version 1.3 . 修改了calib时序，每行处理两个点，时序为 pt0->pt1->K0K1->K2K3->K4K5->K6K7
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@ -19,7 +19,7 @@ void calib(
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Byte8 dataBuff;
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dataBuff.dData = InData.calibK[0];
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ap_uint<12> WinNum = 0;
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ap_uint<12> Lines = 0;
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RgnSubPixCalib outData = {0,0,0,0,0,0,0};
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//1st: frameNo
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outData.Sync = InData.Sync;
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@ -59,7 +59,7 @@ void calib(
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dataBuff.dData = InData.calibK[0];
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data_32 = dataBuff.nData[0];
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ap_uint<32> d32_t5h = data_32;
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WinNum(11,0) = d32_t5h.range(23,12);
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Lines(11,0) = d32_t5h.range(23,12); //lines
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//outSubpixCalib.write(outData);
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//6th: frmY
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@ -82,20 +82,32 @@ void calib(
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outSubpixCalib.write(outData);
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outSubpixCalib.write(outData_1);
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Byte8 dataConver_x, dataConver_y;
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//double kx, ky;
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float kx_1, kx_2, ky_1, ky_2;
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//line_pt0
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RgnSubPixCalib calibPnt;
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double rawx,rawy;
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float rawx,rawy;
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double x2, x3,x4,x5,x6,x7;
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double y2, y3,y4,y5,y6,y7;
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//double kx, ky;
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double kx_1, kx_2, ky_1, ky_2;
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Byte8 dataConver_x, dataConver_y;
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double xmul0=0, xmul1=0, xmul2=0, xmul3=0, xmul4=0, xmul5=0, xmul6=0, xmul7=0;
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double ymul0=0, ymul1=0, ymul2=0, ymul3=0, ymul4=0, ymul5=0, ymul6=0, ymul7=0;
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float xmul0=0, xmul1=0, xmul2=0, xmul3=0, xmul4=0, xmul5=0, xmul6=0, xmul7=0;
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float ymul0=0, ymul1=0, ymul2=0, ymul3=0, ymul4=0, ymul5=0, ymul6=0, ymul7=0;
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//line_pt1
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RgnSubPixCalib calibPnt_pt1;
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float rawx_pt1,rawy_pt1;
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double x2_pt1, x3_pt1,x4_pt1,x5_pt1,x6_pt1,x7_pt1;
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double y2_pt1, y3_pt1,y4_pt1,y5_pt1,y6_pt1,y7_pt1;
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float xmul0_pt1=0, xmul1_pt1=0, xmul2_pt1=0, xmul3_pt1=0, xmul4_pt1=0, xmul5_pt1=0, xmul6_pt1=0, xmul7_pt1=0;
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float ymul0_pt1=0, ymul1_pt1=0, ymul2_pt1=0, ymul3_pt1=0, ymul4_pt1=0, ymul5_pt1=0, ymul6_pt1=0, ymul7_pt1=0;
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bool vldFlag = 0;
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for(int n = 0; n < WinNum; n ++)
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bool vldFlag_pt1 = 0;
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for(int n = 0; n < Lines; n ++)
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{
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#pragma HLS LOOP_TRIPCOUNT min=4096 max=4096
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for(int j = 0; j <= 4; j ++)
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for(int j = 0; j <= 5; j ++) //6 clocks: 0-pt0, 1-pt1, 2ŁŹ3ŁŹ4ŁŹ5 - K
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{
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#pragma HLS PIPELINE II=1
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InData = inCalibData.read();
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@ -107,11 +119,11 @@ void calib(
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outSubpixCalib.write(calibPnt);
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dataBuff.dData = InData.calibK[0];
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rawx = (double)dataBuff.fData[0];
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rawx = (float)dataBuff.fData[0];
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ap_uint<32> apData32 = (ap_uint<32>)dataBuff.nData[1];
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ap_uint<12> dy_12;
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dy_12(11,0)= apData32.range(11, 0);
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rawy = (double)dy_12;
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rawy = (float)dy_12;
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calibPnt.rid = apData32.range(22, 12);
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calibPnt.flag = apData32.range(26,23);
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dataBuff.dData = InData.calibK[1];
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@ -124,77 +136,173 @@ void calib(
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else
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vldFlag = 1;
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x2 = rawx * rawx;
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y2 = rawy * rawy;
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double dtmp_1 = (double)rawx;
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double dtmp_2 = (double)rawy;
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x2 = dtmp_1 * dtmp_1;
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y2 = dtmp_2 * dtmp_2;
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}
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else if(1 == j)//k0, k1*x
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else if( 1 == j)//read subpix_pt1
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{
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calibPnt_pt1.x = (float)(xmul0_pt1 + xmul1_pt1 + xmul2_pt1 + xmul3_pt1 + xmul4_pt1 + xmul5_pt1+ xmul6_pt1 + xmul7_pt1);
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calibPnt_pt1.y = (float)(ymul0_pt1 + ymul1_pt1 + ymul2_pt1 + ymul3_pt1 + ymul4_pt1 + ymul5_pt1+ ymul6_pt1 + ymul7_pt1);
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if( (n > 0) && (vldFlag_pt1 == 1))
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outSubpixCalib.write(calibPnt_pt1);
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dataBuff.dData = InData.calibK[0];
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rawx_pt1 = (float)dataBuff.fData[0];
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ap_uint<32> apData32 = (ap_uint<32>)dataBuff.nData[1];
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ap_uint<12> dy_12;
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dy_12(11,0)= apData32.range(11, 0);
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rawy_pt1 = (float)dy_12;
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calibPnt_pt1.rid = apData32.range(22, 12);
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calibPnt_pt1.flag = apData32.range(26,23);
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dataBuff.dData = InData.calibK[1];
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apData32 = (ap_uint<32>)dataBuff.nData[0];
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calibPnt_pt1.value = apData32.range(7,0);
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calibPnt_pt1.Sync = 0;
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calibPnt_pt1.rsv = 0;
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if(rawx_pt1 < 0)
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vldFlag_pt1 = 0;
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else
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vldFlag_pt1 = 1;
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double dtmp_1 = (double)rawx_pt1;
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double dtmp_2 = (double)rawy_pt1;
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x2_pt1 = dtmp_1 * dtmp_1;
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y2_pt1 = dtmp_2 * dtmp_2;
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}
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else if(2 == j)//k0, k1*x
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{
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//kx = InData.calibK[0];
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//ky = InData.calibK[1];
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dataConver_x.dData = InData.calibK[0];
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kx_1 = (double)dataConver_x.fData[0];
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kx_2 = (double)dataConver_x.fData[1];
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kx_1 = (float)dataConver_x.fData[0];
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kx_2 = (float)dataConver_x.fData[1];
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dataConver_y.dData = InData.calibK[0];
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ky_1 = (double)dataConver_y.fData[0];
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ky_2 = (double)dataConver_y.fData[1];
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ky_1 = (float)dataConver_y.fData[0];
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ky_2 = (float)dataConver_y.fData[1];
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xmul0 = kx_1;
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ymul0 = ky_1;
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xmul1 = kx_2 * rawx;
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ymul1 = ky_2 * rawy;
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x3 = x2 * rawx;
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y3 = y2 * rawy;
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double dtmp_1 = (double)rawx;
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double dtmp_2 = (double)rawy;
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x3 = x2 * dtmp_1;
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y3 = y2 * dtmp_2;
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xmul0_pt1 = kx_1;
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ymul0_pt1 = ky_1;
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xmul1_pt1 = kx_2 * rawx_pt1;
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ymul1_pt1 = ky_2 * rawy_pt1;
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double dtmp_3 = (double)rawx_pt1;
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double dtmp_4 = (double)rawy_pt1;
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x3_pt1 = x2_pt1 * dtmp_3;
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y3_pt1 = y2_pt1 * dtmp_4;
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}
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else if(2 == j)//k2 * x^2, k3 * x^3
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else if(3 == j)//k2 * x^2, k3 * x^3
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{
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dataConver_x.dData = InData.calibK[0];
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kx_1 = (double)dataConver_x.fData[0];
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kx_2 = (double)dataConver_x.fData[1];
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kx_1 = (float)dataConver_x.fData[0];
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kx_2 = (float)dataConver_x.fData[1];
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dataConver_y.dData = InData.calibK[0];
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ky_1 = (double)dataConver_y.fData[0];
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ky_2 = (double)dataConver_y.fData[1];
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ky_1 = (float)dataConver_y.fData[0];
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ky_2 = (float)dataConver_y.fData[1];
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xmul2 = kx_1 * x2;
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ymul2 = ky_1 * y2;
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xmul3 = kx_2 * x3;
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ymul3 = ky_2 * y3;
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float x2_tmp = (float)x2;
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float y2_tmp = (float)y2;
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float x3_tmp = (float)x3;
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float y3_tmp = (float)y3;
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xmul2 = kx_1 * x2_tmp;
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ymul2 = ky_1 * y2_tmp;
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xmul3 = kx_2 * x3_tmp;
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ymul3 = ky_2 * y3_tmp;
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x4 = x3 * rawx;
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y4 = y3 * rawy;
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x4 = x2 * x2;
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y4 = y2 * y2;
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x5 = x3 * x2;
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y5 = y3 * x2;
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float x2_tmp_pt1 = (float)x2_pt1;
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float y2_tmp_pt1 = (float)y2_pt1;
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float x3_tmp_pt1 = (float)x3_pt1;
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float y3_tmp_pt1 = (float)y3_pt1;
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xmul2_pt1 = kx_1 * x2_tmp_pt1;
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ymul2_pt1 = ky_1 * y2_tmp_pt1;
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xmul3_pt1 = kx_2 * x3_tmp_pt1;
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ymul3_pt1 = ky_2 * y3_tmp_pt1;
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x4_pt1 = x2_pt1 * x2_pt1;
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y4_pt1 = y2_pt1 * y2_pt1;
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x5_pt1 = x3_pt1 * x2_pt1;
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y5_pt1 = y3_pt1 * x2_pt1;
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}
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else if(3 == j) //k4 * x^4, k5 * x^5
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else if(4 == j) //k4 * x^4, k5 * x^5
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{
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dataConver_x.dData = InData.calibK[0];
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kx_1 = (double)dataConver_x.fData[0];
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kx_2 = (double)dataConver_x.fData[1];
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kx_1 = (float)dataConver_x.fData[0];
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kx_2 = (float)dataConver_x.fData[1];
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dataConver_y.dData = InData.calibK[0];
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ky_1 = (double)dataConver_y.fData[0];
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ky_2 = (double)dataConver_y.fData[1];
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ky_1 = (float)dataConver_y.fData[0];
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ky_2 = (float)dataConver_y.fData[1];
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xmul4 = kx_1 * x4;
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ymul4 = ky_1 * y4;
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xmul5 = kx_2 * x5;
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ymul5 = ky_2 * y5;
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float x4_tmp = (float)x4;
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float y4_tmp = (float)y4;
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float x5_tmp = (float)x5;
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float y5_tmp = (float)y5;
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xmul4 = kx_1 * x4_tmp;
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ymul4 = ky_1 * y4_tmp;
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xmul5 = kx_2 * x5_tmp;
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ymul5 = ky_2 * y5_tmp;
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x6 = x5 * rawx;
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y6 = y5 * rawy;
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x6 = x4 * x2;
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y6 = y4 * x2;
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x7 = x5 * x2;
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y7 = y5 * x2;
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float x4_tmp_pt1 = (float)x4_pt1;
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float y4_tmp_pt1 = (float)y4_pt1;
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float x5_tmp_pt1 = (float)x5_pt1;
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float y5_tmp_pt1 = (float)y5_pt1;
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xmul4_pt1 = kx_1 * x4_tmp_pt1;
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ymul4_pt1 = ky_1 * y4_tmp_pt1;
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xmul5_pt1 = kx_2 * x5_tmp_pt1;
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ymul5_pt1 = ky_2 * y5_tmp_pt1;
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x6_pt1 = x4_pt1 * x2_pt1;
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y6_pt1 = y4_pt1 * x2_pt1;
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x7_pt1 = x5_pt1 * x2_pt1;
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y7_pt1 = y5_pt1 * x2_pt1;
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}
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else if(4 == j)//k6 * x^6, k7 * x^7
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else if(5 == j)//k6 * x^6, k7 * x^7
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{
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dataConver_x.dData = InData.calibK[0];
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kx_1 = (double)dataConver_x.fData[0];
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kx_2 = (double)dataConver_x.fData[1];
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kx_1 = (float)dataConver_x.fData[0];
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kx_2 = (float)dataConver_x.fData[1];
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dataConver_y.dData = InData.calibK[0];
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ky_1 = (double)dataConver_y.fData[0];
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ky_2 = (double)dataConver_y.fData[1];
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ky_1 = (float)dataConver_y.fData[0];
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ky_2 = (float)dataConver_y.fData[1];
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xmul6 = kx_1 * x6;
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ymul6 = ky_1 * y6;
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xmul7 = kx_2 * x7;
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ymul7 = ky_2 * y7;
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float x6_tmp = (float)x6;
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float y6_tmp = (float)y6;
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float x7_tmp = (float)x7;
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float y7_tmp = (float)y7;
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xmul6 = kx_1 * x6_tmp;
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ymul6 = ky_1 * y6_tmp;
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xmul7 = kx_2 * x7_tmp;
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ymul7 = ky_2 * y7_tmp;
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float x6_tmp_pt1 = (float)x6_pt1;
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float y6_tmp_pt1 = (float)y6_pt1;
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float x7_tmp_pt1 = (float)x7_pt1;
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float y7_tmp_pt1 = (float)y7_pt1;
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xmul6_pt1 = kx_1 * x6_tmp_pt1;
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ymul6_pt1 = ky_1 * y6_tmp_pt1;
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xmul7_pt1 = kx_2 * x7_tmp_pt1;
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ymul7_pt1 = ky_2 * y7_tmp_pt1;
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}
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#if 0
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else if(5 == j) //
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@ -228,6 +336,9 @@ void calib(
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#endif
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}
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}
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if( (WinNum > 0)&& (vldFlag == 1))
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if( (Lines > 0)&& (vldFlag == 1))
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outSubpixCalib.write(calibPnt);
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if( (Lines > 0)&& (vldFlag_pt1 == 1))
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outSubpixCalib.write(calibPnt_pt1);
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}
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@ -89,9 +89,9 @@ void genCalibTestSream(
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VSync.Sync = 0b00;
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calibStream.write(VSync);
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//5th: frmX, WinNum
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int winNum = (int)subpixData.size();
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int lines = (int)subpixData.size() / 2; //lines
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data16_1 = frameROI_x;
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data16_2 = (uint16_t)winNum;
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data16_2 = (uint16_t)lines;
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tmpData(11,0) = data16_1.range(11,0);
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tmpData(23,12) = data16_2.range(11,0);
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tmpData(31,24) = 0;
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@ -112,9 +112,9 @@ void genCalibTestSream(
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VSync.Sync = 0b00;
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calibStream.write(VSync);
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//output data
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for(int i = 0; i < winNum; i ++)
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for(int i = 0; i < lines; i ++)
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{
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RgnSubPix a_line = subpixData[i];
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RgnSubPix a_line = subpixData[i*2];
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CalibData conData;
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dataBuff.fData[0] = a_line.x;
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@ -133,6 +133,22 @@ void genCalibTestSream(
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conData.Sync = 0b01;
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calibStream.write(conData);
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a_line = subpixData[i*2+1];
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dataBuff.fData[0] = a_line.x;
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apData32(11, 0) = a_line.y.range(11,0);
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apData32(22, 12) = a_line.rid.range(10,0);
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apData32(26,23) = a_line.flag(3,0);
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apData32(31,27) = 0;
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dataBuff.nData[1] = (uint32_t)apData32;
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conData.calibK[0] = dataBuff.dData;
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apData32(7,0) = a_line.value.range(7,0);
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apData32(31,8) = 0;
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dataBuff.nData[0] = (uint32_t)apData32;
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dataBuff.nData[1] = 0;
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conData.calibK[1] = dataBuff.dData;
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conData.Sync = 0b00;
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calibStream.write(conData);
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for(int m = 0; m < 4; m ++) //write k
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{
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conData.Sync = 0b00;
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@ -3,7 +3,7 @@
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void subpix(
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hls::stream<RgnPixConvolve> &InConvolvePnt,
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hls::stream<RgnSubPix> &OutSubpixPnt,
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hls::stream<RgnSubPix> &OutSubpixPnt
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)
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{
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#pragma HLS DATA_PACK variable=InConvolvePnt
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@ -63,9 +63,9 @@ void subpix(
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OutSubpixPnt.write(outData);
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//5th: frmX, WinNum
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int nLines = (int)frmH;
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int nLoops = nLines * 2;
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if(nLoops >= 4096)
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nLoops = 4095;
|
||||
int nLoops = nLines; // * 2;
|
||||
//if(nLoops >= 4096)
|
||||
// nLoops = 4095;
|
||||
ap_uint<12> outSize = (ap_uint<12>)nLoops;
|
||||
InData = InConvolvePnt.read();
|
||||
outData.Sync = InData.Sync;
|
||||
@ -95,7 +95,8 @@ void subpix(
|
||||
InData = InConvolvePnt.read();
|
||||
readNum ++;
|
||||
RgnPixConvolve currData;
|
||||
for(int n = 0; n < nLoops; n ++)
|
||||
int loopNum = nLoops * 2;
|
||||
for(int n = 0; n < loopNum; n ++)
|
||||
{
|
||||
#pragma HLS LOOP_TRIPCOUNT min=4096 max=4096
|
||||
#pragma HLS PIPELINE II=1
|
||||
|
||||
@ -8,8 +8,7 @@
|
||||
#include "..\..\globals\tbGlobals.h"
|
||||
|
||||
std::vector<Luma_convolveData> readConvolveDataFile(
|
||||
const char* file)
|
||||
{
|
||||
const char* file){
|
||||
std::ifstream inputFile(file);
|
||||
|
||||
std::string strLineTxt;
|
||||
@ -174,7 +173,7 @@ void convertSubpixStreamToArray(
|
||||
tmp.fdata = VSync.x;
|
||||
*frameROI_y = tmp.unData & 0xfff;
|
||||
//output data
|
||||
for(int i = 0; i < winNum; i ++)
|
||||
for(int i = 0; i < winNum*2; i ++)
|
||||
{
|
||||
RgnSubPix data_in = streamData.read();
|
||||
Luma_rgnSubpix a_pnt;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user