Program Listing for File xf_canny_utils.hpp
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/*
* Copyright 2019 Xilinx, Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef _XF_CANNY_UTILS_HPP_
#define _XF_CANNY_UTILS_HPP_
#ifndef __cplusplus
#error C++ is needed to include this header
#endif
#define EDGELINK 1
template <int DEPTH_IN, int DEPTH_PHASE, int DEPTH_OUT>
XF_PTNAME(DEPTH_OUT)
xFFindmax3x3(XF_PTNAME(DEPTH_IN) _i00,
XF_PTNAME(DEPTH_IN) _i01,
XF_PTNAME(DEPTH_IN) _i02,
XF_PTNAME(DEPTH_IN) _i10,
XF_PTNAME(DEPTH_IN) _i11,
XF_PTNAME(DEPTH_IN) _i12,
XF_PTNAME(DEPTH_IN) _i20,
XF_PTNAME(DEPTH_IN) _i21,
XF_PTNAME(DEPTH_IN) _i22,
XF_PTNAME(DEPTH_PHASE) angle,
uchar_t _low_threshold,
uchar_t _high_threshold) {
uchar_t NMS = 0;
int cmp1, cmp2;
if (_i11 > _low_threshold) {
if (angle == 0) {
cmp1 = _i10;
cmp2 = _i12;
if ((_i11 > cmp1) && (_i11 >= cmp2)) {
if (_i11 > _high_threshold) {
if (EDGELINK)
NMS = 3;
else
NMS = 0xff;
} else {
if (EDGELINK)
NMS = 1;
else
NMS = 0x80;
}
} else {
NMS = 0;
}
}
if (angle == 45) {
cmp1 = _i02;
cmp2 = _i20;
if ((_i11 > cmp1) && (_i11 > cmp2)) {
if (_i11 > _high_threshold) {
if (EDGELINK)
NMS = 3;
else
NMS = 0xff;
} else {
if (EDGELINK)
NMS = 1;
else
NMS = 0x80;
}
} else {
NMS = 0;
}
}
if (angle == 90) {
cmp1 = _i01;
cmp2 = _i21;
if ((_i11 > cmp1) && (_i11 >= cmp2)) {
if (_i11 > _high_threshold) {
if (EDGELINK)
NMS = 3;
else
NMS = 0xff;
} else {
if (EDGELINK)
NMS = 1;
else
NMS = 0x80;
}
} else {
NMS = 0;
}
}
if (angle == 135) {
cmp1 = _i00;
cmp2 = _i22;
if ((_i11 > cmp1) && (_i11 > cmp2)) {
if (_i11 > _high_threshold) {
if (EDGELINK)
NMS = 3;
else
NMS = 0xff;
} else {
if (EDGELINK)
NMS = 1;
else
NMS = 0x80;
}
} else {
NMS = 0;
}
}
} else {
NMS = 0;
}
return NMS;
}
template <int NPC, int DEPTH_IN, int DEPTH_PHASE, int DEPTH_OUT>
void xFNMS3x3(XF_PTNAME(DEPTH_OUT) * _mask_value,
XF_PTNAME(DEPTH_IN) * _l00_buf,
XF_PTNAME(DEPTH_IN) * _l10_buf,
XF_PTNAME(DEPTH_IN) * _l20_buf,
XF_PTNAME(DEPTH_PHASE) * _angle_buf,
uchar_t _low_threshold,
uchar_t _high_threshold) {
// clang-format off
#pragma HLS INLINE
// clang-format on
ap_uint<5> filter_loop = XF_NPIXPERCYCLE(NPC);
ComputeMaxLoop:
for (ap_uint<6> j = 0; j < filter_loop; j++) {
// clang-format off
#pragma HLS unroll
// clang-format on
_mask_value[j] = xFFindmax3x3<DEPTH_IN, DEPTH_PHASE, DEPTH_OUT>(
_l00_buf[j], _l00_buf[j + 1], _l00_buf[j + 2], _l10_buf[j], _l10_buf[j + 1], _l10_buf[j + 2], _l20_buf[j],
_l20_buf[j + 1], _l20_buf[j + 2], _angle_buf[j + 1], _low_threshold, _high_threshold);
} // end of computeMaskValueLoop
}
template <int IN_T1,
int IN_T2,
int DST_T,
int ROWS,
int COLS,
int DEPTH_IN,
int DEPTH_PHASE,
int DEPTH_OUT,
int NPC,
int WORDWIDTH_SRC,
int WORDWIDTH_PHASE,
int WORDWIDTH_DST,
int COLS_COUNT,
int TC1,
int TC2>
void ProcessNms3x3canny(
xf::cv::Mat<IN_T1, ROWS, COLS, NPC, TC2>&
_magnitude_mat, // hls::stream< XF_SNAME(WORDWIDTH_SRC) > & _magnitude_mat,
xf::cv::Mat<IN_T2, ROWS, COLS, NPC, TC1>& _phase_mat, // hls::stream< XF_SNAME(WORDWIDTH_PHASE) > & _phase_mat,
xf::cv::Mat<DST_T, ROWS, COLS, NPC>& _dst_mat, // hls::stream< XF_SNAME(WORDWIDTH_DST) > & _dst_mat,
XF_SNAME(WORDWIDTH_SRC) buf[3][(COLS >> XF_BITSHIFT(NPC))],
XF_SNAME(WORDWIDTH_PHASE) angle[2][COLS >> XF_BITSHIFT(NPC)],
XF_PTNAME(DEPTH_IN) l00_buf[XF_NPIXPERCYCLE(NPC) + 2],
XF_PTNAME(DEPTH_IN) l10_buf[XF_NPIXPERCYCLE(NPC) + 2],
XF_PTNAME(DEPTH_IN) l20_buf[XF_NPIXPERCYCLE(NPC) + 2],
XF_PTNAME(DEPTH_PHASE) angle_buf[XF_NPIXPERCYCLE(NPC) + 2],
XF_PTNAME(DEPTH_OUT) nmsvalue[XF_NPIXPERCYCLE(NPC)],
XF_SNAME(WORDWIDTH_DST) & P0,
uint16_t imgwidth,
uint16_t imgheight,
ap_uint<2> top,
ap_uint<2> mid,
ap_uint<2> bottom,
ap_uint<13> row,
ap_uint<13> row_ind,
ap_uint<13> read_ind,
ap_uint<13> write_ind,
uchar_t low_threshold,
uchar_t high_threshold,
int& read_index1,
int& read_index2,
int& write_index) {
// clang-format off
#pragma HLS INLINE
// clang-format on
uint16_t step_out = XF_PIXELDEPTH(DEPTH_OUT), max_loop_out = XF_WORDDEPTH(WORDWIDTH_DST);
uint16_t buf_size = XF_NPIXPERCYCLE(NPC) + 2;
XF_SNAME(WORDWIDTH_SRC) buf0, buf1, buf2;
colLoop1:
for (ap_uint<13> col = 0; col < (imgwidth); col++) // Width of the image
{
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=COLS_COUNT max=COLS_COUNT
#pragma HLS pipeline
// clang-format on
if (row < imgheight) {
buf[row_ind][col] = _magnitude_mat.read(read_index1++);
angle[read_ind][col] = _phase_mat.read(read_index2++);
} else {
buf[row_ind][col] = 0;
angle[read_ind][col] = 0;
}
// ang = angle[angle_ind][col];
buf0 = buf[top][col];
buf1 = buf[mid][col];
buf2 = buf[bottom][col];
/* Extract the data from the packed pixels */
xfExtractPixels<NPC, WORDWIDTH_SRC, DEPTH_IN>(&l00_buf[2], buf0, 0);
xfExtractPixels<NPC, WORDWIDTH_SRC, DEPTH_IN>(&l10_buf[2], buf1, 0);
xfExtractPixels<NPC, WORDWIDTH_SRC, DEPTH_IN>(&l20_buf[2], buf2, 0);
xfExtractPixels<NPC, WORDWIDTH_PHASE, DEPTH_PHASE>(&angle_buf[2], angle[write_ind][col], 0);
xFNMS3x3<NPC, DEPTH_IN, DEPTH_PHASE, DEPTH_OUT>(nmsvalue, l00_buf, l10_buf, l20_buf, angle_buf, low_threshold,
high_threshold);
if (col == 0) {
ap_uint<6> j = 1;
P0loop1:
for (ap_uint<6> i = 0; i < (max_loop_out - step_out); i += step_out) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=NPC max=NPC
#pragma HLS unroll
// clang-format on
P0.range(i + (step_out - 1), i) = nmsvalue[j++];
}
} else {
P0.range((max_loop_out - 1), (max_loop_out - step_out)) = nmsvalue[0];
_dst_mat.write(write_index++, P0);
ap_uint<6> j = 1;
P0loop2:
for (ap_uint<6> i = 0; i < (max_loop_out - step_out); i += step_out) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=NPC max=NPC
#pragma HLS unroll
// clang-format on
P0.range(i + (step_out - 1), i) = nmsvalue[j++];
}
}
l00_buf[0] = l00_buf[buf_size - 2];
l00_buf[1] = l00_buf[buf_size - 1];
l10_buf[0] = l10_buf[buf_size - 2];
l10_buf[1] = l10_buf[buf_size - 1];
l20_buf[0] = l20_buf[buf_size - 2];
l20_buf[1] = l20_buf[buf_size - 1];
angle_buf[0] = angle_buf[buf_size - 2];
angle_buf[1] = angle_buf[buf_size - 1];
} // end of colLoop1
}
template <int IN_T1,
int IN_T2,
int DST_T,
int ROWS,
int COLS,
int DEPTH_IN,
int DEPTH_PHASE,
int DEPTH_OUT,
int NPC,
int WORDWIDTH_SRC,
int WORDWIDTH_PHASE,
int WORDWIDTH_DST,
int COLS_COUNT,
int TC1,
int TC2>
void xFSuppression3x3(
xf::cv::Mat<IN_T1, ROWS, COLS, NPC, TC2>& _magnitude_mat, // hls::stream<XF_SNAME(WORDWIDTH_SRC)>& _magnitude_mat,
xf::cv::Mat<IN_T2, ROWS, COLS, NPC, TC1>& _phase_mat, // hls::stream<XF_SNAME(WORDWIDTH_PHASE)>& _phase_mat,
xf::cv::Mat<DST_T, ROWS, COLS, NPC>& _dst_mat, // hls::stream<XF_SNAME(WORDWIDTH_DST)>& _dst_mat,
uchar_t low_threshold,
uchar_t high_threshold,
uint16_t imgheight,
uint16_t imgwidth) {
imgwidth = imgwidth >> XF_BITSHIFT(NPC);
ap_uint<13> row_ind = 1;
ap_uint<2> top, mid, bottom;
ap_uint<13> read_ind = 1, write_ind = 0;
int read_index1 = 0, read_index2 = 0, write_index = 0;
uint16_t step_out = XF_PIXELDEPTH(DEPTH_OUT), max_loop_out = XF_WORDDEPTH(WORDWIDTH_DST);
uint16_t buf_size = XF_NPIXPERCYCLE(NPC) + 2;
XF_PTNAME(DEPTH_OUT)
nmsvalue[XF_NPIXPERCYCLE(NPC)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=nmsvalue complete dim=1
// clang-format on
XF_PTNAME(DEPTH_IN)
l00_buf[XF_NPIXPERCYCLE(NPC) + 2], l10_buf[XF_NPIXPERCYCLE(NPC) + 2],
l20_buf[XF_NPIXPERCYCLE(NPC) + 2]; // Temporary buffers to hold image data from three rows.
// clang-format off
#pragma HLS ARRAY_PARTITION variable=l00_buf complete dim=1
#pragma HLS ARRAY_PARTITION variable=l10_buf complete dim=1
#pragma HLS ARRAY_PARTITION variable=l20_buf complete dim=1
// clang-format on
XF_SNAME(WORDWIDTH_DST) P0;
XF_SNAME(WORDWIDTH_PHASE) ang, angle[2][COLS >> XF_BITSHIFT(NPC)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=angle complete dim=1
// clang-format on
XF_SNAME(WORDWIDTH_SRC) buf[3][COLS >> XF_BITSHIFT(NPC)];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=buf complete dim=1
// clang-format on
XF_PTNAME(DEPTH_PHASE) angle_buf[XF_NPIXPERCYCLE(NPC) + 2];
// clang-format off
#pragma HLS ARRAY_PARTITION variable=angle_buf complete dim=1
// clang-format on
bufColLoop:
for (ap_uint<13> col = 0; col < (imgwidth); col++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=COLS_COUNT max=COLS_COUNT
#pragma HLS pipeline
// clang-format on
buf[0][col] = 0;
buf[row_ind][col] = _magnitude_mat.read(read_index1++);
angle[0][col] = _phase_mat.read(read_index2++);
}
row_ind = 2;
l00_buf[0] = l00_buf[1] = 0;
l10_buf[0] = l10_buf[1] = 0;
l20_buf[0] = l20_buf[1] = 0;
angle_buf[0] = angle_buf[1] = 0;
rowLoop:
for (ap_uint<13> row = 1; row < (imgheight + 1); row++) // Height of the image
{
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS
// clang-format on
if (row_ind == 2) {
top = 0;
mid = 1;
bottom = 2;
} else if (row_ind == 0) {
top = 1;
mid = 2;
bottom = 0;
} else if (row_ind == 1) {
top = 2;
mid = 0;
bottom = 1;
}
l00_buf[0] = l00_buf[1] = 0;
l10_buf[0] = l10_buf[1] = 0;
l20_buf[0] = l20_buf[1] = 0;
angle_buf[0] = angle_buf[1] = 0;
P0 = 0;
ProcessNms3x3canny<IN_T1, IN_T2, DST_T, ROWS, COLS, DEPTH_IN, DEPTH_PHASE, DEPTH_OUT, NPC, WORDWIDTH_SRC,
WORDWIDTH_PHASE, WORDWIDTH_DST, COLS_COUNT, TC1, TC2>(
_magnitude_mat, _phase_mat, _dst_mat, buf, angle, l00_buf, l10_buf, l20_buf, angle_buf, nmsvalue, P0,
imgwidth, imgheight, top, mid, bottom, row, row_ind, read_ind, write_ind, low_threshold, high_threshold,
read_index1, read_index2, write_index);
XF_PTNAME(DEPTH_IN) val = 0;
if (NPC == XF_NPPC1) {
nmsvalue[0] = xFFindmax3x3<DEPTH_IN, DEPTH_PHASE, DEPTH_OUT>(
l00_buf[buf_size - 3], // Applying Mask
l00_buf[buf_size - 2], val, l10_buf[buf_size - 3], l10_buf[buf_size - 2], val, l20_buf[buf_size - 3],
l20_buf[buf_size - 2], val, angle_buf[buf_size - 2], low_threshold,
high_threshold); // Take care of border at last column
} else {
nmsvalue[0] = xFFindmax3x3<DEPTH_IN, DEPTH_PHASE, DEPTH_OUT>(
l00_buf[buf_size - 2], l00_buf[buf_size - 1], val, l10_buf[buf_size - 2], l10_buf[buf_size - 1], val,
l20_buf[buf_size - 2], l20_buf[buf_size - 1], val, angle_buf[buf_size - 1], low_threshold,
high_threshold);
}
P0.range((max_loop_out - 1), (max_loop_out - step_out)) = nmsvalue[0];
_dst_mat.write(write_index++, P0);
row_ind++;
read_ind++;
write_ind++;
if (row_ind == 3) {
row_ind = 0;
}
if (read_ind == 2) {
read_ind = 0;
}
if (write_ind == 2) {
write_ind = 0;
}
} // end of rowLoop
// write data
} // end of function
template <int SRC_T,
int DST_T,
int ROWS,
int COLS,
int DEPTH_SRC,
int DEPTH_DST,
int NPC,
int WORDWIDTH_SRC,
int WORDWIDTH_DST,
int COLS_TRIP,
int TC1>
void xFAngleKernel(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src1, // hls::stream<XF_SNAME(WORDWIDTH_SRC)>& _src1,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src2, // hls::stream<XF_SNAME(WORDWIDTH_SRC)>& _src2,
xf::cv::Mat<DST_T, ROWS, COLS, NPC, TC1>& _dst, // hls::stream<XF_SNAME(WORDWIDTH_DST)>& _dst,
uint16_t imgheight,
uint16_t imgwidth) {
XF_SNAME(WORDWIDTH_SRC) val_src1, val_src2;
XF_SNAME(WORDWIDTH_DST) val_dst;
int16_t p, q;
int16_t result;
rowLoop:
for (ap_uint<13> i = 0; i < (imgheight); i++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=ROWS max=ROWS
#pragma HLS LOOP_FLATTEN off
// clang-format on
colLoop:
for (ap_uint<13> j = 0; j < (imgwidth); j++) {
// clang-format off
#pragma HLS LOOP_TRIPCOUNT min=COLS_TRIP max=COLS_TRIP
#pragma HLS pipeline
// clang-format on
val_src1 = (XF_SNAME(WORDWIDTH_SRC))(_src1.read(i * imgwidth + j));
val_src2 = (XF_SNAME(WORDWIDTH_SRC))(_src2.read(i * imgwidth + j));
int proc_loop = XF_WORDDEPTH(WORDWIDTH_DST), step = XF_PIXELDEPTH(DEPTH_DST);
procLoop:
for (ap_uint<13> k = 0, pix = 0; k < proc_loop; k += step, pix += 16) {
// clang-format off
#pragma HLS unroll
// clang-format on
p = val_src1.range(pix + (16 - 1), pix); // Get bits from certain range of positions.
q = val_src2.range(pix + (16 - 1), pix); // Get bits from certain range of positions.
#define CANNY_SHIFT 15
XF_PTNAME(DEPTH_DST) angle;
int xa = __ABS(p);
int ya = __ABS(q) << CANNY_SHIFT;
int TG22 = (int)(0.4142135623730950488016887242097 * (1 << CANNY_SHIFT) + 0.5);
int tg22x;
// clang-format off
#pragma HLS RESOURCE variable=tg22x core=MulnS
// clang-format on
tg22x = xa * TG22;
if (ya < tg22x) {
angle = 0;
} else {
int tg67x = tg22x + (xa << (CANNY_SHIFT + 1));
if (ya > tg67x) {
angle = 90;
} else {
int sign = (p ^ q) < 0 ? -1 : 1;
if (sign == 1) {
angle = 135;
} else {
angle = 45;
}
}
}
val_dst.range(k + (step - 1), k) = angle;
}
_dst.write(i * imgwidth + j, val_dst); // writing into the output stream
}
}
}
template <int SRC_T,
int DST_T,
int ROWS,
int COLS,
int DEPTH_SRC,
int DEPTH_DST,
int NPC,
int WORDWIDTH_SRC,
int WORDWIDTH_DST,
int TC1>
void xFAngle(xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src1, // hls::stream<XF_SNAME(WORDWIDTH_SRC)>& _src1,
xf::cv::Mat<SRC_T, ROWS, COLS, NPC>& _src2, // hls::stream<XF_SNAME(WORDWIDTH_SRC)>& _src2,
xf::cv::Mat<DST_T, ROWS, COLS, NPC, TC1>& _dst, // hls::stream<XF_SNAME(WORDWIDTH_DST)>& _dst,
uint16_t imgheight,
uint16_t imgwidth) {
// clang-format off
#pragma HLS inline
// clang-format on
imgwidth = imgwidth >> XF_BITSHIFT(NPC);
xFAngleKernel<SRC_T, DST_T, ROWS, COLS, DEPTH_SRC, DEPTH_DST, NPC, WORDWIDTH_SRC, WORDWIDTH_DST,
(COLS >> XF_BITSHIFT(NPC)), TC1>(_src1, _src2, _dst, imgheight, imgwidth);
}
#endif