jerryzeng
34db2009da
（1） calib模块系数由Kx0Kx1,Ky0Ky1调整为Kx0Ky0, Kx1Ky1 （2） compute3D模块double型输入参数修改为float型。内部仍然按double型计算
94 lines
2.2 KiB
C++
94 lines
2.2 KiB
C++
#include "compute3D.h"
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#include "stdlib.h"
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void compute3D(
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hls::stream<RgnSubPixCalib> &inSubCalib,
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hls::stream<Pnt3D> &outPt3D,
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float u0_f,
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float v0_f,
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float F_inv_f,
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float plane_a_f,
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float plane_b_f,
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float plane_c_f
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)
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{
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#pragma HLS DATA_PACK variable=inSubCalib
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#pragma HLS DATA_PACK variable=outPt3D
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#pragma HLS INTERFACE axis register both port=inSubCalib
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#pragma HLS INTERFACE axis register both port=outPt3D
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RgnSubPixCalib InData;
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InData = inSubCalib.read();
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ap_uint<1> VSync = InData.Sync.range(1,1);
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if(0b0 == VSync) //wait for syncFirst
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return;
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ap_uint<12> WinNum = 0;
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Pnt3D outData = {0,0,0,0,0};
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//1st: frameNo
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outData.Sync = InData.Sync;
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outData.x = InData.x;
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outPt3D.write(outData);
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//2nd: timeStamp
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InData = inSubCalib.read();
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outData.Sync = InData.Sync;
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outData.x = InData.x;
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outPt3D.write(outData);
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//3rd:encInfo
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InData = inSubCalib.read();
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outData.Sync = InData.Sync;
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outData.x = InData.x;
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outPt3D.write(outData);
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//4th: frmW, frmH
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InData = inSubCalib.read();
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outData.Sync = InData.Sync;
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outData.x = InData.x;
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outPt3D.write(outData);
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//5th: frmX, WinNum
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InData = inSubCalib.read();
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outData.Sync = InData.Sync;
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UintFloat tmp;
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tmp.fdata = InData.x;
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ap_uint<32> d32 = (ap_uint<32>)tmp.unData;
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WinNum(11,0) = d32.range(23,12);
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tmp.unData = (unsigned int)WinNum;
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outData.x = InData.x;
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outPt3D.write(outData);
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//6th: frmY
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InData = inSubCalib.read();
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outData.Sync = InData.Sync;
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outData.x = InData.x;
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outPt3D.write(outData);
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double u0 = u0_f;
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double v0 =v0_f;
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double F_inv =F_inv_f;
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double plane_a = plane_a_f;
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double plane_b = plane_b_f;
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double plane_c = plane_c_f;
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for(int n = 0; n < WinNum; n ++)
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{
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#pragma HLS LOOP_TRIPCOUNT min=3072 max=3072
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#pragma HLS PIPELINE II=1
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InData = inSubCalib.read();
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double u = (double)InData.x;
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double v = (double)InData.y;
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double z_inv = u * plane_a + v * plane_b + plane_c;
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double z = 1/ z_inv;
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double x = (u - u0) * z * F_inv;
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double y = (v - v0) * z * F_inv;
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outData.x = (float)x;
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outData.y = (float)y;
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outData.z = (float)z;
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outData.value = InData.value;
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if(n == (WinNum-1))
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outData.Sync = 0b01;
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else
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outData.Sync = 0;
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outPt3D.write(outData);
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}
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}
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