)/ CXXFLAGS += -I$(XILINX_HLS)/include CXXFLAGS += -O2 -Wall -c -fmessage-length=0 -std=c++14 @@ -72,24 +71,14 @@ LDFLAGS += -Wl,-rpath,$(XILINX_SDX_RUNTIME) #--- Specify objects ---# -# TEST_NAME = gaussian_filter_test -# -# HOST_AWS_SRC += xf_gaussian_filter_accel_aws -# HOST_AWS_SRC += xf_gaussian_filter_tb -# -# HOST_SDx_SRC += xcl2 -# -# HOST_XF_SRC += - HOST_AWS_DIR = ./ HOST_BLD_DIR = $(TARGET)/build/host HOST_RUN_DIR = $(TARGET)/run HOST_AWS_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_AWS_SRC)) ) HOST_SDx_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_SDx_SRC)) ) -HOST_XF_OBJ += $(addsuffix .o, $(addprefix $(HOST_BLD_DIR)/, $(HOST_XF_SRC)) ) -HOST_OBJ = $(HOST_XF_OBJ) $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) +HOST_OBJ = $(HOST_AWS_OBJ) $(HOST_SDx_OBJ) HOST_EXE ?= $(HOST_RUN_DIR)/$(TEST_NAME) @@ -102,8 +91,6 @@ BUILD_SUBDIRS += $(HOST_BLD_DIR) # # ######################################## -# KERNEL = xf_gaussian_filter - XOCC_OPTS += --platform $(AWS_PLATFORM) XOCC_OPTS += --save-temps XOCC_OPTS += --report system @@ -186,7 +173,7 @@ $(HOST_AWS_OBJ): $(HOST_BLD_DIR)/%.o : $(HOST_AWS_DIR)/%.cpp $(SDX_CXX) $(CXXFLAGS) -o $(@) $(<) -$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp +$(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(SDx_LIB_DIR)/%.cpp @echo " " @echo "================================================================" @echo "Compilation of $< to $@" @@ -195,16 +182,7 @@ $(HOST_SDx_OBJ): $(HOST_BLD_DIR)/%.o : $(XCL2_LIB_DIR)/%.cpp @mkdir -p $(HOST_BLD_DIR) $(SDX_CXX) $(CXXFLAGS) -o $(@) $(<) -$(HOST_XF_OBJ): $(HOST_BLD_DIR)/%.o : $(XF_EXAMPLE_DIR)/%.cpp - @echo " " - @echo "================================================================" - @echo "Compilation of $< to $@" - @echo "================================================================" - @echo " " - @mkdir -p $(HOST_BLD_DIR) - $(SDX_CXX) $(CXXFLAGS) -o ($@) ($<) - $(HOST_EXE): $(HOST_OBJ) @echo " " @echo "================================================================" diff --git a/aws_demo/gaussianfilter/makefile b/aws_demo/gaussianfilter/makefile index 197940d..1a9f186 100644 --- a/aws_demo/gaussianfilter/makefile +++ b/aws_demo/gaussianfilter/makefile @@ -9,10 +9,6 @@ TEST_NAME = gaussian_filter_test HOST_AWS_SRC = xf_gaussian_filter_accel_aws HOST_AWS_SRC += xf_gaussian_filter_tb -HOST_SDx_SRC = xcl2 - -HOST_XF_SRC += - ######################################## # # # Kernel section # diff --git a/aws_demo/gaussianfilter/readme.md b/aws_demo/gaussianfilter/readme.md new file mode 100644 index 0000000..24ad25b --- /dev/null +++ b/aws_demo/gaussianfilter/readme.md @@ -0,0 +1,167 @@ +# Gaussian Filter # + +Example demonstrates using of **`xf::GaussianBlur()`** and **`xf::resize()`** functions of xfOpenCV library in pipeline. Example designed to process one image once. If you would like to process many images in loop you need to extract from kernel interface wrapper FPGA & kernel initialization and finalization operations and move them to host application before and after processing loop respectively. + +## Code structure ## + +![](./../Code_Structure.png) + +| Component | Source files | +| :- | :- | +| *Kernel Configuration* |**`xf_gaussian_filter_config.h`**
    **`xf_config_params.h`**| +| *Host Application* |**`xf_gaussian_filter_tb.cpp`**| +| *Kernel Interface Wrapper* |**`xf_gaussian_filter_accel_aws.cpp`**| +| *Kernel Driver* |**`xcl2.cpp (in SDx library)`**| +| *Kernel* |**`xf_gaussian_filter_kernel_aws.cpp`**| + +## Kernel Configuration # + +Following constants in header files define kernel configuration + +| Constant | Possible values | Default Value | Description | +| :- | :- | :- | :- | +| **`FILTER_SIZE_3`**
    **`FILTER_SIZE_5`**
    **`FILTER_SIZE_7`**|**`0, 1`**| **`1`**
    **`0`**
    **`0`**| Select window size of the Gaussian filter. One of them should be defined as 1. And only one can be defined as 1 - others should be defined as 0 | +| **`FILTER_WIDTH`** |-|-|The window size of the Gaussian filter. Value set automatically depending on which **`FILTER_SIZE_n`** set to 1. +| **`SIGMA`** |-|-|Standard deviation of of Gaussian Filter. Value set automatically depending on which **`FILTER_SIZE_n`** set to 1.| +| **`NPC1`** |**`XF_NPPC1`**
    **`XF_NPPC8`**|**`XF_NPPC1`**|Select level of parallelism in kernel (number of pixels which kernel process per clock cycle).| +| **`XF_RESIZE_INTERPOLATION`** |**`XF_INTERPOLATION_NN`**
    **`XF_INTERPOLATION_BILINEAR`**
    **`XF_INTERPOLATION_AREA`**
    |**`XF_INTERPOLATION_NN`**|Types of Interpolaton techniques| +| **`CV_RESIZE_INTERPOLATION`** |**`cv::INTER_NEAREST`**
    **`cv::INTER_LINEAR`**
    **`cv::INTER_AREA`**
    **`others are not suitable`**|**`cv::INTER_NEAREST`**|Types of Interpolaton techniques| +| **`XF_GAUSSIAN_BORDER`** |**`XF_BORDER_CONSTANT`**
    **`XF_BORDER_REPLICATE`**|**`XF_BORDER_CONSTANT`**|The way in which borders will be processed| +| **`CV_GAUSSIAN_BORDER`** |**`cv::BORDER_CONSTANT`**
    **`cv::BORDER_REPLICATE`**
    **`others are not suitable`**|**`cv::BORDER_CONSTANT`**|The way in which borders will be processed| +| **`COLS_INP`** |**`multiple of 8`**|**`1920`**|Maximum width of input image| +| **`ROWS_INP`** |**`multiple of 8`**|**`1080`**|Maximum height of input image| +| **`SCALE`** |**`> 0 and !=1`**|**`0.5`**|Define scale factor of image after Gaussian Filter.
    **Note: The **`xf::resize()`** doesn't support scale factor 1.** | +| **`COLS_OUT`** |**`multiple of 8`**|**`COLS_INP/2`**|Maximum width of output image. Please keep value to correspond to the scale factor (**`SCALE`**). Value should be **`>= ceil(COLS_INP * SCALE)`** and should be multiple of 8.| +| **`ROWS_OUT`** |**`> 0`**|**`ROWS_INP/2`**|Maximum height of input image. Please keep value to correspond to the scale factor (**`SCALE`**). Value should be **`>= ceil(ROWS_INP * SCALE)`**| + +## Host Application ## +Host application reads test image from file, process it with help of regular OpenCV library on host, perform same processing with help of FPGA kernel with function from xfOpenCV library and compare result. + +Input image of example is ***im0.jpg*** place in root folder of example. First filter applied to the image is **`xf::GaussianBlur()`**, next is **`xf::resize()`**. Both has analog with same name in OpenCV library. Application calculate difference between result images - images assumed equal if difference for each pixel not exceed 1. Result images will be stored into run folder. + +The following images will be in run folder after execution: + +- ***xf_img_out.jpg*** - result of FPGA kernel processing +- ***cv_img_out.jpg*** - result of OpenCV processing +- ***error.png*** - contains difference of values for each pixel of result images + + +## Kernel Interface Wrapper ## + +In conjunction with xfOpenCV library on host application is convenient to use xf::Mat or cv::Mat class and image manipulation functions. Unfortunately the XOCC kernel compiler doesn't support classes/structures as kernel input/output parameters. To pass xf::Mat to a kernel a wrapper is needed. The kernel interface wrapper convert interface convenient to host application to kernel interface available in Amazon F1 instance. + +For this example kernel interface wrapper also perform FPGA initialization, kernel downloading, initialization and finalization. + + +| Parameter Name |Direction|Type | Description | +| :- | :- | :- | :- | +| **`img_inp`** |Input | **`xf::Mat &`** | Input image | +| **`img_out`** |Output | **`xf::Mat &`** | Output image | +| **`sigma`** | Input | **`float`** | Standard deviation of of Gaussian Filter | + +To forward these parameters to kernel wrapper create 2 buffers in global memory for images data. Wrapper decompose **`img_inp`** and **`img_out`** classes and pass member separately. + + +## Kernel Driver ### + +Example use modification of SDx xcl kernel driver v.2 for Amazon F1 instance. Source code of this driver and description could be found in Amazon aws-fpga framework. + +## Kernel ## + +During synthesis for FPGA kernel's parameters should be mapped to HW interfaces supported on Amazon F1 instance. To map kernel parameters **`HLS INTERFACE`** pragma should be used. Supported following interfaces: **`m_axi`** and **`s_axilite`**. For **`m_axi`** offset can be set through **`s_axilite`** port only. + +Because functions from xfOpenCV library operate with **`xf::Mat`** class as image container kernel's parameters should be packed back to variables of this class. To do this you need following: + +- Declare **`xf::Mat`** variable
    ***Note: due to XOCC issues use default constructor only - do not try initialize class members with help of non-default constructors*** +- Assign image size to **`rows`** and **`cols`** members +- Copy image from input buffer to **`data`** member of **`xf::Mat`** or from **`data`** to output buffer + +```cpp +xf::Mat mi; + +mi.rows = rows_inp; +mi.cols = cols_inp; + +for(int i=0; i < rows_inp; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS_INP + + for(int j=0; j < (cols_inp >> (XF_BITSHIFT(NPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS_INP/pNPC1 + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(mi.data + i*(cols_inp >> (XF_BITSHIFT(NPC1))) +j) = *(img_inp + i*(cols_inp >> (XF_BITSHIFT(NPC1))) +j); + } + } +``` +**Note: `#pragma HLS` doesn't support constants defined through **`#define`** directive - use `const int`. In the code above `pROWS_INP`, `pCOLS_INP` and `pNPC1` are `const int` variables which get values from constants defined in xf_gaussian_filter_config.h with help of #define directive** + +```cpp + const int pROWS_INP = ROWS_INP; + const int pCOLS_INP = COLS_INP; + const int pNPC1 = NPC1; +``` + +Simple declaration of **`xf::Mat`** object create buffer to store whole image with maximum defined size. This buffer use FPGA internal memory blocks and even big FPGA devices could not have enough resources. You should use **`#pragma HLS stream`** to ask HLS convert big RAM buffer to small FIFO buffer + +```cpp + xf::Mat mi; + #pragma HLS stream variable=mi.data depth=pCOLS_INP/pNPC1 +``` + +Please note that **`#pragma HLS stream`** could be used inside dataflow block, therefore kernel body should be declared as dataflow. This also permit pipeline functions from xfOpenCV library. + +```cpp +void kernel(...) +{ + #pragma HLS INTERFACE ... + #pragma HLS INTERFACE ... + + #pragma HLS dataflow + ... +} +``` + +## Known Issues + +- #### Kernel can't accept class/structure as parameters +**Solution**: use simple types, pass class/structure members as separate parameters of simple types and compose class/structure object back inside kernel. + +- #### Using non-default constructors can cause kernel suspension on FPGA and HW emulation +**Solution**: use default constructor for object declaration and next assign desired values to the members separately. + +```cpp +xf::Mat mi; + +mi.rows = rows_inp; +mi.cols = cols_inp; +``` + +- #### **`#pragma HLS`** doesn't support constants defined through **`#define`** directive. +**Solution**: use **`const int`** instead + + +```cpp +#define ROWS_INP 1080 + +void kernel(...) +{ + const int pROWS_INP = ROWS_INP; + + for(int i=0; i < rows_inp; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS_INP + ... + } + ... +} +``` + + +## Revision History + +Date | Readme Version | Release Notes +-------- |----------------|------------------------- +May 2018 | 1.0 | Initial version. diff --git a/aws_demo/gaussianfilter/xf_config_params.h b/aws_demo/gaussianfilter/xf_config_params.h index aff4c18..dfd727c 100644 --- a/aws_demo/gaussianfilter/xf_config_params.h +++ b/aws_demo/gaussianfilter/xf_config_params.h @@ -1,6 +1,3 @@ #define FILTER_SIZE_3 1 #define FILTER_SIZE_5 0 #define FILTER_SIZE_7 0 - -#define RO 0 -#define NO 1 diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_config.h b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h index 08ecff9..0a35c2b 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_config.h +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_config.h @@ -59,34 +59,21 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #if FILTER_SIZE_3 // Set Gaussian filter parameters depending on constant defined in xf_config_params.h //{ #define FILTER_WIDTH ( 3 ) - #define FILTER ( 3 ) #define SIGMA ( 0.5f) //} #elif FILTER_SIZE_5 //{ #define FILTER_WIDTH ( 5 ) - #define FILTER ( 5 ) #define SIGMA ( 0.8333f ) //} #elif FILTER_SIZE_7 //{ #define FILTER_WIDTH ( 7 ) - #define FILTER ( 7 ) #define SIGMA ( 1.16666f ) //} #endif - #if NO - //{ - #define NPC1 XF_NPPC1 - //} - #endif - - #if RO - //{ - #define NPC1 XF_NPPC8 - //} - #endif + #define NPC1 XF_NPPC1 void gaussian_filter_accel(xf::Mat &img_inp, xf::Mat &img_out, float sigma); //} diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp index 8a4ce3d..05307d6 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_tb.cpp @@ -73,7 +73,6 @@ int main(int argc, char **argv) cv::resize(cv_img_ref, cv_img_out, cvSize(cv_img_out.cols, cv_img_out.rows), 0, 0, CV_RESIZE_INTERPOLATION ); - imwrite("cv_img_ref.jpg", cv_img_ref); imwrite("cv_img_out.jpg", cv_img_out); diff --git a/aws_demo/make_description.md b/aws_demo/make_description.md new file mode 100644 index 0000000..de91c63 --- /dev/null +++ b/aws_demo/make_description.md @@ -0,0 +1,71 @@ +# Makefiles description # + +Examples for Amazon F1 instance use example specific and common makefile. Example specific makefile is placed at root folder of example and include common makefile ([`aws_demo/common_makefile`](common_makefile)). + +## Example specific makefile ## +Example specific makefile contains following variables to list source files for host application and kernel. + +### Variables for host part ### + +| Variable Name |Necessity | Purpose | +| :------------- | :------------- | +| **`TEST_NAME`** |Mandatory| Name of the host executable which will be created as successful build result in **`run`** folder | +| **`HOST_AWS_SRC`** |Mandatory| List of host source files placed in root folder of example | +| **`HOST_SDx_SRC`**
    **`SDx_LIB_DIR`** | Optional | The **`HOST_SDx_SRC`** contains list of SDx kernel driver source files which provide interaction between host and FPGA kernel on Amazon F1 instance and **`SDx_LIB_DIR`** contains path to these sources. Originally all examples use xcl driver v.2. Default values are assigned in [`common_makefile`](common_makefile). If you would like to use other driver you need to do following:
    1) Modify example source code to use desired driver;
    2) assign list of appropriate library source files to **`HOST_SDx_SRC`**;
    3) setup path to the library in **`SDx_LIB_DIR`** variable.
    Settings of these variables in example specific makefile override default values of [`common_makefile`](common_makefile) | + +### Variables for kernel part ### + +| Variable Name |Necessity | Purpose | +| :------------- | :------------- | +| **`KERNEL`** |Mandatory| Name of the kernel should be same as kernel source file name (without extension) | + + +## Common makefile ## +Common makefile contains following variables and makefile's targets for host application and kernel. + +### Variables for host part ### + +| Variable Name |Default value | Description | +| :------------- | :------------- | +| **`XILINX_SDX`** |**`/opt/Xilinx/SDx/2017.1.op`**| Path to Xilinx SDx toolset on Amazon F1 instance | +| **`XILINX_HLS`** |**`$(XILINX_SDX)/Vivado_HLS`** | Path to Xilinx Vivado HLS | +| **`SDX_CXX`** |**`$(XILINX_SDX)/bin/xcpp`** | Alias for Xilinx SDx compiler | +| **`XOCC`** |**`$(XILINX_SDX)/bin/xocc`** | ALias for Xilinx XOCC compiler | +| **`XILINX_SDX_RUNTIME`**| - | Set automatically to run-time library of selected platform (value of **`$(AWS_PLATFORM)`**).| +| **`XFOPENCV`** |**`/home/centos/src/project_data/xfopencv`** | Location of xfOpenCV library.
    ***Note: If you place xfOpenCV library in other location than recommended (default) please update this variable!*** | +| **`TARGET`** |**`hw_emu`** | The target flow. This variable should be override by desired target flow (**`hw/sw_emu/hw_emu`**) in make command line | +| **`HOST_SDx_SRC`** |**`xcl2`** | List of SDx kernel driver source files which provide interaction between host and FPGA kernel on Amazon F1 instance. Originally all examples use xcl driver v.2.| +| **`SDx_LIB_DIR`** |**`$(SDACCEL_DIR)/examples/xilinx/libs/xcl2`** | Path to SDx kernel driver source files | +| **`CXXFLAGS`** |- | Contains SDx compiler options. Please see default value in [`common_makefile`](common_makefile) | +| **`LDFLAGS`** |- | Contains SDx linker options. Please see default value in [`common_makefile`](common_makefile)
    ***Note: Host application needs specific version of run-time shared libraries. Important to explicitly specify for linker needed libraries with help of `-rpath` option. Take it in mind in case of [`common_makefile`](common_makefile) modification *** | +| **`HOST_AWS_DIR`** |**`./`** | Root folder of example | +| **`HOST_BLD_DIR`** |**`$(TARGET)/build/host`** | Build folder for host application build artifacts| +| **`HOST_RUN_DIR`** |**`$(TARGET)/run`** | Run folder of host application | +| **`HOST_EXE`** |**`$(HOST_RUN_DIR)/$(TEST_NAME)`** | Host application executable name with path | + +### Variables for kernel part ### + +| Variable Name |Default value | Description | +| :------------- | :------------- | +| **`XOCC_OPTS`** |- | Contains XOCC options. Please see default value in [`common_makefile`](common_makefile) | +| **`XOCC_INCL`** |- | Contains paths to search header files. Please see default value in [`common_makefile`](common_makefile) | +| **`KERNEL_BLD_DIR`** |**`$(TARGET)/build/kernel`** | Build folder for kernel build artifacts| +| **`KERNEL_RUN_DIR`** |- | Folder to store kernel binary (`.xclbin`). Default value depends on target flow. Please see default value in [`common_makefile`](common_makefile)| + + +### Makefile targets ### + +| Target label | Description | +| :------------- | :------------- | +| **`all`** | Build host application and kernel for target flow specified by **`$(TARGET)`** variable | +| **`host`** | Build host application only for target flow specified by **`$(TARGET)`** variable | +| **`krnl`** | Build kernel only for target flow specified by **`$(TARGET)`** variable | +| **`clean`** | Clean build artifacts of target flow specified by **`$(TARGET)`** variable.
    ***Note: afi folder of FPGA flow ($(TARGET) == hw) kept untouched. You should clean it manually if needed *** | + + + +## REVISION HISTORY + +Date | Readme Version | Release Notes +-------- |----------------|------------------------- +May 2018 | 1.0 | Initial version. diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile index 61b13b9..1eabcfc 100644 --- a/aws_demo/stereopipeline/makefile +++ b/aws_demo/stereopipeline/makefile @@ -9,8 +9,6 @@ TEST_NAME = stereo_pipeline_test HOST_AWS_SRC += xf_stereo_pipeline_accel_aws HOST_AWS_SRC += xf_stereo_pipeline_tb -HOST_SDx_SRC += xcl2 - ######################################## # # # Kernel section # From 5a0e44559dc9e6ac7f4ba6b8290a06a8898edb9d Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 24 May 2018 01:36:11 +0300 Subject: [PATCH 59/73] Fix tables layout issues on GitHub --- aws_demo/make_description.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/aws_demo/make_description.md b/aws_demo/make_description.md index de91c63..678ac6b 100644 --- a/aws_demo/make_description.md +++ b/aws_demo/make_description.md @@ -8,7 +8,7 @@ Example specific makefile contains following variables to list source files for ### Variables for host part ### | Variable Name |Necessity | Purpose | -| :------------- | :------------- | +| :- | :- | :- | | **`TEST_NAME`** |Mandatory| Name of the host executable which will be created as successful build result in **`run`** folder | | **`HOST_AWS_SRC`** |Mandatory| List of host source files placed in root folder of example | | **`HOST_SDx_SRC`**
    **`SDx_LIB_DIR`** | Optional | The **`HOST_SDx_SRC`** contains list of SDx kernel driver source files which provide interaction between host and FPGA kernel on Amazon F1 instance and **`SDx_LIB_DIR`** contains path to these sources. Originally all examples use xcl driver v.2. Default values are assigned in [`common_makefile`](common_makefile). If you would like to use other driver you need to do following:
    1) Modify example source code to use desired driver;
    2) assign list of appropriate library source files to **`HOST_SDx_SRC`**;
    3) setup path to the library in **`SDx_LIB_DIR`** variable.
    Settings of these variables in example specific makefile override default values of [`common_makefile`](common_makefile) | @@ -16,7 +16,7 @@ Example specific makefile contains following variables to list source files for ### Variables for kernel part ### | Variable Name |Necessity | Purpose | -| :------------- | :------------- | +| :- | :- | :- | | **`KERNEL`** |Mandatory| Name of the kernel should be same as kernel source file name (without extension) | @@ -26,7 +26,7 @@ Common makefile contains following variables and makefile's targets for host app ### Variables for host part ### | Variable Name |Default value | Description | -| :------------- | :------------- | +| :- | :- | :- | | **`XILINX_SDX`** |**`/opt/Xilinx/SDx/2017.1.op`**| Path to Xilinx SDx toolset on Amazon F1 instance | | **`XILINX_HLS`** |**`$(XILINX_SDX)/Vivado_HLS`** | Path to Xilinx Vivado HLS | | **`SDX_CXX`** |**`$(XILINX_SDX)/bin/xcpp`** | Alias for Xilinx SDx compiler | @@ -46,7 +46,7 @@ Common makefile contains following variables and makefile's targets for host app ### Variables for kernel part ### | Variable Name |Default value | Description | -| :------------- | :------------- | +| :- | :- | :- | | **`XOCC_OPTS`** |- | Contains XOCC options. Please see default value in [`common_makefile`](common_makefile) | | **`XOCC_INCL`** |- | Contains paths to search header files. Please see default value in [`common_makefile`](common_makefile) | | **`KERNEL_BLD_DIR`** |**`$(TARGET)/build/kernel`** | Build folder for kernel build artifacts| @@ -56,11 +56,11 @@ Common makefile contains following variables and makefile's targets for host app ### Makefile targets ### | Target label | Description | -| :------------- | :------------- | -| **`all`** | Build host application and kernel for target flow specified by **`$(TARGET)`** variable | -| **`host`** | Build host application only for target flow specified by **`$(TARGET)`** variable | -| **`krnl`** | Build kernel only for target flow specified by **`$(TARGET)`** variable | -| **`clean`** | Clean build artifacts of target flow specified by **`$(TARGET)`** variable.
    ***Note: afi folder of FPGA flow ($(TARGET) == hw) kept untouched. You should clean it manually if needed *** | +| :- | :- | +| **`all`** | Build host application and kernel for target flow specified by **`$(TARGET)`** variable | +| **`host`** | Build host application only for target flow specified by **`$(TARGET)`** variable | +| **`krnl`** | Build kernel only for target flow specified by **`$(TARGET)`** variable | +| **`clean`** | Clean build artifacts of target flow specified by **`$(TARGET)`** variable.
    ***Note: afi folder of FPGA flow ($(TARGET) == hw) kept untouched. You should clean it manually if needed *** | From 53342eb4ed3ec5ebb841be9713482a5fd29a596d Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 24 May 2018 01:38:17 +0300 Subject: [PATCH 60/73] Fix layout issues on GitHub --- aws_demo/make_description.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aws_demo/make_description.md b/aws_demo/make_description.md index 678ac6b..90a7c88 100644 --- a/aws_demo/make_description.md +++ b/aws_demo/make_description.md @@ -60,7 +60,7 @@ Common makefile contains following variables and makefile's targets for host app | **`all`** | Build host application and kernel for target flow specified by **`$(TARGET)`** variable | | **`host`** | Build host application only for target flow specified by **`$(TARGET)`** variable | | **`krnl`** | Build kernel only for target flow specified by **`$(TARGET)`** variable | -| **`clean`** | Clean build artifacts of target flow specified by **`$(TARGET)`** variable.
    ***Note: afi folder of FPGA flow ($(TARGET) == hw) kept untouched. You should clean it manually if needed *** | +| **`clean`** | Clean build artifacts of target flow specified by **`$(TARGET)`** variable.
    **_Note: afi folder of FPGA flow ($(TARGET) == hw) kept untouched. You should clean it manually if needed_** | From d919571a0e7b64cb5cdb1492fdac34588ea599c6 Mon Sep 17 00:00:00 2001 From: Serge Date: Sun, 27 May 2018 01:24:29 +0300 Subject: [PATCH 61/73] Add description for stereo pipeline, remove redundant code --- .../Gaussian_Filter_Diagram.png | Bin 0 -> 7647 bytes aws_demo/gaussianfilter/readme.md | 20 +- .../Stereo_Pipeline_Diagram.png | Bin 0 -> 20704 bytes aws_demo/stereopipeline/readme.md | 198 ++++++++++++++++++ .../xf_stereo_pipeline_accel_aws.cpp | 26 +-- .../xf_stereo_pipeline_config.h | 24 +-- .../xf_stereo_pipeline_kernel_aws.cpp | 194 ++++++----------- .../stereopipeline/xf_stereo_pipeline_tb.cpp | 28 +-- 8 files changed, 313 insertions(+), 177 deletions(-) create mode 100644 aws_demo/gaussianfilter/Gaussian_Filter_Diagram.png create mode 100644 aws_demo/stereopipeline/Stereo_Pipeline_Diagram.png create mode 100644 aws_demo/stereopipeline/readme.md diff --git a/aws_demo/gaussianfilter/Gaussian_Filter_Diagram.png 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First filter applied to the image is **`xf::GaussianBlur()`**, next is **`xf::resize()`**. Both has analog with same name in OpenCV library. Application calculate difference between result images - images assumed equal if difference for each pixel not exceed 1. Result images will be stored into run folder. +Input image of example ***im0.jpg*** placed in root folder of example. First filter applied to the image is **`xf::GaussianBlur()`**, next is **`xf::resize()`**. Both has analog with same name in OpenCV library. Application calculate difference between result images - images assumed equal if difference for each pixel not exceed 1. Result images will be stored into run folder. The following images will be in run folder after execution: @@ -68,9 +68,25 @@ Example use modification of SDx xcl kernel driver v.2 for Amazon F1 instance. So ## Kernel ## +To apply Gaussian filter and change size of processed image the kernel pipeline functions from xfOpenCV library as shown on the image below.
    + +![](./Gaussian_Filter_Diagram.png) + +The kernel has following parameters: + +| Parameter Name |Direction|Type | Description | +| :- | :- | :- | :- | +| **`img_inp`** |Input | **`XF_TNAME(XF_8UC1, NPC1) *`** | Pointer to input image buffer | +| **`img_out`** |Output | **`XF_TNAME(XF_8UC1, NPC1) *`** | Pointer to output image buffer| +| **`rows_inp`**| Input | **`int`** | Height of input image | +| **`cols_inp`**| Input | **`int`** | Width of input image | +| **`sigma`** | Input | **`float`** | Standard deviation of of Gaussian Filter | +| **`rows_out`**| Input | **`int`** | Height of output image | +| **`cols_out`**| Input | **`int`** | Width of output image | + During synthesis for FPGA kernel's parameters should be mapped to HW interfaces supported on Amazon F1 instance. To map kernel parameters **`HLS INTERFACE`** pragma should be used. Supported following interfaces: **`m_axi`** and **`s_axilite`**. For **`m_axi`** offset can be set through **`s_axilite`** port only. -Because functions from xfOpenCV library operate with **`xf::Mat`** class as image container kernel's parameters should be packed back to variables of this class. To do this you need following: +Because functions from xfOpenCV library operate with **`xf::Mat`** class as image container kernel's parameters should be packed back to objects of this class. To do this you need following: - Declare **`xf::Mat`** variable
    ***Note: due to XOCC issues use default constructor only - do not try initialize class members with help of non-default constructors*** - Assign image size to **`rows`** and **`cols`** members diff --git a/aws_demo/stereopipeline/Stereo_Pipeline_Diagram.png b/aws_demo/stereopipeline/Stereo_Pipeline_Diagram.png new file mode 100644 index 0000000000000000000000000000000000000000..94c4f14cfa62582dff646ae0dbf71874cd3dd78e GIT binary patch literal 20704 zcmeFZbySq!7dHxmbV+w3h%`t@NrNb@bV*A~j&u%V7hXtFvz4Gj$t zUuTottQD)~Gmeyy5D$6lLYQta$2QAe8-qyjT7y&yXmhlP?CiKtg1uHPYsmopxMw7& zsf?HS9W9$Yff+(+a1){!D|;Xe6Zp<&-}r{Yjr`PB&c!CeiNbPWop8080M(CAs~mEf4&D?(ys^Ed9w6)p%<&q=EutWDoWStWfrJ^A6*pzKO-tA~P^ zk|#2LALH*NgQ`?j0{l&|_kEJSw>$&}b}K(fx0{GEJ;;`Ydof%>iDo&+3+I=ZHeH#! zrz-k)yt6I2YS{GKw>^e)EH0wY+g{neS5^OfTcq(zU#1Psfan{9l-cS)mM9M7u%md8 zZ~;x-QmR4r7g{1g#{4EN2~|3j=h1{x`)3)n*%t%Ma$?v5adLYy6es9HGt#UuTa66c z*7d=73L}CtTNae-Lz#8cd&mjaf(nkCpM!!?KT1x+_-nAOIn;OJ&o zPTnn8;5k?v!!R3HPOF2M3Yl`B8y0%0# zW8@n#e{j}9kK>j>0-cwsRq>Y1$En2r7R~i2?mbq$#ZGvyToug~Eij~cKLmWxNH0UjcSF$+jR}_QkiH}6_T#R5xf<#zxTufS zl4haRrG{hhY(E$tVoR^bM+To?4V9D#Z3ROBbyj}U4oQ#be&LBK(5aMgck7mr#JtQJ z#+q3c)E2#ED^39%Z8D0u!KX~9fMCd9KEX*}t6#v3t zlQe=@;@zi!^?6H$zZIs89cby6#$?+XmnmbCJI7KaQI^Mw=^}@*L?*Y$Zhs51%HCSR zy&{HSW3*Vvlj;D+6A=>bL!#|mO#=l@Tw7Z2D~0u7T5G2{U83)jTR#5LrNN!L!Dug$ zI*iY5E?{7zj?*5Y^FaGi(!#LLm1;nWuO4lV_TOgsiA9UK!;L0AgvaeJ3}j6(O~7@? z=uWgi?JF*iW@zg>`Z{mdJxOv>i7QV6r@9me*4I1{ zDQ&LZ0;Un86*{_KR-@)lpHwvJuHYs-OxbvRY&1-hb1&tj z*Oy7FTg&)c_WjpC1v?K+(s|`K^gi96bW?El{irv0A0DPmr|QAxQ@R#ANZRLP)l5`m zQB-ON>~sP9hXXRw03BILv{f#=Ex$tFOL}!Snz4NmMg-C zYwx)YYewhj-RtY?U2ozYjIq?2*nJxt>9Pj}#r^XpQFgCIeAw+yJYN zyJR7TcbAM~oWF-$r)Ia%wXoeE6&By~Ro12>deA;f{_#_Wj3vehy&lrwkTwI;NFSv8 z{gGUO9PuYUW`0cac}SxXl(UlZN;_^nmyM9WvANzi#tojiQ%Z(w}kSrNzbe)7kSXuqwxNyO6*pAELpd;kRk(o;;b8{xDyYYhVYeQ?hT~VyST1^TkJbax*!K^|pH3Uc`(OH2n1HCV0zc8`xe`jSO z8xhLk|9QgZ+!xSt>RPdcUkJNAR9?DZB!2b4+&O(>K4b9B-rrw`B4rImHCfH!F|*e= zOd|IMbIgTjK*#fA5$aR1G$QX*ECYLeclK&+)^shg5+p9i^vy2f#&tcQph z^R&3)@S^M$q|)lT|D?u?`}O&yJ-NSi#}PP7K<3j&g0qda9_D9CrgWg`YPW2?YV%6A zXJH^vpN|N)UTh#l`^_g7HlO69vI2Ff&4V*#=KMsqXGKYfla*bQ16T#c69%v8FX{0T zh+l*AzAMQmtST>c;S2%m8x7f~Cw(i6KM!^hGwT7Bk6jg zBvVaWOx)hxe>F@OuY{_aIO@!lJ8-?YuH;I-`mKFFTfAyo+J=@?5VPmnYM)nJ5ftM zd%)YoqN2sFQ!T&{#;&5J|H(bw^lC{wk<~-?*?qXCH_*8ciG9A20nYRZC9n7CR1zQN zeo8*$kWfkN)%pgQu9ZgLWljq>QpQ)nPiZ9PYw4^DAb#OGt0azMKP!PLEvh8yq;MLq z=r-@A0NvCW>-8ngW>v8&`fha{8S7kKOof{wm*6^NH~f=^MfEvU+5KTGpMrkT2Qsi~owv@HtI@`nfKCw7lzf}`|>nJpI zlpFrZAUz&xuTZk;W4Oy=-C(zZmcUQ?al@#27w$A7w%BNN!9LHM;Z8Fz(-Vu|S;!2* z)uo4U&kbfoz~#GM;^^Y(#&7eT(0uwOuse8UO^Fh*#ZEKlVBABJc}53M&5b<~r{%

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zdD9yWhFYJ$9Iw2Zyyj=Sb3<;>77j%(M_@AfF$1`^YiB(25vBzFVd307T+4r@L@NLz2>+)`AG1|}e(|#hZUS~biy8OG6?dFJoAKizLvF;4yojT( zSJ$pN<8Hr)eFkHzm~*0y;zKQlb1x3v-~W*Rbj_FicQ<%X+wA(cm$iu#ct{H*1qA$e z*t_kTmvWYbRN~900=K`oaHdTC%H*^Ae6wQxxi;fn8hArO#w9c(&ysvq@U= zoNM|Git(%;Ds8{;pSF3R_2LsV*KL_cAq>11YGM_SH~?#+MKuAd0xxmgI{G|Wg7LOQ ztMn_GRXgneF0?P)`jbeQK`$N)i^4(Qh z$ec;@k#!?#KUn|i17^_(caDpm@DuxB kr4Fb_nzH}z+yBfQXU@!6E^s~`cq$=-r>mdKI;Vst0I7?vIRF3v literal 0 HcmV?d00001 diff --git a/aws_demo/stereopipeline/readme.md b/aws_demo/stereopipeline/readme.md new file mode 100644 index 0000000..42ace91 --- /dev/null +++ b/aws_demo/stereopipeline/readme.md @@ -0,0 +1,198 @@ +# Stereo Pipeline # + +Disparity map generation is one of the first steps in creating a three dimensional map of the environment. The xfOpenCV library has components to build an image processing pipeline to compute a disparity map given the camera parameters and inputs from a stereo camera setup. + +Example demonstrates using of **`xf::InitUndistortRectifyMapInverse()`**, **`xf::remap()`** and **`xf::StereoBM()`** functions of xfOpenCV library in pipeline to compute disparity map. Example designed to process one image set (image from left and right cameras) once. If you would like to process many sets of images in loop you need to extract from kernel interface wrapper FPGA & kernel initialization and finalization operations and move them to host application before and after processing loop respectively. + +## Code structure ## + +![](./../Code_Structure.png) + +| Component | Source files | +| :- | :- | +| *Kernel Configuration* |**`xf_stereo_pipeline_config.h`**
    **`xf_config_params.h`**
    **`cameraParameters.h`**| +| *Host Application* |**`xf_stereo_pipeline_tb.cpp`**| +| *Kernel Interface Wrapper* |**`xf_stereo_pipeline_accel_aws.cpp`**| +| *Kernel Driver* |**`xcl2.cpp (in SDx library)`**| +| *Kernel* |**`xf_stereo_pipeline_kernel_aws.cpp`**| + +## Kernel Configuration # + +Following constants in header files define kernel configuration + +| Constant | Possible values | Default Value | Description | +| :- | :- | :- | :- | +| **`XF_WIDTH`** |**`> 0`**|**`1280`**|Maximum width of input image| +| **`XF_HEIGHT`** |**`> 0`**|**`720`**|Maximum height of input image| +| **`XF_CAMERA_MATRIX_SIZE`**|**`9`**|**`9`**|Number of element in camera coordinate system matrix (9 == 3 x 3 matrix)| +| **`XF_DIST_COEFF_SIZE`** |**`4, 5, 8`**|**`5`**|Size of array with distortion coefficients| +| **`NO_OF_DISPARITIES`** |**`0 < value < XF_WIDTH &&`**
    **`value >= PARALLEL_UNITS &&`**
    **`value % PARALLEL_UNITS == 0`**| **`48`**| Number of disparities | +| **`PARALLEL_UNITS`** |**` > 0`**|**`16`**|Number of disparities to be computed in parallel| +| **`SAD_WINDOW_SIZE`** |**`value % 2 == 1 &&`**
    **`> minimum image heght &&`**
    **`< 21`**|15|Size of the window used for disparity computation| +| **`XF_REMAP_BUFSIZE`** |**`> 0`**|**`128`** |Number of input image rows to be buffered inside **`xf::remap()`**| + +## Host Application ## +Host application reads two test images from file (images of left and right cameras) and forward them with cameras matrices, distortion coefficients and transformation matrices predefined in **`cameraParameters.h`** to the kernel for disparity map computation. + +Input images of example **_left.png_** and **_right.png_** placed in root folder of example. Disparity map calculated in kernel writing as image to **_hls_output.png_**. + + +## Kernel Interface Wrapper ## + +In conjunction with xfOpenCV library on host application is convenient to use xf::Mat or cv::Mat class and image manipulation functions. Unfortunately the XOCC kernel compiler doesn't support classes/structures as kernel input/output parameters. To pass xf::Mat to a kernel a wrapper is needed. The kernel interface wrapper convert interface convenient to host application to kernel interface available in Amazon F1 instance. + +For this example kernel interface wrapper also perform FPGA initialization, kernel downloading, initialization and finalization. + + +| Parameter Name |Direction|Type | Description | +| :- | :- | :- | :- | +| **`xf_img_l`** |Input | **`xf::Mat**`XF_WIDTH, XF_NPPC1> &`** | Input image from left camera | +| **`xf_img_r`** |Input | **`xf::Mat**`XF_WIDTH, XF_NPPC1> &`** | Input image from right camera | +| **`xf_img_d`** |Output| **`xf::Mat**` XF_WIDTH, XF_NPPC1> &`**| Output disparity map | +| **`bm_state`** |Input | **`xf::xFSBMState**`NO_OF_DISPARITIES, PARALLEL_UNITS> &`** | Set of various parameters regarding the stereo block matching algorithm | +| **`cameraMA_l_fix`**|Input | **`ap_fixed<32,12>`**| Left camera parameters matrix | +| **`cameraMA_r_fix`**|Input | **`ap_fixed<32,12>`**| Right camera parameters matrix | +| **`distC_l_fix`** |Input | **`ap_fixed<32,12>`**| Left image distortion coefficients | +| **`distC_r_fix`** |Input | **`ap_fixed<32,12>`**| Right image distortion coefficients | +| **`irA_l_fix`** |Input | **`ap_fixed<32,12>`**| Left image transformation matrix | +| **`irA_r_fix`** |Input | **`ap_fixed<32,12>`**| Right image transformation matrix | +| **`cm_size`** |Input | **`int`** | Size of camera parameters matrix | +| **`dc_size`** |Input | **`int`** | Size of distortion coefficients array | + +To forward these parameters to kernel wrapper create 10 buffers in global memory for images data, disparity map and transformation parameters matrices & arrays. Wrapper decompose **`xf_img_l`**, **`xf_img_r`**, **`xf_img_d`** and **`bm_state`** classes and pass member separately. Not all members of **`bm_state`** wrapper transfers to kernel. Most members of **`bm_state`** is predefined by template or calculated based on others members. Therefore kernel could fully restore values of host side **`bm_state`** based on template and restricted set of values. Wrapper forward as regular parameters of type **`int`** following members of **`bm_state`**: **`preFilterType`**, **`preFilterCap`**, **`minDisparity`**, **`textureThreshold`**, **`uniquenessRatio`** + + +## Kernel Driver ### + +Example use modification of SDx xcl kernel driver v.2 for Amazon F1 instance. Source code of this driver and description could be found in Amazon aws-fpga framework. + +## Kernel ## + +To calculate disparity map the kernel pipeline functions from xfOpenCV as shown on the image below.
    + +![](./Stereo_Pipeline_Diagram.png) + +The kernel has following parameters: + +| Parameter Name |Direction|Type | Description | +| :- | :- | :- | :- | +| **`img_l`** |Input | **`XF_TNAME(XF_8UC1, XF_NPPC1) *`** | Pointer to input image buffer from left camera | +| **`img_r`** |Input | **`XF_TNAME(XF_8UC1, XF_NPPC1) *`** | Pointer to input image buffer from right camera | +| **`cameraMA_l_fix`**|Input | **`ap_fixed<32,12> *`** | Pointer to buffer with left camera parameters matrix | +| **`cameraMA_r_fix`**|Input | **`ap_fixed<32,12> *`** | Pointer to buffer with right camera parameters matrix | +| **`distC_l_fix`** |Input | **`ap_fixed<32,12> *`** | Pointer to buffer with left image distortion coefficients | +| **`distC_r_fix`** |Input | **`ap_fixed<32,12> *`** | Pointer to buffer with right image distortion coefficients | +| **`irA_l_fix`** |Input | **`ap_fixed<32,12> *`** | Pointer to buffer with left image transformation matrix | +| **`irA_r_fix`** |Input | **`ap_fixed<32,12> *`** | Pointer to buffer with right image transformation matrix | +| **`img_d`** |Output| **`XF_TNAME(XF_16UC1, XF_NPPC1) *`**| Pointer to buffer for output disparity map | +| **`preFilterType`**
    **`preFilterCap`**
    **`minDisparity`**
    **`textureThreshold`**
    **`uniquenessRatio`**
    | Input | **`int`**|Restricted set members of **`xf::xFSBMState<...>`** structure which have arbitrary values. This set is enough to restore values of all member of **`xf::xFSBMState<...>`** same as on host side| +| **`cm_size`** |Input | **`int`** | Size of camera parameters matrix | +| **`dc_size`** |Input | **`int`** | Size of distortion coefficients array| +| **`rows`** |Input | **`int`** | Height of images and disparity map| +| **`cols`** |Input | **`int`** | Width of images and disparity map | + + + +During synthesis for FPGA kernel's parameters should be mapped to HW interfaces supported on Amazon F1 instance. To map kernel parameters **`HLS INTERFACE`** pragma should be used. Supported following interfaces: **`m_axi`** and **`s_axilite`**. For **`m_axi`** offset can be set through **`s_axilite`** port only. + +Because functions from xfOpenCV library operate with **`xf::Mat`** class as image container kernel's parameters should be packed back to objects of this class. To do this you need following: + +- Declare **`xf::Mat`** variable
    ***Note: due to XOCC issues use default constructor only - do not try initialize class members with help of non-default constructors*** +- Assign image size to **`rows`** and **`cols`** members +- Copy image from input buffer to **`data`** member of **`xf::Mat`** or from **`data`** to output buffer + +```cpp +xf::Mat xf_img_l; +xf::Mat xf_img_r; + +xf_img_l.rows = rows; xf_img_l.cols = cols; +xf_img_r.rows = rows; xf_img_r.cols = cols; + +for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + + for(int j=0; j < (cols >> (XF_BITSHIFT(XF_NPPC1))); j++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pCOLS/pNPC + #pragma HLS PIPELINE + #pragma HLS loop_flatten off + + *(xf_img_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(xf_img_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + } + } +``` +**Note: `#pragma HLS` doesn't support constants defined through **`#define`** directive - use `const int`. In the code above `pROWS`, `pCOLS` and `pNPC` are `const int` variables which get values from constants defined in xf_stereo_pipeline_config.h with help of #define directive** + +```cpp +const int pROWS = XF_HEIGHT; +const int pCOLS = XF_WIDTH; +const int pNPC = XF_NPPC1; +``` + +Simple declaration of **`xf::Mat`** object create buffer to store whole image with maximum defined size. This buffer use FPGA internal memory blocks and even big FPGA devices could not have enough resources. You should use **`#pragma HLS stream`** to ask HLS convert big RAM buffer to small FIFO buffer + +```cpp +xf::Mat xf_img_l; +xf::Mat xf_img_r; + +#pragma HLS stream variable=xf_img_l.data depth=pCOLS/pNPC +#pragma HLS stream variable=xf_img_r.data depth=pCOLS/pNPC +``` + +Please note that **`#pragma HLS stream`** could be used inside dataflow block, therefore kernel body should be declared as dataflow. This also permit pipeline functions from xfOpenCV library. + +```cpp +void kernel(...) +{ + #pragma HLS INTERFACE ... + #pragma HLS INTERFACE ... + + #pragma HLS dataflow + ... +} +``` + +## Known Issues + +- #### Kernel can't accept class/structure as parameters +**Solution**: use simple types, pass class/structure members as separate parameters of simple types and compose class/structure object back inside kernel. + +- #### Using non-default constructors can cause kernel suspension on FPGA and HW emulation +**Solution**: use default constructor for object declaration and next assign desired values to the members separately. + +```cpp +xf::Mat xf_img_l; +xf::Mat xf_img_r; + +xf_img_l.rows = rows; xf_img_l.cols = cols; +xf_img_r.rows = rows; xf_img_r.cols = cols; +``` + +- #### **`#pragma HLS`** doesn't support constants defined through **`#define`** directive. +**Solution**: use **`const int`** instead + + +```cpp +#define XF_HEIGHT 720 + +void kernel(...) +{ + const int pROWS = XF_HEIGHT; + + for(int i=0; i < rows; i++) + { + #pragma HLS LOOP_TRIPCOUNT min=1 max=pROWS + ... + } + ... +} +``` + + +## Revision History + +Date | Readme Version | Release Notes +-------- |----------------|------------------------- +May 2018 | 1.0 | Initial version. diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp index 2c8a90f..1bae1c1 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp @@ -12,22 +12,16 @@ typedef xf::xFSBMState xf_BMSt void stereo_pipeline_accel ( - xf::Mat &xf_img_l , xf::Mat &xf_img_r, - - xf::Mat &xf_img_s , - - xf::Mat &xf_map_x_l , - xf::Mat &xf_map_y_l , - xf::Mat &xf_map_x_r, - xf::Mat &xf_map_y_r, - - xf::Mat &xf_remaped_l , xf::Mat &xf_remaped_r, + // Left | Right + xf::Mat &xf_img_l, xf::Mat &xf_img_r, + + xf::Mat &xf_img_d, xf::xFSBMState &bm_state, - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , int cm_size, int dc_size @@ -64,7 +58,7 @@ void stereo_pipeline_accel cl::Buffer buffer_dc_l(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), dc_size * 4, (void*)distC_l_fix ); cl::Buffer buffer_dc_r(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), dc_size * 4, (void*)distC_r_fix ); cl::Buffer buffer_ir_l(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY ), cm_size * 4, (void*)irA_l_fix ); cl::Buffer buffer_ir_r(context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_READ_ONLY), cm_size * 4, (void*)irA_r_fix ); - cl::Buffer buffer_s (context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY), pixel_qnt * 2, xf_img_s.data); + cl::Buffer buffer_d (context, cl_mem_flags(CL_MEM_USE_HOST_PTR | CL_MEM_WRITE_ONLY), pixel_qnt * 2, xf_img_d.data); std::vector kernel_wr_buf; @@ -94,7 +88,7 @@ void stereo_pipeline_accel //----------- Launch the Kernel -----------// - krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_l, buffer_r, buffer_cm_l, buffer_cm_r, buffer_dc_l, buffer_dc_r, buffer_ir_l, buffer_ir_r, buffer_s, bm_state.preFilterType, + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_l, buffer_r, buffer_cm_l, buffer_cm_r, buffer_dc_l, buffer_dc_r, buffer_ir_l, buffer_ir_r, buffer_d, bm_state.preFilterType, bm_state.preFilterCap, bm_state.minDisparity, bm_state.textureThreshold, @@ -108,7 +102,7 @@ void stereo_pipeline_accel //----------- Copy Result from Device Global Memory to Host Local Memory -----------// std::vector kernel_rd_buf; - kernel_rd_buf.push_back(buffer_s); + kernel_rd_buf.push_back(buffer_d); q.enqueueMigrateMemObjects(kernel_rd_buf, CL_MIGRATE_MEM_OBJECT_HOST); diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h index 371bfb9..ec9eefc 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_config.h +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_config.h @@ -46,29 +46,19 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define XF_CAMERA_MATRIX_SIZE 9 #define XF_DIST_COEFF_SIZE 5 -#define IN_TYPE ap_uint<8> -#define OUT_TYPE ap_uint<16> - void stereo_pipeline_accel ( - xf::Mat &xf_img_l , xf::Mat &xf_img_r, - - xf::Mat &xf_img_s , - - - xf::Mat &xf_map_x_l , - xf::Mat &xf_map_y_l , - xf::Mat &xf_map_x_r, - xf::Mat &xf_map_y_r, - - xf::Mat &xf_remaped_l , xf::Mat &xf_remaped_r, + // Left | Right + xf::Mat &xf_img_l, xf::Mat &xf_img_r, + + xf::Mat &xf_img_s, xf::xFSBMState &bm_state, - ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , int cm_size, int dc_size diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index aaae0d3..2080d2d 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -13,25 +13,15 @@ extern "C" { void xf_stereo_pipeline - ( - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l , + ( + // Left | Right + XF_TNAME(XF_8UC1, XF_NPPC1) *img_l, XF_TNAME(XF_8UC1, XF_NPPC1) *img_r, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, - -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, - -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, - - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s , + XF_TNAME(XF_16UC1, XF_NPPC1) *img_d , int preFilterType, int preFilterCap, @@ -47,61 +37,33 @@ extern "C" ); } -void xf_stereo_pipeline( - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_l, +void xf_stereo_pipeline + ( + // Left | Right + XF_TNAME(XF_8UC1, XF_NPPC1) *img_l, XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, - XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, - -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, - -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, - -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, - - ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, - ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , - ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , + ap_fixed<32,12> *cameraMA_l_fix , ap_fixed<32,12> *cameraMA_r_fix, + ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , + ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , - XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s, + XF_TNAME(XF_16UC1, XF_NPPC1) *img_d, - int preFilterType, - int preFilterCap, - int minDisparity, - int textureThreshold, - int uniquenessRatio, + int preFilterType, + int preFilterCap, + int minDisparity, + int textureThreshold, + int uniquenessRatio, - int cm_size, - int dc_size, + int cm_size, + int dc_size, - int rows, - int cols - ) + int rows, + int cols + ) { #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_i_l #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_i_r -// #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 -// #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 - -// #pragma HLS INTERFACE m_axi port=img_map_x_r offset=slave bundle=gmem_1 -// #pragma HLS INTERFACE m_axi port=img_map_y_r offset=slave bundle=gmem_1 - -// #pragma HLS INTERFACE m_axi port=img_remapped_l offset=slave bundle=gmem_0_l -// #pragma HLS INTERFACE m_axi port=img_remapped_r offset=slave bundle=gmem_0_r - -// #pragma HLS INTERFACE m_axi port=mapxLMat offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=mapyLMat offset=slave bundle=gmem -// -// #pragma HLS INTERFACE m_axi port=mapxRMat offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=mapyRMat offset=slave bundle=gmem -// -// #pragma HLS INTERFACE m_axi port=leftRemappedMat offset=slave bundle=gmem -// #pragma HLS INTERFACE m_axi port=rightRemappedMat offset=slave bundle=gmem - - #pragma HLS INTERFACE m_axi port=cameraMA_l_fix offset=slave bundle=gmem_l #pragma HLS INTERFACE m_axi port=cameraMA_r_fix offset=slave bundle=gmem_r @@ -111,31 +73,12 @@ void xf_stereo_pipeline( #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem_l #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem_r - #pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem_s + #pragma HLS INTERFACE m_axi port=img_d offset=slave bundle=gmem_s #pragma HLS INTERFACE s_axilite port=img_l bundle=control #pragma HLS INTERFACE s_axilite port=img_r bundle=control -// #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control -// #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control - -// #pragma HLS INTERFACE s_axilite port=img_map_x_r bundle=control -// #pragma HLS INTERFACE s_axilite port=img_map_y_r bundle=control - -// #pragma HLS INTERFACE s_axilite port=img_remapped_l bundle=control -// #pragma HLS INTERFACE s_axilite port=img_remapped_r bundle=control - -// #pragma HLS INTERFACE s_axilite port=mapxLMat bundle=control -// #pragma HLS INTERFACE s_axilite port=mapyLMat bundle=control - -// #pragma HLS INTERFACE s_axilite port=mapxRMat bundle=control -// #pragma HLS INTERFACE s_axilite port=mapyRMat bundle=control - -// #pragma HLS INTERFACE s_axilite port=leftRemappedMat bundle=control -// #pragma HLS INTERFACE s_axilite port=rightRemappedMat bundle=control - - #pragma HLS INTERFACE s_axilite port=cameraMA_l_fix bundle=control #pragma HLS INTERFACE s_axilite port=cameraMA_r_fix bundle=control @@ -145,7 +88,8 @@ void xf_stereo_pipeline( #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control - #pragma HLS INTERFACE s_axilite port=img_s bundle=control + + #pragma HLS INTERFACE s_axilite port=img_d bundle=control #pragma HLS INTERFACE s_axilite port=preFilterType bundle=control @@ -172,47 +116,48 @@ void xf_stereo_pipeline( const int pNPC = XF_NPPC1; - xf::Mat leftMat ; // don't use non default constructor xf::Mat<...> leftMat(rows, cols) - kernel will suspend on hw emulation and FPGA - xf::Mat rightMat; + xf::Mat xf_img_l; // don't use non default constructor xf::Mat<...> xf_img_l(rows, cols) - kernel will suspend on hw emulation and FPGA + xf::Mat xf_img_r; - #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC - #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_img_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_img_r.data depth=pCOLS/pNPC - xf::Mat dispMat; + xf::Mat xf_img_d; - #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_img_d.data depth=pCOLS/pNPC - xf::Mat map_x_l; - xf::Mat map_y_l; + xf::Mat xf_map_x_l; + xf::Mat xf_map_y_l; - #pragma HLS stream variable=map_x_l.data depth=pCOLS/pNPC - #pragma HLS stream variable=map_y_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_map_x_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_map_y_l.data depth=pCOLS/pNPC - xf::Mat map_x_r; - xf::Mat map_y_r; + xf::Mat xf_map_x_r; + xf::Mat xf_map_y_r; - #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC - #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_map_x_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_map_y_r.data depth=pCOLS/pNPC - xf::Mat remapped_l; - xf::Mat remapped_r; + xf::Mat xf_remapped_l; + xf::Mat xf_remapped_r; - #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC - #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_remapped_l.data depth=pCOLS/pNPC + #pragma HLS stream variable=xf_remapped_r.data depth=pCOLS/pNPC xf::xFSBMState bm_state; - leftMat .rows = rows; leftMat .cols = cols; - rightMat.rows = rows; rightMat.cols = cols; - dispMat .rows = rows; dispMat .cols = cols; - map_x_l .rows = rows; map_x_l .cols = cols; - map_y_l .rows = rows; map_y_l .cols = cols; - map_x_r .rows = rows; map_x_r .cols = cols; - map_y_r .rows = rows; map_y_r .cols = cols; + xf_img_l.rows = rows; xf_img_l.cols = cols; + xf_img_r.rows = rows; xf_img_r.cols = cols; + xf_img_d.rows = rows; xf_img_d.cols = cols; + + xf_map_x_l.rows = rows; xf_map_x_l.cols = cols; + xf_map_y_l.rows = rows; xf_map_y_l.cols = cols; + xf_map_x_r.rows = rows; xf_map_x_r.cols = cols; + xf_map_y_r.rows = rows; xf_map_y_r.cols = cols; - remapped_l.rows = rows; remapped_l.cols = cols; - remapped_r.rows = rows; remapped_r.cols = cols; + xf_remapped_l.rows = rows; xf_remapped_l.cols = cols; + xf_remapped_r.rows = rows; xf_remapped_r.cols = cols; bm_state.preFilterType = preFilterType ; bm_state.preFilterCap = preFilterCap ; @@ -230,26 +175,26 @@ void xf_stereo_pipeline( #pragma HLS PIPELINE #pragma HLS loop_flatten off - *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(xf_img_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(xf_img_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); } } - xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_l_fix, distC_l_fix, irA_l_fix, map_x_l, map_y_l, cm_size, dc_size); + xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_l_fix, distC_l_fix, irA_l_fix, xf_map_x_l, xf_map_y_l, cm_size, dc_size); - xf::remap ( leftMat, remapped_l, map_x_l, map_y_l ); + xf::remap ( xf_img_l, xf_remapped_l, xf_map_x_l, xf_map_y_l ); - xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_r_fix, distC_r_fix, irA_r_fix, map_x_r, map_y_r, cm_size, dc_size); + xf::InitUndistortRectifyMapInverse < XF_CAMERA_MATRIX_SIZE, XF_DIST_COEFF_SIZE, XF_32FC1, XF_HEIGHT, XF_WIDTH, XF_NPPC1 > (cameraMA_r_fix, distC_r_fix, irA_r_fix, xf_map_x_r, xf_map_y_r, cm_size, dc_size); - xf::remap ( rightMat, remapped_r, map_x_r, map_y_r); + xf::remap ( xf_img_r, xf_remapped_r, xf_map_x_r, xf_map_y_r); - xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state); + xf::StereoBM ( xf_remapped_l, xf_remapped_r, xf_img_d, bm_state); @@ -264,19 +209,8 @@ void xf_stereo_pipeline( #pragma HLS PIPELINE #pragma HLS loop_flatten off - //*(img_map_x_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_x_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - //*(img_map_y_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(map_y_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - - //*(img_remapped_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_l.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - //*(img_remapped_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(remapped_r.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - - *(img_s + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(dispMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(img_d + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(xf_img_d.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); } } } - - - - - diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp index e5d023a..273e67b 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_tb.cpp @@ -27,8 +27,20 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ***************************************************************************/ -#include "xf_headers.h" + +#include +#include +#include + +#include "opencv/cv.h" +#include "opencv2/imgproc/imgproc.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/video/tracking.hpp" + +#include "common/xf_sw_utils.h" + #include "xf_stereo_pipeline_config.h" + #include "cameraParameters.h" using namespace std; @@ -57,15 +69,7 @@ int main(int argc, char** argv) int rows = cv_img_l.rows; int cols = cv_img_l.cols; - xf::Mat mapxLMat(rows,cols); - xf::Mat mapyLMat(rows,cols); - xf::Mat mapxRMat(rows,cols); - xf::Mat mapyRMat(rows,cols); - - xf::Mat leftRemappedMat(rows,cols); - xf::Mat rightRemappedMat(rows,cols); - - xf::Mat xf_img_s(rows,cols); + xf::Mat xf_img_d(rows,cols); // camera parameters for rectification @@ -106,13 +110,13 @@ int main(int argc, char** argv) printf("starting the kernel...\n"); - stereo_pipeline_accel(xf_img_l, xf_img_r, xf_img_s, mapxLMat, mapyLMat, mapxRMat, mapyRMat, leftRemappedMat, rightRemappedMat, bm_state, cameraMA_l_fix, cameraMA_r_fix, distC_l_fix, distC_r_fix, irA_l_fix, irA_r_fix, 9, 5); + stereo_pipeline_accel(xf_img_l, xf_img_r, xf_img_d, bm_state, cameraMA_l_fix, cameraMA_r_fix, distC_l_fix, distC_r_fix, irA_l_fix, irA_r_fix, 9, 5); cv::Mat out_disp_16(rows,cols,CV_16UC1); cv::Mat out_disp_08(rows,cols,CV_8UC1 ); - out_disp_16.data = xf_img_s.copyFrom(); + out_disp_16.data = xf_img_d.copyFrom(); out_disp_16.convertTo(out_disp_08, CV_8U, (256.0/NO_OF_DISPARITIES)/(16.)); From e9c1d23f65ed70e6d6aec966cba30990c96d8639 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Tue, 29 May 2018 19:04:35 +0900 Subject: [PATCH 62/73] xf_pyr_dense_optical_flow URAM optimization: findGradients() is roughly done (no co-sim and other checks). --- include/imgproc/xf_pyr_dense_optical_flow.hpp | 2 +- .../xf_pyr_dense_optical_flow_find_gradients.hpp | 11 ++++++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow.hpp b/include/imgproc/xf_pyr_dense_optical_flow.hpp index 7727606..931cdfd 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow.hpp @@ -293,7 +293,7 @@ const int ITCMP_INT = FLOW_INT+12; scale_up( strmFlowU_split, strmFlowU_scaled, strmFlowV_split, strmFlowV_scaled, prev_rows, prev_cols, rows, cols, 2, scale_up_flag, scale_in); //Finding the Temporal and space gradients for the input set of images - findGradients(currImg, nextImg, strmIt_float, strmIx, strmIy, rows, cols, strmFlowU_scaled, strmFlowV_scaled, strmFlowU_in1, strmFlowV_in1, level); + findGradients(currImg, nextImg, strmIt_float, strmIx, strmIy, rows, cols, strmFlowU_scaled, strmFlowV_scaled, strmFlowU_in1, strmFlowV_in1, level); //finding the hessian matrix find_G_and_b_matrix(strmIx, strmIy, strmIt_float, sigmaIx2, sigmaIy2, sigmaIxIy, sigmaIxIt, sigmaIyIt, rows, cols, level); diff --git a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp index 4fcac07..2f6c53f 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp @@ -98,7 +98,7 @@ ap_fixed findIntensity(unsigned char lineBuffer[NUM_LINES+1][MA } // end findIntensity() -template +template void findGradients(unsigned char *currImg3, unsigned char *nextImg, hls::stream< ap_fixed > &strmIt, hls::stream< ap_int<9> > &strmIx, hls::stream< ap_int<9> > &strmIy, unsigned int rows, unsigned int cols, hls::stream< ap_fixed > &strmFlowUin, hls::stream< ap_fixed > &strmFlowVin, hls::stream< ap_fixed > &strmFlowU_in1, hls::stream< ap_fixed > &strmFlowV_in1, int level) { @@ -133,10 +133,15 @@ sprintf(name,"gy_hw%d.txt",level); unsigned int read_nxtimg = 0; unsigned char lineBuffer[NUM_LINES+1][MAXWIDTH]; -#pragma HLS array_partition variable=lineBuffer complete dim=1 +#pragma HLS array_reshape variable=lineBuffer complete dim=1 unsigned char curr_img_buf[2][MAXWIDTH]; -#pragma HLS array_partition variable=curr_img_buf complete dim=1 +#pragma HLS array_reshape variable=curr_img_buf complete dim=1 + +if (USE_URAM) { +#pragma HLS RESOURCE variable=lineBuffer core=XPM_MEMORY uram +#pragma HLS RESOURCE variable=curr_img_buf core=XPM_MEMORY uram +} 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; From 254a58eb8e07bf0d1c147e5672f9ea66e81686bb Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 09:49:53 +0900 Subject: [PATCH 63/73] xf_pyr_dense_optical_flow URAM optimization: comment added with suggested fix of possible padding problem. --- include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp index 2f6c53f..776b211 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp @@ -71,6 +71,8 @@ ap_fixed findIntensity(unsigned char lineBuffer[NUM_LINES+1][MA // 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 fracx = ap_fixed(tmp_locj - lx0); From 183689a1780b24c636bb5347a7d913904a012cce Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 10:10:17 +0900 Subject: [PATCH 64/73] xf_remap() function: non-functional extra changes (spaces, tabs, cosmetics) are rolled-back. --- include/imgproc/xf_remap.hpp | 495 +++++++++++++++++------------------ 1 file changed, 247 insertions(+), 248 deletions(-) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index 40e53cd..e4f26f5 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -46,128 +46,129 @@ namespace xf{ template void xFRemapNNI( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - DST_T buf[WIN_ROW][COLS]; + DST_T buf[WIN_ROW][COLS]; #pragma HLS ARRAY_PARTITION variable=buf complete dim=1 - SRC_T s; + SRC_T s; - ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; + ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram - SRC_T sx8[8]; + SRC_T sx8[8]; #pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 - DST_T d; - MAP_T mx_fl; - MAP_T my_fl; + DST_T d; + MAP_T mx_fl; + MAP_T my_fl; - assert(rows <= ROWS); - assert(cols <= COLS); - int ishift=WIN_ROW/2; - int r[WIN_ROW] = {}; - int row_tripcount = ROWS+WIN_ROW; + assert(rows <= ROWS); + assert(cols <= COLS); + int ishift=WIN_ROW/2; + int r[WIN_ROW] = {}; + int row_tripcount = ROWS+WIN_ROW; - loop_height: for( int i=0; i< rows+ishift; i++) - { + loop_height: for( int i=0; i< rows+ishift; i++) + { #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - loop_width: for( int j=0; j< cols; j++) - { + loop_width: for( int j=0; j< cols; j++) + { #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false #pragma HLS dependence variable=r inter false #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if(i> s; + if(i> s; if (USE_URAM) { - sx8[j%8] = s; - for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; - } - } + sx8[j%8] = s; + for (int k=0; k<8; k++) bufUram[i % WIN_ROW][j/8](k*8+7,k*8) = sx8[k]; + } + } if (!USE_URAM) - buf[i % WIN_ROW][j] = s; - r[i % WIN_ROW] = i; - - if(i>=ishift) - { - mapx >> mx_fl; - mapy >> my_fl; - int x = (int)mx_fl; - int y = (int)my_fl; - - bool in_range = (y>=0 && y=0 && x=ishift) + { + mapx >> mx_fl; + mapy >> my_fl; + int x = (int)mx_fl; + int y = (int)my_fl; + + bool in_range = (y>=0 && y=0 && x void xFRemapLI( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - // Add one to always get zero for boundary interpolation. Maybe need initialization here? - DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; + // Add one to always get zero for boundary interpolation. Maybe need initialization here? + //AK,ZoTech: this buffer needs initialization as workaround for correct boundary filtering, otherwise X are generated in co-sim. + DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 - SRC_T s; - + SRC_T s; + //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram SRC_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables - SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency + SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency #pragma HLS ARRAY_PARTITION complete variable=s3x3 dim=0 - SRC_T s3x3_2[9]; + SRC_T s3x3_2[9]; SRC_T s0,s3; - MAP_T mx; - MAP_T my; + MAP_T mx; + MAP_T my; - assert(rows <= ROWS); - assert(cols <= COLS); - int ishift=WIN_ROW/2; - int r1[WIN_ROW] = {}; - int r2[WIN_ROW] = {}; - int row_tripcount = ROWS+WIN_ROW; + assert(rows <= ROWS); + assert(cols <= COLS); + int ishift=WIN_ROW/2; + int r1[WIN_ROW] = {}; + int r2[WIN_ROW] = {}; + int row_tripcount = ROWS+WIN_ROW; - loop_height: for( int i=0; i< rows+ishift; i++) - { + loop_height: for( int i=0; i< rows+ishift; i++) + { #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - loop_width: for( int j=0; j< cols+3; j++) - { + loop_width: for( int j=0; j< cols+3; j++) + { #pragma HLS PIPELINE II=1 #pragma HLS dependence variable=buf inter false #pragma HLS dependence variable=bufUram inter false @@ -176,235 +177,233 @@ void xFRemapLI( #pragma HLS dependence variable=r2 inter false #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if(i> s; - } + if(i> s; + } if (USE_URAM && i0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; + if ((i/2)>0 && (j/2)>1) for (int k=0; k<9; k++) bufUram[(i/2-1)%(WIN_ROW/2)][j/2-2](k*8+7,k*8) = s3x3[!!(j&2)][k]; } else if (j0) { - for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); + for (int k=0; k<6; k++) s3x3[!!(j&2)][k] = bufUram[(i/2-1)%(WIN_ROW/2)][j/2](k*8+7,k*8); s3x3[!!(j&2)][6] = s0; s3x3[!!(j&2)][7] = s; s3x3[!!(j&2)][8] = 0; } - } + } } else if (j0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = s3x3_2[k]; + if ((j/2)>0) for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2-1](k*8+7,k*8) = s3x3_2[k]; } else { // odd col s3x3_2[0] = s0; - s3x3_2[1] = lineBuf[j]; + s3x3_2[1] = lineBuf[j]; s3x3_2[3] = s3; - s3x3_2[4] = s; + s3x3_2[4] = s; - // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) + // this clearing is needed only for case of bottom zero padding (curently last(bottom-right) sample value is used) s3x3_2[6] = 0; s3x3_2[7] = 0; s3x3_2[8] = 0; - //if (j==(cols-1)) { //these clearing and save is needed only at last column but may done every cycle - s3x3_2[2] = 0; - s3x3_2[5] = 0; - for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = s3x3_2[k]; - //} - } + //if (j==(cols-1)) { //these clearing and save is needed only at last column but may done every cycle + s3x3_2[2] = 0; + s3x3_2[5] = 0; + for (int k=0; k<9; k++) bufUram[(i/2)%(WIN_ROW/2)][j/2](k*8+7,k*8) = s3x3_2[k]; + //} + } } } if (!USE_URAM && j=ishift && j> mx; - mapy >> my; - float x_fl = mx; - float y_fl = my; - - int x_fix = (int) ((float)x_fl * (float)HLS_INTER_TAB_SIZE); // mapx data in A16.HLS_INTER_TAB_SIZE format - int y_fix = (int) ((float)y_fl * (float)HLS_INTER_TAB_SIZE); // mapy data in A16.HLS_INTER_TAB_SIZE format - - int x = x_fix >> HLS_INTER_BITS; - int y = y_fix >> HLS_INTER_BITS; - int x_frac = x_fix & (HLS_INTER_TAB_SIZE-1); - int y_frac = y_fix & (HLS_INTER_TAB_SIZE-1); - int ynext = y+1; - - ap_ufixed iu, iv; - iu(HLS_INTER_BITS-1, 0) = x_frac; - iv(HLS_INTER_BITS-1, 0) = y_frac; - - // Note that the range here is larger than expected by 1 horizontal and 1 vertical pixel, to allow - // Interpolating at the edge of the image - bool in_range = (y>=0 && y=0 && x=ishift && j> mx; + mapy >> my; + float x_fl = mx; + float y_fl = my; + + int x_fix = (int) ((float)x_fl * (float)HLS_INTER_TAB_SIZE); // mapx data in A16.HLS_INTER_TAB_SIZE format + int y_fix = (int) ((float)y_fl * (float)HLS_INTER_TAB_SIZE); // mapy data in A16.HLS_INTER_TAB_SIZE format + + int x = x_fix >> HLS_INTER_BITS; + int y = y_fix >> HLS_INTER_BITS; + int x_frac = x_fix & (HLS_INTER_TAB_SIZE-1); + int y_frac = y_fix & (HLS_INTER_TAB_SIZE-1); + int ynext = y+1; + + ap_ufixed iu, iv; + iu(HLS_INTER_BITS-1, 0) = x_frac; + iv(HLS_INTER_BITS-1, 0) = y_frac; + + // Note that the range here is larger than expected by 1 horizontal and 1 vertical pixel, to allow + // Interpolating at the edge of the image + bool in_range = (y>=0 && y=0 && x k01 = (1-iv)*( iu); // iu-iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k10 = ( iv)*(1-iu); // iv-iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k11 = ( iv)*( iu); // iu*iv - ap_ufixed<2*HLS_INTER_BITS + 1, 1> k00 = 1-iv-k01; //(1-iv)*(1-iu) = 1-iu-iv+iu*iv = 1-iv-k01 - assert( k00 + k01 + k10 + k11 == 1); - - DST_T d; - - if(in_range) - d = d00 * k00 + d01 * k01 + d10 * k10 + d11 * k11; - else - d = 0; - - dst<< d; - } - } - } + d00 = d3x3[(y%2 )*3 + x%2 ]; + d01 = d3x3[(y%2 )*3 + x%2+1]; + d10 = d3x3[(y%2+1)*3 + x%2 ]; + d11 = d3x3[(y%2+1)*3 + x%2+1]; + } else { + d00=buf[ya0][0][xa0][0]; + d01=buf[ya0][0][xa1][1]; + d10=buf[ya1][1][xa0][0]; + d11=buf[ya1][1][xa1][1]; + + if(x%2) { + std::swap(d00,d01); + std::swap(d10,d11); + } + if(y%2) { + std::swap(d00,d10); + std::swap(d01,d11); + } + } + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k01 = (1-iv)*( iu); // iu-iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k10 = ( iv)*(1-iu); // iv-iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k11 = ( iv)*( iu); // iu*iv + ap_ufixed<2*HLS_INTER_BITS + 1, 1> k00 = 1-iv-k01; //(1-iv)*(1-iu) = 1-iu-iv+iu*iv = 1-iv-k01 + assert( k00 + k01 + k10 + k11 == 1); + + DST_T d; + + if(in_range) + d = d00 * k00 + d01 * k01 + d10 * k10 + d11 * k11; + else + d = 0; + + dst<< d; + } + } + } } template void xFRemapKernel( - hls::stream< SRC_T > &src, - hls::stream< DST_T > &dst, - hls::stream< MAP_T > &mapx, - hls::stream< MAP_T > &mapy, - uint16_t rows, uint16_t cols + hls::stream< SRC_T > &src, + hls::stream< DST_T > &dst, + hls::stream< MAP_T > &mapx, + hls::stream< MAP_T > &mapy, + uint16_t rows, uint16_t cols ) { - if(INTERPOLATION_TYPE == XF_INTERPOLATION_NN) { - xFRemapNNI(src, dst, mapx, mapy,rows,cols); - } else if(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR) { - xFRemapLI(src, dst, mapx, mapy,rows,cols); - } - else { - assert (((INTERPOLATION_TYPE == XF_INTERPOLATION_NN)||(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR)) && "The INTERPOLATION_TYPE must be either XF_INTERPOLATION_NN or XF_INTERPOLATION_BILINEAR"); - } + if(INTERPOLATION_TYPE == XF_INTERPOLATION_NN) { + xFRemapNNI(src, dst, mapx, mapy,rows,cols); + } else if(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR) { + xFRemapLI(src, dst, mapx, mapy,rows,cols); + } + else { + assert (((INTERPOLATION_TYPE == XF_INTERPOLATION_NN)||(INTERPOLATION_TYPE == XF_INTERPOLATION_BILINEAR)) && "The INTERPOLATION_TYPE must be either XF_INTERPOLATION_NN or XF_INTERPOLATION_BILINEAR"); + } } //#pragma SDS data data_mover("_src_mat.data":AXIDMA_SIMPLE,"_remapped_mat.data":AXIDMA_SIMPLE,"_mapx_mat.data":AXIDMA_SIMPLE,"_mapy_mat.data":AXIDMA_SIMPLE) //#pragma SDS data mem_attribute("_src_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_remapped_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapx_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS,"_mapy_mat.data":NON_CACHEABLE|PHYSICAL_CONTIGUOUS) #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL,"_remapped_mat.data":SEQUENTIAL,"_mapx_mat.data":SEQUENTIAL,"_mapy_mat.data":SEQUENTIAL) #pragma SDS data copy("_src_mat.data"[0:"_src_mat.rows*_src_mat.cols"], "_remapped_mat.data"[0:"_remapped_mat.size"],"_mapx_mat.data"[0:"_mapx_mat.size"],"_mapy_mat.data"[0:"_mapy_mat.size"]) - -template -void remap(xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat) +template +void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, + xf::Mat &_mapy_mat) { - #pragma HLS inline off - #pragma HLS dataflow +#pragma HLS inline off +#pragma HLS dataflow - assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); -// assert ((SRC_T == XF_8UC1) && "The SRC_T must be XF_8UC1"); -// assert ((DST_T == XF_8UC1) && "The DST_T must be XF_8UC1"); - assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); + assert ((MAP_T == XF_32FC1) && "The MAP_T must be XF_32FC1"); +// assert ((SRC_T == XF_8UC1) && "The SRC_T must be XF_8UC1"); +// assert ((DST_T == XF_8UC1) && "The DST_T must be XF_8UC1"); + assert ((NPC == XF_NPPC1) && "The NPC must be XF_NPPC1"); - hls::stream< XF_TNAME(SRC_T,NPC)> _src; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; - hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; - hls::stream< XF_TNAME(DST_T,NPC)> _remapped; + hls::stream< XF_TNAME(SRC_T,NPC)> _src; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapx; + hls::stream< XF_TNAME(MAP_T,NPC)> _mapy; + hls::stream< XF_TNAME(DST_T,NPC)> _remapped; - int depth_est = WIN_ROWS*_src_mat.cols; + int depth_est = WIN_ROWS*_src_mat.cols; - uint16_t rows = _src_mat.rows; - uint16_t cols = _src_mat.cols; + uint16_t rows = _src_mat.rows; + uint16_t cols = _src_mat.cols; - int loop_count = (rows*cols); - int TC=(ROWS*COLS); + int loop_count = (rows*cols); + int TC=(ROWS*COLS); - int ishift = WIN_ROWS/2; - int row_tripcount = ROWS+WIN_ROWS; + int ishift = WIN_ROWS/2; + int row_tripcount = ROWS+WIN_ROWS; - xfremap_rows_loop: - for (int i = 0; i < rows+ishift; i++) - { - #pragma HLS LOOP_FLATTEN OFF - #pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - - xfremap_cols_loop: - for (int j = 0; j < cols; j++) - { - #pragma HLS pipeline ii=1 - #pragma HLS LOOP_TRIPCOUNT min=1 max=COLS + xfremap_rows_loop: + for (int i = 0; i < rows+ishift; i++) + { +#pragma HLS LOOP_FLATTEN OFF +#pragma HLS LOOP_TRIPCOUNT min=1 max=row_tripcount - if (i < rows) - { - _src.write(*(_src_mat.data + i*cols + j)); - } + xfremap_cols_loop: + for (int j = 0; j < cols; j++) + { +#pragma HLS pipeline ii=1 +#pragma HLS LOOP_TRIPCOUNT min=1 max=COLS - if (i >= ishift) - { - _mapx.write(*(_mapx_mat.data + (i-ishift)*cols + j)); - _mapy.write(*(_mapy_mat.data + (i-ishift)*cols + j)); - } - } - } - - xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); - - xfremap_output_loop: - for (int i = 0; i < loop_count; i++) - { - #pragma HLS pipeline ii=1 - #pragma HLS LOOP_TRIPCOUNT min=1 max=TC - _remapped_mat.data[i] = _remapped.read(); - } + if (i < rows) { + _src.write(*(_src_mat.data + i*cols + j)); + } + + if (i >= ishift) { + _mapx.write(*(_mapx_mat.data + (i-ishift)*cols + j)); + _mapy.write(*(_mapy_mat.data + (i-ishift)*cols + j)); + } + } + } + + xFRemapKernel (_src, _remapped, _mapx, _mapy, rows, cols); + + xfremap_output_loop: + for (int i = 0; i < loop_count; i++) + { +#pragma HLS pipeline ii=1 +#pragma HLS LOOP_TRIPCOUNT min=1 max=TC + _remapped_mat.data[i] = _remapped.read(); + } } } From 5057dd49a071ff824eef803176c0c64708d3e799 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 10:37:40 +0900 Subject: [PATCH 65/73] xf_pyr_dense_optical_flow URAM optimization: extra default values for template parameters are removed. --- include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp | 2 +- include/imgproc/xf_pyr_dense_optical_flow_scale.hpp | 2 +- include/imgproc/xf_pyr_down_gaussian_blur.hpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp index 776b211..c008a23 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp @@ -100,7 +100,7 @@ ap_fixed findIntensity(unsigned char lineBuffer[NUM_LINES+1][MA } // end findIntensity() -template +template void findGradients(unsigned char *currImg3, unsigned char *nextImg, hls::stream< ap_fixed > &strmIt, hls::stream< ap_int<9> > &strmIx, hls::stream< ap_int<9> > &strmIy, unsigned int rows, unsigned int cols, hls::stream< ap_fixed > &strmFlowUin, hls::stream< ap_fixed > &strmFlowVin, hls::stream< ap_fixed > &strmFlowU_in1, hls::stream< ap_fixed > &strmFlowV_in1, int level) { diff --git a/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp b/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp index 775af57..9b11634 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_scale.hpp @@ -215,7 +215,7 @@ void process(ap_fixed buf[2][MAXWIDTH], ap_fixed +template void scale_up( hls::stream< ap_fixed > &inStrm0, hls::stream< ap_fixed > &outStrm0, hls::stream< ap_fixed > &inStrm1, hls::stream< ap_fixed > &outStrm1, unsigned short int inRows, unsigned short int inCols, unsigned short int outRows, unsigned short int outCols, int mul, const bool scale_up_flag, float scale_comp) { diff --git a/include/imgproc/xf_pyr_down_gaussian_blur.hpp b/include/imgproc/xf_pyr_down_gaussian_blur.hpp index 069db49..1a1ede9 100644 --- a/include/imgproc/xf_pyr_down_gaussian_blur.hpp +++ b/include/imgproc/xf_pyr_down_gaussian_blur.hpp @@ -246,7 +246,7 @@ if (USE_URAM) { } // Row_Loop } -template +template void xFPyrDownGaussianBlur( hls::stream< XF_TNAME(DEPTH,NPC) > &_src, hls::stream< XF_TNAME(DEPTH,NPC) > &_dst, ap_uint<8> win_size, From 00c5a5301017b8838ff073b1ca0c2ce082573eee Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 12:49:28 +0900 Subject: [PATCH 66/73] xf_pyr_dense_optical_flow URAM optimization: find_G_and_b_matrix() function is roughly done (no co-sim and further checks). --- include/imgproc/xf_pyr_dense_optical_flow.hpp | 2 +- ...f_pyr_dense_optical_flow_oflow_process.hpp | 27 ++++++++++++------- 2 files changed, 19 insertions(+), 10 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow.hpp b/include/imgproc/xf_pyr_dense_optical_flow.hpp index 931cdfd..c4c2cce 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow.hpp @@ -296,7 +296,7 @@ const int ITCMP_INT = FLOW_INT+12; findGradients(currImg, nextImg, strmIt_float, strmIx, strmIy, rows, cols, strmFlowU_scaled, strmFlowV_scaled, strmFlowU_in1, strmFlowV_in1, level); //finding the hessian matrix - find_G_and_b_matrix(strmIx, strmIy, strmIt_float, sigmaIx2, sigmaIy2, sigmaIxIy, sigmaIxIt, sigmaIyIt, rows, cols, level); + find_G_and_b_matrix(strmIx, strmIy, strmIt_float, sigmaIx2, sigmaIy2, sigmaIxIy, sigmaIxIt, sigmaIyIt, rows, cols, level); //computing the the optical flow diff --git a/include/imgproc/xf_pyr_dense_optical_flow_oflow_process.hpp b/include/imgproc/xf_pyr_dense_optical_flow_oflow_process.hpp index 2500114..cdc9a7c 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_oflow_process.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_oflow_process.hpp @@ -29,29 +29,38 @@ ***************************************************************************/ #ifndef __XF_PYR_DENSE_OPTICAL_FLOW_OFLOW_PROCESS__ #define __XF_PYR_DENSE_OPTICAL_FLOW_OFLOW_PROCESS__ -template +template void find_G_and_b_matrix(hls::stream< ap_int<9> > &strmIx, hls::stream< ap_int<9> > &strmIy, hls::stream< ap_fixed > &strmIt, hls::stream< ap_fixed > &sigmaIx2, hls::stream< ap_fixed > &sigmaIy2, hls::stream< ap_fixed > &sigmaIxIy, hls::stream< ap_fixed > &sigmaIxIt, hls::stream< ap_fixed > &sigmaIyIt, unsigned int rows, unsigned int cols, int level) { #pragma HLS inline off // bufLines is used to buffer Ix, Iy, It in that order ap_int<9> bufLines_ix[WINSIZE][MAXWIDTH+(WINSIZE>>1)]; -#pragma HLS array_partition variable=bufLines_ix complete dim=1 +#pragma HLS array_reshape variable=bufLines_ix complete dim=1 ap_int<9> bufLines_iy[WINSIZE][MAXWIDTH+(WINSIZE>>1)]; -#pragma HLS array_partition variable=bufLines_iy complete dim=1 +#pragma HLS array_reshape variable=bufLines_iy complete dim=1 ap_fixed bufLines_it[WINSIZE][MAXWIDTH+(WINSIZE>>1)]; -#pragma HLS array_partition variable=bufLines_it complete dim=1 +#pragma HLS array_reshape variable=bufLines_it complete dim=1 ap_fixed colsum_IxIx[MAXWIDTH+(WINSIZE>>1)]; ap_fixed colsum_IxIy[MAXWIDTH+(WINSIZE>>1)]; ap_fixed colsum_IyIy[MAXWIDTH+(WINSIZE>>1)]; ap_fixed colsum_IxIt[MAXWIDTH+(WINSIZE>>1)]; ap_fixed colsum_IyIt[MAXWIDTH+(WINSIZE>>1)]; -#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 + +#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 + +#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 + +if (USE_URAM) { +#pragma HLS RESOURCE variable=bufLines_ix core=XPM_MEMORY uram +} ap_fixed colsum_prevWIN_IxIx[WINSIZE]; ap_fixed colsum_prevWIN_IxIy[WINSIZE]; From d32f2763672cde192a84a472aa53fb3525ff4aca Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 17:09:38 +0900 Subject: [PATCH 67/73] xf_pyr_dense_optical_flow URAM optimization: auMedianBlur() function is roughly done. --- include/imgproc/xf_pyr_dense_optical_flow.hpp | 4 +- .../xf_pyr_dense_optical_flow_median_blur.hpp | 39 ++++++++++--------- 2 files changed, 23 insertions(+), 20 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow.hpp b/include/imgproc/xf_pyr_dense_optical_flow.hpp index c4c2cce..2983895 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow.hpp @@ -303,8 +303,8 @@ const int ITCMP_INT = FLOW_INT+12; find_flow(sigmaIx2, sigmaIy2, sigmaIxIy, sigmaIxIt, sigmaIyIt, strmFlowU_in1, strmFlowV_in1, strmFlowU_fil, strmFlowV_fil, flagU, flagV, rows, cols,level,scale_up_flag,init_flag); //filtering the flow vectors using median blur - auMedianBlur (strmFlowU_fil, strmFlowU_fil_out, flagU, WINDOW_SIZE,1,rows,cols); - auMedianBlur (strmFlowV_fil, strmFlowV_fil_out, flagV, WINDOW_SIZE,1,rows,cols); + auMedianBlur (strmFlowU_fil, strmFlowU_fil_out, flagU, WINDOW_SIZE,1,rows,cols); + auMedianBlur (strmFlowV_fil, strmFlowV_fil_out, flagV, WINDOW_SIZE,1,rows,cols); //stitching the U and V flow streams to a single flow stream stitch_stream_fixed_int(strmFlowU_fil_out, strmFlowV_fil_out, strmFlow, rows, cols, level); diff --git a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp index e0a4a7b..53b0a35 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp @@ -132,24 +132,19 @@ void ProcessMedian3x3(hls::stream< ap_fixed > & _src_mat, #pragma HLS pipeline #pragma HLS LOOP_FLATTEN OFF - if(row < img_height && col < img_width) - buf[row_ind[win_size-1]][col] = _src_mat.read(); // Read data - else - buf[row_ind[win_size-1]][col] = 0; - for(int copy_buf_var=0;copy_buf_var(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]; - } + buf_cop[copy_buf_var] = buf[copy_buf_var][col]; } + + if(row < img_height && col < img_width) + buf_cop[row_ind[win_size-1]] = _src_mat.read(); // Read data + else buf_cop[row_ind[win_size-1]] = 0; + + buf[row_ind[win_size-1]][col] = buf_cop[row_ind[win_size-1]]; + // if(NPC == AU_NPPC8) // { @@ -167,7 +162,9 @@ void ProcessMedian3x3(hls::stream< ap_fixed > & _src_mat, #pragma HLS UNROLL if(col(img_height-1)) && (extract_px>(win_size-1-(row-(img_height-1))))) + src_buf[extract_px][win_size-1] = buf_cop[(row_ind[win_size-1-(row-(img_height-1))])]; + else src_buf[extract_px][win_size-1] = buf_cop[(row_ind[extract_px])]; } else { @@ -221,7 +218,7 @@ void ProcessMedian3x3(hls::stream< ap_fixed > & _src_mat, -template +template void auMedian3x3(hls::stream< ap_fixed > &_src_mat, hls::stream< ap_fixed > &_out_mat, hls::stream< bool > &flag, ap_uint<8> win_size, uint16_t img_height, uint16_t img_width) @@ -245,8 +242,14 @@ void auMedian3x3(hls::stream< ap_fixed > &_src_mat, ap_fixed P0; ap_fixed buf[WIN_SZ][(COLS >> NPC)]; -#pragma HLS ARRAY_PARTITION variable=buf complete dim=1 +#pragma HLS ARRAY_RESHAPE variable=buf complete dim=1 + +if (USE_URAM) { +#pragma HLS RESOURCE variable=buf core=XPM_MEMORY uram +} +else { #pragma HLS RESOURCE variable=buf core=RAM_S2P_BRAM +} //initializing row index @@ -311,7 +314,7 @@ void auMedian3x3(hls::stream< ap_fixed > &_src_mat, } // Row_Loop } -template +template void auMedianBlur( hls::stream< ap_fixed > &_src, hls::stream< ap_fixed > &_dst, hls::stream< bool > &flag, ap_uint<8> win_size, @@ -329,7 +332,7 @@ void auMedianBlur( imgwidth = imgwidth >> NPC; - auMedian3x3< ROWS, COLS, DEPTH, NPC, WORDWIDTH, (COLS>>NPC)+(WIN_SZ>>1), WIN_SZ, WIN_SZ_SQ, FLOW_WIDTH, FLOW_INT>(_src, _dst,flag,WIN_SZ,imgheight,imgwidth); + auMedian3x3< ROWS, COLS, DEPTH, NPC, WORDWIDTH, (COLS>>NPC)+(WIN_SZ>>1), WIN_SZ, WIN_SZ_SQ, FLOW_WIDTH, FLOW_INT, USE_URAM>(_src, _dst,flag,WIN_SZ,imgheight,imgwidth); } From 3f38733d05c1ad09c7ecfb30eccdc847c34814fc Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Wed, 30 May 2018 19:24:33 +0900 Subject: [PATCH 68/73] xf_pyr_dense_optical_flow URAM optimization: reduction of URAMs used in auMedianBlur() function by restructuring loops. --- include/imgproc/xf_pyr_dense_optical_flow.hpp | 3 +- .../xf_pyr_dense_optical_flow_median_blur.hpp | 59 +++++++++++-------- 2 files changed, 37 insertions(+), 25 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow.hpp b/include/imgproc/xf_pyr_dense_optical_flow.hpp index 2983895..92079c4 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow.hpp @@ -303,8 +303,7 @@ const int ITCMP_INT = FLOW_INT+12; find_flow(sigmaIx2, sigmaIy2, sigmaIxIy, sigmaIxIt, sigmaIyIt, strmFlowU_in1, strmFlowV_in1, strmFlowU_fil, strmFlowV_fil, flagU, flagV, rows, cols,level,scale_up_flag,init_flag); //filtering the flow vectors using median blur - auMedianBlur (strmFlowU_fil, strmFlowU_fil_out, flagU, WINDOW_SIZE,1,rows,cols); - auMedianBlur (strmFlowV_fil, strmFlowV_fil_out, flagV, WINDOW_SIZE,1,rows,cols); + auMedianBlur (strmFlowU_fil, strmFlowU_fil_out, flagU, strmFlowV_fil, strmFlowV_fil_out, flagV, WINDOW_SIZE,1,rows,cols); //stitching the U and V flow streams to a single flow stream stitch_stream_fixed_int(strmFlowU_fil_out, strmFlowV_fil_out, strmFlow, rows, cols, level); diff --git a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp index 53b0a35..892468c 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp @@ -115,22 +115,13 @@ void auMedianProc( template void ProcessMedian3x3(hls::stream< ap_fixed > & _src_mat, hls::stream< ap_fixed > & _out_mat, hls::stream< bool > &flag, - ap_fixed buf[WIN_SZ][(COLS >> NPC)], ap_fixed src_buf[WIN_SZ][1+(WIN_SZ-1)], + ap_fixed buf[WIN_SZ][(COLS >> NPC)], ap_fixed src_buf[WIN_SZ][1+(WIN_SZ-1)], ap_fixed buf_cop[WIN_SZ], ap_fixed OutputValues[1], - ap_fixed &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) + ap_fixed &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<16> col, ap_uint<8> win_size) { #pragma HLS INLINE - ap_fixed buf_cop[WIN_SZ]; -#pragma HLS ARRAY_PARTITION variable=buf_cop complete dim=1 - uint16_t npc = 1; - Col_Loop: - for(ap_uint<16> col = 0; col < img_width+(WIN_SZ>>1); col++) - { -#pragma HLS LOOP_TRIPCOUNT min=1 max=TC -#pragma HLS pipeline -#pragma HLS LOOP_FLATTEN OFF for(int copy_buf_var=0;copy_buf_var > & _src_mat, } } } - } // Col_Loop } template -void auMedian3x3(hls::stream< ap_fixed > &_src_mat, - hls::stream< ap_fixed > &_out_mat, hls::stream< bool > &flag, ap_uint<8> win_size, +void auMedian3x3(hls::stream< ap_fixed > &_src_mat0, + hls::stream< ap_fixed > &_out_mat0, hls::stream< bool > &flag0, + hls::stream< ap_fixed > &_src_mat1, + hls::stream< ap_fixed > &_out_mat1, hls::stream< bool > &flag1, + ap_uint<8> win_size, uint16_t img_height, uint16_t img_width) { ap_uint<13> row_ind[WIN_SZ]; @@ -231,18 +224,25 @@ void auMedian3x3(hls::stream< ap_fixed > &_src_mat, ap_uint<16> row, col; - ap_fixed OutputValues[1]; + ap_fixed OutputValues[2][1]; #pragma HLS ARRAY_PARTITION variable=OutputValues complete dim=1 +#pragma HLS ARRAY_PARTITION variable=OutputValues complete dim=2 + ap_fixed buf_cop[2][WIN_SZ]; +#pragma HLS ARRAY_PARTITION variable=buf_cop complete dim=1 +#pragma HLS ARRAY_PARTITION variable=buf_cop complete dim=2 + - ap_fixed src_buf[WIN_SZ][1+(WIN_SZ-1)]; + ap_fixed src_buf[2][WIN_SZ][1+(WIN_SZ-1)]; #pragma HLS ARRAY_PARTITION variable=src_buf complete dim=1 #pragma HLS ARRAY_PARTITION variable=src_buf complete dim=2 +#pragma HLS ARRAY_PARTITION variable=src_buf complete dim=3 // src_buf1 et al merged ap_fixed P0; - ap_fixed buf[WIN_SZ][(COLS >> NPC)]; + ap_fixed buf[2][WIN_SZ][(COLS >> NPC)]; #pragma HLS ARRAY_RESHAPE variable=buf complete dim=1 +#pragma HLS ARRAY_RESHAPE variable=buf complete dim=2 if (USE_URAM) { #pragma HLS RESOURCE variable=buf core=XPM_MEMORY uram @@ -268,7 +268,8 @@ else { #pragma HLS LOOP_TRIPCOUNT min=TC max=TC #pragma HLS pipeline #pragma HLS LOOP_FLATTEN OFF - buf[init_buf][col] = _src_mat.read(); + buf[0][init_buf][col] = _src_mat0.read(); + buf[1][init_buf][col] = _src_mat1.read(); } } @@ -280,7 +281,8 @@ else { { #pragma HLS LOOP_TRIPCOUNT min=WIN_SZ max=WIN_SZ #pragma HLS UNROLL - buf[init_buf][col] = buf[row_ind[win_size>>1]][col]; + buf[0][init_buf][col] = buf[0][row_ind[win_size>>1]][col]; + buf[1][init_buf][col] = buf[1][row_ind[win_size>>1]][col]; } } @@ -299,7 +301,15 @@ else { // } // } P0 = 0; - ProcessMedian3x3(_src_mat, _out_mat, flag, buf, src_buf,OutputValues, P0, img_width, img_height, shift_x, row_ind, row,win_size); + Col_Loop: + for(ap_uint<16> col = 0; col < img_width+(WIN_SZ>>1); col++) + { +#pragma HLS LOOP_TRIPCOUNT min=1 max=TC +#pragma HLS pipeline +#pragma HLS LOOP_FLATTEN OFF + ProcessMedian3x3(_src_mat0, _out_mat0, flag0, buf[0], src_buf[0], buf_cop[0], OutputValues[0], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); + ProcessMedian3x3(_src_mat1, _out_mat1, flag1, buf[1], src_buf[1], buf_cop[1], OutputValues[1], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); + } // Col_Loop //update indices ap_uint<13> zero_ind = row_ind[0]; @@ -316,8 +326,11 @@ else { template void auMedianBlur( - hls::stream< ap_fixed > &_src, - hls::stream< ap_fixed > &_dst, hls::stream< bool > &flag, ap_uint<8> win_size, + hls::stream< ap_fixed > &_src0, + hls::stream< ap_fixed > &_dst0, hls::stream< bool > &flag0, + hls::stream< ap_fixed > &_src1, + hls::stream< ap_fixed > &_dst1, hls::stream< bool > &flag1, + ap_uint<8> win_size, int _border_type,uint16_t imgheight,uint16_t imgwidth) { #pragma HLS inline off @@ -332,7 +345,7 @@ void auMedianBlur( imgwidth = imgwidth >> NPC; - auMedian3x3< ROWS, COLS, DEPTH, NPC, WORDWIDTH, (COLS>>NPC)+(WIN_SZ>>1), WIN_SZ, WIN_SZ_SQ, FLOW_WIDTH, FLOW_INT, USE_URAM>(_src, _dst,flag,WIN_SZ,imgheight,imgwidth); + auMedian3x3< ROWS, COLS, DEPTH, NPC, WORDWIDTH, (COLS>>NPC)+(WIN_SZ>>1), WIN_SZ, WIN_SZ_SQ, FLOW_WIDTH, FLOW_INT, USE_URAM>(_src0, _dst0,flag0,_src1, _dst1,flag1,WIN_SZ,imgheight,imgwidth); } From 64b62aa8abad1b17c87e96122f8784ff699b86aa Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Mon, 4 Jun 2018 13:22:34 +0900 Subject: [PATCH 69/73] xf_pyr_dense_optical_flow URAM optimization: more loops restructuring in auMedianBlur() to exclude deadlocks in co-sim. --- .../xf_pyr_dense_optical_flow_median_blur.hpp | 43 +++++++++++-------- 1 file changed, 25 insertions(+), 18 deletions(-) diff --git a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp index 892468c..1ac33d7 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_median_blur.hpp @@ -113,29 +113,15 @@ void auMedianProc( } template -void ProcessMedian3x3(hls::stream< ap_fixed > & _src_mat, +void ProcessMedian3x3( hls::stream< ap_fixed > & _out_mat, hls::stream< bool > &flag, - ap_fixed buf[WIN_SZ][(COLS >> NPC)], ap_fixed src_buf[WIN_SZ][1+(WIN_SZ-1)], ap_fixed buf_cop[WIN_SZ], + ap_fixed src_buf[WIN_SZ][1+(WIN_SZ-1)], ap_fixed buf_cop[WIN_SZ], ap_fixed OutputValues[1], ap_fixed &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<16> col, ap_uint<8> win_size) { #pragma HLS INLINE uint16_t npc = 1; - - for(int copy_buf_var=0;copy_buf_var(_src_mat0, _out_mat0, flag0, buf[0], src_buf[0], buf_cop[0], OutputValues[0], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); - ProcessMedian3x3(_src_mat1, _out_mat1, flag1, buf[1], src_buf[1], buf_cop[1], OutputValues[1], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); + + for(int copy_buf_var=0;copy_buf_var(_out_mat0, flag0, src_buf[0], buf_cop[0], OutputValues[0], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); + ProcessMedian3x3(_out_mat1, flag1, src_buf[1], buf_cop[1], OutputValues[1], P0, img_width, img_height, shift_x, row_ind, row,col,win_size); } // Col_Loop //update indices From a21fcedd5663f2489885d0cfae577ea98f79809c Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Mon, 4 Jun 2018 13:26:52 +0900 Subject: [PATCH 70/73] xf_pyr_dense_optical_flow URAM optimization: adding comment about workariound to exclude X values in co-sim. --- include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp index c008a23..d80d597 100644 --- a/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp +++ b/include/imgproc/xf_pyr_dense_optical_flow_find_gradients.hpp @@ -134,6 +134,7 @@ sprintf(name,"gy_hw%d.txt",level); 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]; #pragma HLS array_reshape variable=lineBuffer complete dim=1 From d06a5e8a3727bfe31ed1fe8a013340b8f73a300a Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Mon, 4 Jun 2018 18:52:47 +0900 Subject: [PATCH 71/73] xf_pyr_dense_optical_flow URAM optimization: restructuring loop inside xFPyrDownGaussianBlur() to decrease its pipeline depth. --- include/imgproc/xf_pyr_down_gaussian_blur.hpp | 31 +++++++++---------- 1 file changed, 14 insertions(+), 17 deletions(-) diff --git a/include/imgproc/xf_pyr_down_gaussian_blur.hpp b/include/imgproc/xf_pyr_down_gaussian_blur.hpp index 1a1ede9..1fff772 100644 --- a/include/imgproc/xf_pyr_down_gaussian_blur.hpp +++ b/include/imgproc/xf_pyr_down_gaussian_blur.hpp @@ -99,34 +99,31 @@ void xFPyrDownprocessgaussian(hls::stream< XF_TNAME(DEPTH,NPC) > & _src_mat, #pragma HLS LOOP_FLATTEN OFF #pragma HLS LOOP_TRIPCOUNT min=1 max=TC #pragma HLS pipeline - - XF_TNAME(DEPTH,NPC) bufWord[WIN_SZ]; -#pragma HLS ARRAY_PARTITION variable=bufWord complete dim=1 - for (int k=0; k(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]; - } + buf_cop[copy_buf_var] = buf[copy_buf_var][col]; } + + if(row < img_height && col < img_width) + buf [row_ind[win_size-1]][col] = + buf_cop[row_ind[win_size-1]] = _src_mat.read(); // Read data + for(int extract_px=0;extract_px(img_height-1)) && (extract_px>(win_size-1-(row-(img_height-1))))) + { + src_buf[extract_px][win_size-1] = buf_cop[(row_ind[win_size-1-(row-(img_height-1))])]; + } + else + { + src_buf[extract_px][win_size-1] = buf_cop[(row_ind[extract_px])]; + } } else { From 99baddef730b1cb8e31ec19a1b0ca316b6e5852e Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Tue, 5 Jun 2018 11:46:09 +0900 Subject: [PATCH 72/73] xf_pyr_dense_optical_flow URAM optimization: improving latency for xFPyrDownGaussianBlur() function. --- include/imgproc/xf_pyr_down_gaussian_blur.hpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/include/imgproc/xf_pyr_down_gaussian_blur.hpp b/include/imgproc/xf_pyr_down_gaussian_blur.hpp index 1fff772..6c61198 100644 --- a/include/imgproc/xf_pyr_down_gaussian_blur.hpp +++ b/include/imgproc/xf_pyr_down_gaussian_blur.hpp @@ -215,11 +215,13 @@ if (USE_URAM) { for(col = 0; col < img_width; col++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=TC + #pragma HLS pipeline + XF_TNAME(DEPTH,NPC) const bufTemp = buf[row_ind[win_size>>1]][col]; for(int init_buf=0; init_buf < WIN_SZ>>1;init_buf++) { #pragma HLS LOOP_TRIPCOUNT min=1 max=WIN_SZ #pragma HLS UNROLL - buf[init_buf][col] = buf[row_ind[win_size>>1]][col]; + buf[init_buf][col] = bufTemp; } } From 78e871e7a64ec4c07f5320024b0ca2b4f9199a96 Mon Sep 17 00:00:00 2001 From: Alexander Kropotov Date: Mon, 25 Jun 2018 16:09:56 +0900 Subject: [PATCH 73/73] xf_remap update: adding flexible partitioning for URAM buffer to have every partition equal to URAM to overcome cascading timing issue. --- include/imgproc/xf_remap.hpp | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index e4f26f5..4ea675a 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -60,6 +60,18 @@ void xFRemapNNI( ap_uint<64> bufUram[WIN_ROW][(COLS+7)/8]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram + //additional separation of URAM buffer to single URAMs to exclude their built-in cascading and thus limited timing + //due to inability of VHLS to schedule built-in cascade register (OREG_CAS) + enum { + BUF_DEPTH = WIN_ROW * ((COLS+7)/8), + URAM_DEPTH = 4096, + BUF_URAMS = (BUF_DEPTH + URAM_DEPTH-1) / URAM_DEPTH, + PART_FACTOR = BUF_URAMS != 2 ? BUF_URAMS : 1 // exluding factor=2 as it leads to II degradation, so built-in cascading is left for the case of just 2 URAMs + }; + if (USE_URAM) { + assert(PART_FACTOR <= ((COLS+7)/8)); + #pragma HLS array_partition variable=bufUram dim=2 factor=PART_FACTOR block + } SRC_T sx8[8]; #pragma HLS ARRAY_PARTITION variable=sx8 complete dim=1 @@ -146,6 +158,18 @@ void xFRemapLI( //URAM storage garnularity is 3x3-pel block in 2x2-pel picture grid, it fits to one URAM word ap_uint<72> bufUram[(WIN_ROW+1)/2][(COLS+1)/2]; #pragma HLS RESOURCE variable=bufUram core=XPM_MEMORY uram + //additional separation of URAM buffer to single URAMs to exclude their built-in cascading and thus limited timing + //due to inability of VHLS to schedule built-in cascade register (OREG_CAS) + enum { + BUF_DEPTH = ((WIN_ROW+1)/2) * ((COLS+1)/2), + URAM_DEPTH = 4096, + BUF_URAMS = (BUF_DEPTH + URAM_DEPTH-1) / URAM_DEPTH, + PART_FACTOR = BUF_URAMS != 2 ? BUF_URAMS : 1 // exluding factor=2 as it leads to II degradation, so built-in cascading is left for the case of just 2 URAMs + }; + if (USE_URAM) { + assert(PART_FACTOR <= ((COLS+1)/2)); + #pragma HLS array_partition variable=bufUram dim=2 factor=PART_FACTOR block + } SRC_T lineBuf[COLS]; //addtitional cashing as VHLS doesn't support URAM Byte Enables SRC_T s3x3[2][9]; //URAM-wide word is doubled to resolve pipelining read/write dependency #pragma HLS ARRAY_PARTITION complete variable=s3x3 dim=0

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"xf_stereo_pipeline.xclbin" : "xf_stereo_pipeline.awsxclbin"; std::cout << "========" << binaryFile << " ==================" << std::endl; From c019ab8aa50cfad4ea665119362433338ef89260 Mon Sep 17 00:00:00 2001 From: Serge Date: Tue, 15 May 2018 01:35:28 +0300 Subject: [PATCH 44/73] Update stereopipeline, remode default values from template due to compilation issues --- aws_demo/stereopipeline/hw/run/run.sh | 2 +- aws_demo/stereopipeline/hw_emu/run/run.sh | 5 +++++ aws_demo/stereopipeline/hw_emu/run/sdaccel.ini | 5 +++++ aws_demo/stereopipeline/makefile | 2 ++ aws_demo/stereopipeline/sw_emu/run.sh | 5 +++++ aws_demo/stereopipeline/sw_emu/sdaccel.ini | 5 +++++ include/imgproc/xf_gaussian_filter.hpp | 2 +- include/imgproc/xf_remap.hpp | 6 ++---- include/imgproc/xf_stereoBM.hpp | 2 -- 9 files changed, 26 insertions(+), 8 deletions(-) create mode 100644 aws_demo/stereopipeline/hw_emu/run/run.sh create mode 100644 aws_demo/stereopipeline/hw_emu/run/sdaccel.ini create mode 100644 aws_demo/stereopipeline/sw_emu/run.sh create mode 100644 aws_demo/stereopipeline/sw_emu/sdaccel.ini diff --git a/aws_demo/stereopipeline/hw/run/run.sh b/aws_demo/stereopipeline/hw/run/run.sh index 9c32ecd..08c6dc4 100644 --- a/aws_demo/stereopipeline/hw/run/run.sh +++ b/aws_demo/stereopipeline/hw/run/run.sh @@ -2,4 +2,4 @@ source /opt/Xilinx/SDx/2017.1.rte.4ddr/setup.sh -./stereo_pipeline_test ../../im0.jpg +./stereo_pipeline_test ../../left.png ../../right.png diff --git a/aws_demo/stereopipeline/hw_emu/run/run.sh b/aws_demo/stereopipeline/hw_emu/run/run.sh new file mode 100644 index 0000000..277ae3d --- /dev/null +++ b/aws_demo/stereopipeline/hw_emu/run/run.sh @@ -0,0 +1,5 @@ +emconfigutil -f $AWS_PLATFORM + +export XCL_EMULATION_MODE=hw_emu + +./stereo_pipeline_test ../../left.png ../../right.png diff --git a/aws_demo/stereopipeline/hw_emu/run/sdaccel.ini b/aws_demo/stereopipeline/hw_emu/run/sdaccel.ini new file mode 100644 index 0000000..63a1cac --- /dev/null +++ b/aws_demo/stereopipeline/hw_emu/run/sdaccel.ini @@ -0,0 +1,5 @@ +[Debug] +timeline_trace=true +device_profile=true +app_debug=true +profile=true diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile index 4f7a34a..447c2d0 100644 --- a/aws_demo/stereopipeline/makefile +++ b/aws_demo/stereopipeline/makefile @@ -1,3 +1,5 @@ +include ../common_makefile + ######################################## # # # Host section # diff --git a/aws_demo/stereopipeline/sw_emu/run.sh b/aws_demo/stereopipeline/sw_emu/run.sh new file mode 100644 index 0000000..c397547 --- /dev/null +++ b/aws_demo/stereopipeline/sw_emu/run.sh @@ -0,0 +1,5 @@ +emconfigutil -f $AWS_PLATFORM + +export XCL_EMULATION_MODE=sw_emu + +./stereo_pipeline_test ../../left.png ../../right.png \ No newline at end of file diff --git a/aws_demo/stereopipeline/sw_emu/sdaccel.ini b/aws_demo/stereopipeline/sw_emu/sdaccel.ini new file mode 100644 index 0000000..63a1cac --- /dev/null +++ b/aws_demo/stereopipeline/sw_emu/sdaccel.ini @@ -0,0 +1,5 @@ +[Debug] +timeline_trace=true +device_profile=true +app_debug=true +profile=true diff --git a/include/imgproc/xf_gaussian_filter.hpp b/include/imgproc/xf_gaussian_filter.hpp index b9c0545..242ce0c 100644 --- a/include/imgproc/xf_gaussian_filter.hpp +++ b/include/imgproc/xf_gaussian_filter.hpp @@ -1138,7 +1138,7 @@ void xFGaussianFilter(hls::stream< XF_SNAME(WORDWIDTH)> &_src, hls::stream< XF_S #pragma SDS data access_pattern("_dst.data":SEQUENTIAL) #pragma SDS data copy("_dst.data"[0:"_dst.size"]) -template +template void GaussianBlur(xf::Mat &_src, xf::Mat &_dst, float sigma) { #pragma HLS inline off diff --git a/include/imgproc/xf_remap.hpp b/include/imgproc/xf_remap.hpp index 125f6f6..40e53cd 100644 --- a/include/imgproc/xf_remap.hpp +++ b/include/imgproc/xf_remap.hpp @@ -137,7 +137,7 @@ void xFRemapLI( ) { // Add one to always get zero for boundary interpolation. Maybe need initialization here? - DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; //AK,ZoTech: static added for initialization, otherwise X are generated in co-sim. + DST_T buf[WIN_ROW/2+1][2][COLS/2+1][2]; #pragma HLS array_partition complete variable=buf dim=2 #pragma HLS array_partition complete variable=buf dim=4 SRC_T s; @@ -344,10 +344,8 @@ void xFRemapKernel( #pragma SDS data access_pattern("_src_mat.data":SEQUENTIAL,"_remapped_mat.data":SEQUENTIAL,"_mapx_mat.data":SEQUENTIAL,"_mapy_mat.data":SEQUENTIAL) #pragma SDS data copy("_src_mat.data"[0:"_src_mat.rows*_src_mat.cols"], "_remapped_mat.data"[0:"_remapped_mat.size"],"_mapx_mat.data"[0:"_mapx_mat.size"],"_mapy_mat.data"[0:"_mapy_mat.size"]) -//#NO template - template -void remap (xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat) +void remap(xf::Mat &_src_mat, xf::Mat &_remapped_mat, xf::Mat &_mapx_mat, xf::Mat &_mapy_mat) { #pragma HLS inline off #pragma HLS dataflow diff --git a/include/imgproc/xf_stereoBM.hpp b/include/imgproc/xf_stereoBM.hpp index 91b1f9d..b705546 100644 --- a/include/imgproc/xf_stereoBM.hpp +++ b/include/imgproc/xf_stereoBM.hpp @@ -732,8 +732,6 @@ void xFFindStereoCorrespondenceLBM(XF_TNAME(SRC_T,NPC) *left_ptr, #pragma SDS data copy("_right_mat.data"[0:"_right_mat.size"]) #pragma SDS data copy("_disp_mat.data"[0:"_disp_mat.size"]) -//#NO template - template void StereoBM(xf::Mat &_left_mat, xf::Mat &_right_mat, From 668b7f056f6e741487386a975737cecbe265d21e Mon Sep 17 00:00:00 2001 From: Serge Date: Tue, 15 May 2018 01:57:43 +0300 Subject: [PATCH 45/73] Move "include" of common_makefile to right place --- aws_demo/gaussianfilter/makefile | 6 ++++-- aws_demo/stereopipeline/makefile | 7 +++++-- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/aws_demo/gaussianfilter/makefile b/aws_demo/gaussianfilter/makefile index 2b68d37..197940d 100644 --- a/aws_demo/gaussianfilter/makefile +++ b/aws_demo/gaussianfilter/makefile @@ -1,5 +1,3 @@ -include ../common_makefile - ######################################## # # # Host section # @@ -23,5 +21,9 @@ HOST_XF_SRC += KERNEL = xf_gaussian_filter +######################################## + +include ../common_makefile + diff --git a/aws_demo/stereopipeline/makefile b/aws_demo/stereopipeline/makefile index 447c2d0..61b13b9 100644 --- a/aws_demo/stereopipeline/makefile +++ b/aws_demo/stereopipeline/makefile @@ -1,11 +1,11 @@ -include ../common_makefile - ######################################## # # # Host section # # # ######################################## +TEST_NAME = stereo_pipeline_test + HOST_AWS_SRC += xf_stereo_pipeline_accel_aws HOST_AWS_SRC += xf_stereo_pipeline_tb @@ -19,3 +19,6 @@ HOST_SDx_SRC += xcl2 KERNEL = xf_stereo_pipeline +######################################## + +include ../common_makefile From fca91ef609fbf505e8da5f3e3b3b3c67e5f28b3b Mon Sep 17 00:00:00 2001 From: Serge Date: Tue, 15 May 2018 02:08:54 +0300 Subject: [PATCH 46/73] update gitignore --- .gitignore | 5 +++++ 1 file changed, 5 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..11f61b3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +/**/ide/**/*.*sdf +/**/ide/**/*.tss +/**/ide/**/*.suo +/**/ide/**/Debug +/**/ide/**/Release From 4075d6f1ce3717cea5354faed4bad8d733c0738d Mon Sep 17 00:00:00 2001 From: Serge Date: Tue, 15 May 2018 08:35:56 +0300 Subject: [PATCH 47/73] Move run scripts to appropriate folder --- aws_demo/gaussianfilter/hw_emu/{ => run}/run.sh | 0 aws_demo/gaussianfilter/hw_emu/{ => run}/sdaccel.ini | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename aws_demo/gaussianfilter/hw_emu/{ => run}/run.sh (100%) rename aws_demo/gaussianfilter/hw_emu/{ => run}/sdaccel.ini (100%) diff --git a/aws_demo/gaussianfilter/hw_emu/run.sh b/aws_demo/gaussianfilter/hw_emu/run/run.sh similarity index 100% rename from aws_demo/gaussianfilter/hw_emu/run.sh rename to aws_demo/gaussianfilter/hw_emu/run/run.sh diff --git a/aws_demo/gaussianfilter/hw_emu/sdaccel.ini b/aws_demo/gaussianfilter/hw_emu/run/sdaccel.ini similarity index 100% rename from aws_demo/gaussianfilter/hw_emu/sdaccel.ini rename to aws_demo/gaussianfilter/hw_emu/run/sdaccel.ini From bae522f797e4e064a2f07086fe2562a1472c45b8 Mon Sep 17 00:00:00 2001 From: Serge Date: Tue, 15 May 2018 09:58:32 +0300 Subject: [PATCH 48/73] Minor improvements --- aws_demo/common_makefile | 7 ++++--- aws_demo/gaussianfilter/hw_emu/run/run.sh | 2 +- aws_demo/gaussianfilter/sw_emu/run/run.sh | 2 +- .../xf_gaussian_filter_accel_aws.cpp | 6 ++++-- .../xf_gaussian_filter_kernel_aws.cpp | 15 +++------------ aws_demo/ide/vs/Gaussian_Filter.vcxproj | 1 + aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters | 1 + 7 files changed, 15 insertions(+), 19 deletions(-) diff --git a/aws_demo/common_makefile b/aws_demo/common_makefile index 2e75fe4..e9630fb 100644 --- a/aws_demo/common_makefile +++ b/aws_demo/common_makefile @@ -115,8 +115,8 @@ KERNEL_BLD_DIR = $(TARGET)/build/kernel ifeq "$(TARGET)" "hw" KERNEL_RUN_DIR = $(TARGET)/afi -else - KERNEL_RUN_DIR = $(TARGET)/run +else + KERNEL_RUN_DIR = $(TARGET)/run XOCC_OPTS += -g endif @@ -143,7 +143,8 @@ krnl: $(KERNEL_BIN) clean: $(RMDIR) $(BUILD_SUBDIRS) $(RMDIR) .Xil - $(RM) $(HOST_RUN_DIR)/*.jpg $(HOST_RUN_DIR)/*.png *.log *.csv *.html + $(RMDIR) $(HOST_RUN_DIR)/TempConfig + $(RM) $(HOST_RUN_DIR)/*.jpg $(HOST_RUN_DIR)/*.png $(HOST_RUN_DIR)/*.log $(HOST_RUN_DIR)/*.csv $(HOST_RUN_DIR)/*.html $(RM) $(KERNEL_BIN) $(RM) $(HOST_EXE) $(RM) $(HOST_EXE)/*.*xclbin diff --git a/aws_demo/gaussianfilter/hw_emu/run/run.sh b/aws_demo/gaussianfilter/hw_emu/run/run.sh index acc0309..e8dad87 100644 --- a/aws_demo/gaussianfilter/hw_emu/run/run.sh +++ b/aws_demo/gaussianfilter/hw_emu/run/run.sh @@ -2,4 +2,4 @@ emconfigutil -f $AWS_PLATFORM export XCL_EMULATION_MODE=hw_emu -./gaussian_filter_test ../../img0.jpg +./gaussian_filter_test ../../im0.jpg diff --git a/aws_demo/gaussianfilter/sw_emu/run/run.sh b/aws_demo/gaussianfilter/sw_emu/run/run.sh index 4593b10..35d1bd4 100644 --- a/aws_demo/gaussianfilter/sw_emu/run/run.sh +++ b/aws_demo/gaussianfilter/sw_emu/run/run.sh @@ -2,4 +2,4 @@ emconfigutil -f $AWS_PLATFORM export XCL_EMULATION_MODE=sw_emu -./gaussian_filter_test ../../img0.jpg +./gaussian_filter_test ../../im0.jpg diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp index 511751d..9e427fc 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_accel_aws.cpp @@ -6,6 +6,8 @@ #include "xf_gaussian_filter_config.h" +#define CL_MIGRATE_MEM_OBJECT_KERNEL 0 //OpenCL define constant to indicate memory object migration to host only, to make program more readable define "counterpart" constant + void gaussian_filter_accel(xf::Mat &img_inp, xf::Mat &img_out, float sigma) { std::vector devices = xcl::get_xil_devices(); @@ -19,7 +21,7 @@ void gaussian_filter_accel(xf::Mat &img_inp, std::string binaryFile = (xcl::is_emulation() || xcl::is_hw_emulation ()) ? "xf_gaussian_filter.xclbin" : "xf_gaussian_filter.awsxclbin"; - std::cout << "========" << binaryFile << " ==================" << std::endl; + std::cout << "======== " << binaryFile << " ========" << std::endl; cl::Program::Binaries bins = xcl::import_binary_file(binaryFile); devices.resize(1); @@ -36,7 +38,7 @@ void gaussian_filter_accel(xf::Mat &img_inp, //----------- Migrate input data to device global memory -----------// - q.enqueueMigrateMemObjects(writeBufVec,0); // 0 means from host + q.enqueueMigrateMemObjects(writeBufVec, CL_MIGRATE_MEM_OBJECT_KERNEL); auto krnl = cl::KernelFunctor(kernel); diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp index f6cbaf1..e5c200e 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -41,25 +41,16 @@ void xf_gaussian_filter(XF_TNAME(XF_8UC1, NPC1) *img_inp, XF_TNAME(XF_8UC1, NPC1 const int pNPC1 = NPC1; - xf::Mat mi; - xf::Mat mf; + xf::Mat mi(rows_inp, cols_inp); + xf::Mat mf(rows_inp, cols_inp); #pragma HLS stream variable=mi.data depth=pCOLS_INP/pNPC1 #pragma HLS stream variable=mf.data depth=pCOLS_INP/pNPC1 - xf::Mat mo; + xf::Mat mo(rows_out, cols_out); #pragma HLS stream variable=mo.data depth=pCOLS_OUT/pNPC1 - mi.rows = rows_inp; - mi.cols = cols_inp; - - mf.rows = rows_inp; - mf.cols = cols_inp; - - mo.rows = rows_out; - mo.cols = cols_out; - /********************************************************/ for(int i=0; i < rows_inp; i++) diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj b/aws_demo/ide/vs/Gaussian_Filter.vcxproj index 8a8e3e4..274464e 100644 --- a/aws_demo/ide/vs/Gaussian_Filter.vcxproj +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj @@ -11,6 +11,7 @@ + diff --git a/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters index eba1ae1..bc11928 100644 --- a/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters +++ b/aws_demo/ide/vs/Gaussian_Filter.vcxproj.filters @@ -7,6 +7,7 @@ + From 5b02b982f85eed669e72c853d11824d40a17a509 Mon Sep 17 00:00:00 2001 From: Serge Date: Wed, 16 May 2018 04:56:18 +0300 Subject: [PATCH 49/73] Seems found "solution" how to pass bm_state as kernel parameter - pass bm_state member as separate integers. To reduce number of kernel parameter only "flexible" parameter (which are not calculating from template) are passing. The XOCC flow can't work with structures/class as kernel parameter. Unfortunately if try to pass structure as array of simple type (char/int/etc) then impossible copy element of this array to members of the kernel local instantiation of structure - compilation passing, sw emulation passing, but hw emulation and FPGA run fail due to XOCC issue. --- .../xf_stereo_pipeline_accel_aws.cpp | 35 ++++- .../xf_stereo_pipeline_kernel_aws.cpp | 147 ++++++------------ 2 files changed, 78 insertions(+), 104 deletions(-) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp index a956245..b938a4f 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp @@ -6,6 +6,8 @@ #include "xf_stereo_pipeline_config.h" +typedef xf::xFSBMState xf_BMState; + #define CL_MIGRATE_MEM_OBJECT_KERNEL 0 //OpenCL define constant to indicate memory object migration to host only, to make program more readable define "counterpart" constant void stereo_pipeline_accel @@ -42,7 +44,7 @@ void stereo_pipeline_accel std::string binaryFile = (xcl::is_emulation() || xcl::is_hw_emulation ()) ? "xf_stereo_pipeline.xclbin" : "xf_stereo_pipeline.awsxclbin"; - std::cout << "========" << binaryFile << " ==================" << std::endl; + std::cout << "======== " << binaryFile << " ========" << std::endl; cl::Program::Binaries bins = xcl::import_binary_file(binaryFile); devices.resize(1); @@ -70,19 +72,38 @@ void stereo_pipeline_accel kernel_wr_buf.push_back(buffer_cm_l); kernel_wr_buf.push_back(buffer_cm_r); kernel_wr_buf.push_back(buffer_dc_l); kernel_wr_buf.push_back(buffer_dc_r); kernel_wr_buf.push_back(buffer_ir_l); kernel_wr_buf.push_back(buffer_ir_r); - + //----------- Migrate input data to device global memory -----------// q.enqueueMigrateMemObjects(kernel_wr_buf, CL_MIGRATE_MEM_OBJECT_KERNEL); // The kernel parameters should be rearranged: input buffers, output buffers, variables - // - // img_l img_r cm_l cm_r dc_l dc_r ir_l ir_r img_s cm_size dc_size rows cols - auto krnl = cl::KernelFunctor(kernel); + // + // img_l img_r cm_l cm_r dc_l dc_r ir_l ir_r img_s + auto krnl = cl::KernelFunctor(kernel); //----------- Launch the Kernel -----------// - - krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_l, buffer_r, buffer_cm_l, buffer_cm_r, buffer_dc_l, buffer_dc_r, buffer_ir_l, buffer_ir_r, buffer_s, cm_size, dc_size, rows, cols); + + krnl(cl::EnqueueArgs(q, cl::NDRange(1,1,1), cl::NDRange(1,1,1)), buffer_l, buffer_r, buffer_cm_l, buffer_cm_r, buffer_dc_l, buffer_dc_r, buffer_ir_l, buffer_ir_r, buffer_s, bm_state.preFilterType, + bm_state.preFilterCap, + bm_state.minDisparity, + bm_state.textureThreshold, + bm_state.uniquenessRatio, + + cm_size, + dc_size, + rows, + cols); //----------- Copy Result from Device Global Memory to Host Local Memory -----------// diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp index 0748e5e..ba1cb8c 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_kernel_aws.cpp @@ -18,8 +18,6 @@ extern "C" XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s , - // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, // XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, @@ -35,6 +33,12 @@ extern "C" XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s , + int preFilterType, + int preFilterCap, + int minDisparity, + int textureThreshold, + int uniquenessRatio, + int cm_size, int dc_size, @@ -48,13 +52,11 @@ void xf_stereo_pipeline( XF_TNAME(XF_8UC1 , XF_NPPC1) *img_r, -// XF_TNAME(XF_8UC1 , XF_NPPC1) *img_s, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_l, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_l, - -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, -// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_x_r, +// XF_TNAME(XF_32FC1 , XF_NPPC1) *img_map_y_r, // XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_l, // XF_TNAME(XF_8UC1 , XF_NPPC1) *img_remapped_r, @@ -65,17 +67,22 @@ void xf_stereo_pipeline( XF_TNAME(XF_16UC1 , XF_NPPC1) *img_s, - int cm_size, int dc_size, + int preFilterType, + int preFilterCap, + int minDisparity, + int textureThreshold, + int uniquenessRatio, + + int cm_size, + int dc_size, int rows, int cols ) { - #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_0_l - #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_0_r + #pragma HLS INTERFACE m_axi port=img_l offset=slave bundle=gmem_i_l + #pragma HLS INTERFACE m_axi port=img_r offset=slave bundle=gmem_i_r -// #pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem - // #pragma HLS INTERFACE m_axi port=img_map_x_l offset=slave bundle=gmem_1 // #pragma HLS INTERFACE m_axi port=img_map_y_l offset=slave bundle=gmem_1 @@ -104,14 +111,12 @@ void xf_stereo_pipeline( #pragma HLS INTERFACE m_axi port=irA_l_fix offset=slave bundle=gmem_l #pragma HLS INTERFACE m_axi port=irA_r_fix offset=slave bundle=gmem_r -#pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem + #pragma HLS INTERFACE m_axi port=img_s offset=slave bundle=gmem_s #pragma HLS INTERFACE s_axilite port=img_l bundle=control #pragma HLS INTERFACE s_axilite port=img_r bundle=control -// #pragma HLS INTERFACE s_axilite port=img_s bundle=control - // #pragma HLS INTERFACE s_axilite port=img_map_x_l bundle=control // #pragma HLS INTERFACE s_axilite port=img_map_y_l bundle=control @@ -140,15 +145,22 @@ void xf_stereo_pipeline( #pragma HLS INTERFACE s_axilite port=irA_l_fix bundle=control #pragma HLS INTERFACE s_axilite port=irA_r_fix bundle=control -#pragma HLS INTERFACE s_axilite port=img_s bundle=control + #pragma HLS INTERFACE s_axilite port=img_s bundle=control - #pragma HLS INTERFACE s_axilite port=cm_size bundle=control - #pragma HLS INTERFACE s_axilite port=dc_size bundle=control - #pragma HLS INTERFACE s_axilite port=rows bundle=control - #pragma HLS INTERFACE s_axilite port=cols bundle=control + #pragma HLS INTERFACE s_axilite port=preFilterType bundle=control + #pragma HLS INTERFACE s_axilite port=preFilterCap bundle=control + #pragma HLS INTERFACE s_axilite port=minDisparity bundle=control + #pragma HLS INTERFACE s_axilite port=textureThreshold bundle=control + #pragma HLS INTERFACE s_axilite port=uniquenessRatio bundle=control - #pragma HLS INTERFACE s_axilite port=return bundle=control + #pragma HLS INTERFACE s_axilite port=cm_size bundle=control + #pragma HLS INTERFACE s_axilite port=dc_size bundle=control + + #pragma HLS INTERFACE s_axilite port=rows bundle=control + #pragma HLS INTERFACE s_axilite port=cols bundle=control + + #pragma HLS INTERFACE s_axilite port=return bundle=control #pragma HLS INLINE OFF @@ -160,61 +172,42 @@ void xf_stereo_pipeline( const int pNPC = XF_NPPC1; - - xf::Mat leftMat; - xf::Mat rightMat; + xf::Mat leftMat (rows, cols); + xf::Mat rightMat(rows, cols); #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC - - xf::Mat dispMat; + xf::Mat dispMat(rows, cols); #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC - xf::Mat map_x_l; - xf::Mat map_y_l; + xf::Mat map_x_l(rows, cols); + xf::Mat map_y_l(rows, cols); #pragma HLS stream variable=map_x_l.data depth=pCOLS/pNPC #pragma HLS stream variable=map_y_l.data depth=pCOLS/pNPC - xf::Mat map_x_r; - xf::Mat map_y_r; + xf::Mat map_x_r(rows, cols); + xf::Mat map_y_r(rows, cols); #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC - xf::Mat remapped_l; - xf::Mat remapped_r; + xf::Mat remapped_l(rows, cols); + xf::Mat remapped_r(rows, cols); #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC - //=================================================// - xf::xFSBMState bm_state; -// ap_fixed<32,12> cameraMA_l_fix[XF_CAMERA_MATRIX_SIZE]; -// ap_fixed<32,12> cameraMA_r_fix[XF_CAMERA_MATRIX_SIZE]; - -// #pragma HLS stream variable=cameraMA_l_fix depth=2 -// #pragma HLS stream variable=cameraMA_r_fix depth=2 - -// ap_fixed<32,12> distC_l_fix[XF_DIST_COEFF_SIZE]; -// ap_fixed<32,12> distC_r_fix[XF_DIST_COEFF_SIZE]; - -// #pragma HLS stream variable=distC_l_fix depth=2 -// #pragma HLS stream variable=distC_r_fix depth=2 - -// ap_fixed<32,12> irA_l_fix[XF_CAMERA_MATRIX_SIZE]; -// ap_fixed<32,12> irA_r_fix[XF_CAMERA_MATRIX_SIZE]; - -// #pragma HLS stream variable=irA_l_fix depth=2 -// #pragma HLS stream variable=irA_r_fix depth=2 - - //================================================// - + bm_state.preFilterType = preFilterType ; + bm_state.preFilterCap = preFilterCap ; + bm_state.minDisparity = minDisparity ; + bm_state.textureThreshold = textureThreshold; + bm_state.uniquenessRatio = uniquenessRatio ; for(int i=0; i < rows; i++) { @@ -227,7 +220,7 @@ void xf_stereo_pipeline( #pragma HLS loop_flatten off *(leftMat .data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_l + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); - *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); + *(rightMat.data + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j) = *(img_r + i*(cols >> (XF_BITSHIFT(XF_NPPC1))) +j); } } @@ -245,7 +238,7 @@ void xf_stereo_pipeline( - xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state ); + xf::StereoBM ( remapped_l, remapped_r, dispMat, bm_state); @@ -276,43 +269,3 @@ void xf_stereo_pipeline( - - -// void xf_stereo_pipeline -// ( -// XF_TNAME(XF_8UC1 , XF_NPPC1) *leftMat , // xf::Mat &leftMat, -// -// XF_TNAME(XF_8UC1 , XF_NPPC1) *rightMat, // xf::Mat &rightMat, -// -// XF_TNAME(XF_8UC1 , XF_NPPC1) *dispMat , // xf::Mat &dispMat, -// -// XF_TNAME(XF_32FC1, XF_NPPC1) *mapxLMat, // xf::Mat &mapxLMat, out + internal stream -// -// XF_TNAME(XF_32FC1, XF_NPPC1) *mapyLMat, // xf::Mat &mapyLMat, out + internal stream -// -// XF_TNAME(XF_32FC1, XF_NPPC1) *mapxRMat, // xf::Mat &mapxRMat, out + internal stream -// -// XF_TNAME(XF_32FC1, XF_NPPC1) *mapyRMat, // xf::Mat &mapyRMat, out + internal stream -// -// XF_TNAME(XF_8UC1 , XF_NPPC1) *leftRemappedMat, // xf::Mat &leftRemappedMat, -// -// XF_TNAME(XF_8UC1 , XF_NPPC1) *rightRemappedMat, // xf::Mat &rightRemappedMat, -// -// xf::xFSBMState bm_state, -// -// ap_fixed<32,12> *cameraMA_l_fix, ap_fixed<32,12> *cameraMA_r_fix, -// ap_fixed<32,12> *distC_l_fix , ap_fixed<32,12> *distC_r_fix , -// ap_fixed<32,12> *irA_l_fix , ap_fixed<32,12> *irA_r_fix , -// -// int cm_size, int dc_size -// -// int rows, -// int cols -// ); - - - - - - - From 8dfb8132a49d09ef48701c385c950fbf689366b2 Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 17 May 2018 02:04:34 +0300 Subject: [PATCH 50/73] Exclude using non default constructor due to issues exist in HW emulation and FPGA (kernel suspend) --- .../xf_gaussian_filter_kernel_aws.cpp | 11 +++- .../xf_stereo_pipeline_accel_aws.cpp | 18 +++--- .../xf_stereo_pipeline_kernel_aws.cpp | 59 +++++++++++-------- 3 files changed, 52 insertions(+), 36 deletions(-) diff --git a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp index e5c200e..b68e908 100644 --- a/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp +++ b/aws_demo/gaussianfilter/xf_gaussian_filter_kernel_aws.cpp @@ -41,16 +41,21 @@ void xf_gaussian_filter(XF_TNAME(XF_8UC1, NPC1) *img_inp, XF_TNAME(XF_8UC1, NPC1 const int pNPC1 = NPC1; - xf::Mat mi(rows_inp, cols_inp); - xf::Mat mf(rows_inp, cols_inp); + xf::Mat mi; + xf::Mat mf; #pragma HLS stream variable=mi.data depth=pCOLS_INP/pNPC1 #pragma HLS stream variable=mf.data depth=pCOLS_INP/pNPC1 - xf::Mat mo(rows_out, cols_out); + xf::Mat mo; #pragma HLS stream variable=mo.data depth=pCOLS_OUT/pNPC1 + mi.rows = rows_inp; mi.cols = cols_inp; + mf.rows = rows_inp; mi.cols = cols_inp; + + mo.rows = rows_out; mi.cols = cols_out; + /********************************************************/ for(int i=0; i < rows_inp; i++) diff --git a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp index b938a4f..2c8a90f 100644 --- a/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp +++ b/aws_demo/stereopipeline/xf_stereo_pipeline_accel_aws.cpp @@ -80,11 +80,11 @@ void stereo_pipeline_accel // The kernel parameters should be rearranged: input buffers, output buffers, variables // // img_l img_r cm_l cm_r dc_l dc_r ir_l ir_r img_s - auto krnl = cl::KernelFunctor leftMat (rows, cols); - xf::Mat rightMat(rows, cols); + xf::Mat leftMat ; // don't use non default constructor xf::Mat<...> leftMat(rows, cols) - kernel will suspend on hw emulation and FPGA + xf::Mat rightMat; #pragma HLS stream variable=leftMat.data depth=pCOLS/pNPC #pragma HLS stream variable=rightMat.data depth=pCOLS/pNPC - xf::Mat dispMat(rows, cols); + xf::Mat dispMat; #pragma HLS stream variable=dispMat.data depth=pCOLS/pNPC - xf::Mat map_x_l(rows, cols); - xf::Mat map_y_l(rows, cols); + xf::Mat map_x_l; + xf::Mat map_y_l; #pragma HLS stream variable=map_x_l.data depth=pCOLS/pNPC #pragma HLS stream variable=map_y_l.data depth=pCOLS/pNPC - xf::Mat map_x_r(rows, cols); - xf::Mat map_y_r(rows, cols); + xf::Mat map_x_r; + xf::Mat map_y_r; #pragma HLS stream variable=map_x_r.data depth=pCOLS/pNPC #pragma HLS stream variable=map_y_r.data depth=pCOLS/pNPC - xf::Mat remapped_l(rows, cols); - xf::Mat remapped_r(rows, cols); + xf::Mat remapped_l; + xf::Mat remapped_r; #pragma HLS stream variable=remapped_l.data depth=pCOLS/pNPC #pragma HLS stream variable=remapped_r.data depth=pCOLS/pNPC xf::xFSBMState bm_state; + leftMat .rows = rows; leftMat .cols = cols; + rightMat.rows = rows; rightMat.cols = cols; + dispMat .rows = rows; dispMat .cols = cols; + map_x_l .rows = rows; map_x_l .cols = cols; + map_y_l .rows = rows; map_y_l .cols = cols; + map_x_r .rows = rows; map_x_r .cols = cols; + map_y_r .rows = rows; map_y_r .cols = cols; + + remapped_l.rows = rows; remapped_l.cols = cols; + remapped_r.rows = rows; remapped_r.cols = cols; + bm_state.preFilterType = preFilterType ; bm_state.preFilterCap = preFilterCap ; bm_state.minDisparity = minDisparity ; From 43493a6d14d9e74e3bee242c4989c82add10bd1a Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 17 May 2018 02:28:56 +0300 Subject: [PATCH 51/73] Restore original xf_params.h --- include/common/xf_params.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/common/xf_params.h b/include/common/xf_params.h index 89d2327..14e85bd 100644 --- a/include/common/xf_params.h +++ b/include/common/xf_params.h @@ -37,7 +37,7 @@ EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "ap_int.h" -// #define __ABS(X) ((X) < 0 ? (-(X)) : (X)) +#define __ABS(X) ((X) < 0 ? (-(X)) : (X)) //Channels of an image enum _channel_extract From f3f96727aa30b38ec6380f64bd45036c95a3f41f Mon Sep 17 00:00:00 2001 From: Serge Date: Thu, 17 May 2018 02:42:14 +0300 Subject: [PATCH 52/73] Fix minor issues --- aws_demo/gaussianfilter/im0.jpg | Bin 0 -> 1162339 bytes .../xf_gaussian_filter_kernel_aws.cpp | 4 ++-- .../stereopipeline/sw_emu/{ => run}/run.sh | 8 ++++---- .../sw_emu/{ => run}/sdaccel.ini | 0 4 files changed, 6 insertions(+), 6 deletions(-) create mode 100644 aws_demo/gaussianfilter/im0.jpg rename aws_demo/stereopipeline/sw_emu/{ => run}/run.sh (69%) rename aws_demo/stereopipeline/sw_emu/{ => run}/sdaccel.ini (100%) diff --git a/aws_demo/gaussianfilter/im0.jpg b/aws_demo/gaussianfilter/im0.jpg new file mode 100644 index 0000000000000000000000000000000000000000..bce6d36ef90d0c63aeb5b5364973f532ba8c5a80 GIT binary patch literal 1162339 zcmbrldpwhU95=qwoeu7#?ux=HN>NEtPTM+?irt+kr`0XVapXKZRPNFNODZ{SsaPsj 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