def test_arduino_devmode():
"""Tests the Arduino DevMode.
The first test will instantiate DevMode objects with various switch
configurations. The returned objects should not be None.
The second test write a command to the mailbox and read another command
from the mailbox. Test whether the write and the read are successful.
"""
ol = Overlay('base.bit')
for mb_info in [ARDUINO]:
assert Arduino_DevMode(mb_info, ARDUINO_SWCFG_DIOALL) is not None
ol.reset()
# Initiate the Microblaze
microblaze = Arduino_DevMode(mb_info, ARDUINO_SWCFG_DIOALL)
microblaze.start()
assert microblaze.status() == "RUNNING"
# Test whether writing is successful
data = 0
microblaze.write_cmd(ARDUINO_DIO_BASEADDR + ARDUINO_DIO_TRI_OFFSET,
ARDUINO_CFG_DIO_ALLOUTPUT)
microblaze.write_cmd(ARDUINO_DIO_BASEADDR + ARDUINO_DIO_DATA_OFFSET,
data)
# Test whether reading is successful
microblaze.write_cmd(ARDUINO_DIO_BASEADDR + ARDUINO_DIO_TRI_OFFSET,
ARDUINO_CFG_DIO_ALLINPUT)
data = microblaze.read_cmd(ARDUINO_DIO_BASEADDR +
ARDUINO_DIO_DATA_OFFSET)
assert data is not None
# Stop the Microblaze
microblaze.stop()
assert microblaze.status() == "STOPPED"
ol.reset()
del ol
def test_pmod_microblaze():
"""Test for the Pmod class.
There are 3 tests done here:
1. Test whether `Pmod()` can return an object without errors.
2. Calling `Pmod()` should not raise any exception if the previous Pmod
object runs the same program.
3. Creates multiple Pmod instances on the same fixed ID. Exception should
be raised in this case.
"""
ol = Overlay('base.bit')
for mb_info in [PMODA, PMODB]:
exception_raised = False
try:
_ = Pmod(mb_info, 'pmod_mailbox.bin')
except RuntimeError:
exception_raised = True
assert not exception_raised, 'Should not raise exception.'
ol.reset()
exception_raised = False
_ = Pmod(mb_info, 'pmod_mailbox.bin')
try:
_ = Pmod(mb_info, 'pmod_mailbox.bin')
except RuntimeError:
exception_raised = True
assert not exception_raised, 'Should not raise exception.'
ol.reset()
exception_raised = False
_ = Pmod(mb_info, 'pmod_dac.bin')
try:
_ = Pmod(mb_info, 'pmod_adc.bin')
except RuntimeError:
exception_raised = True
assert exception_raised, 'Should raise exception.'
ol.reset()
del ol
def test_arduino_microblaze():
"""Test for the Arduino class.
There are 3 tests done here:
1. Test whether `Arduino()` can return an object without errors.
2. Calling `Arduino()` should not raise any exception if the previous
Arduino object runs the same program.
3. Creates multiple Arduino instances on the same fixed ID. Exception
should be raised in this case.
"""
ol = Overlay('base.bit')
for mb_info in [ARDUINO]:
exception_raised = False
try:
_ = Arduino(mb_info, 'arduino_mailbox.bin')
except RuntimeError:
exception_raised = True
assert not exception_raised, 'Should not raise exception.'
ol.reset()
exception_raised = False
_ = Arduino(mb_info, 'arduino_mailbox.bin')
try:
_ = Arduino(mb_info, 'arduino_mailbox.bin')
except RuntimeError:
exception_raised = True
assert not exception_raised, 'Should not raise exception.'
ol.reset()
exception_raised = False
_ = Arduino(mb_info, 'arduino_analog.bin')
try:
_ = Arduino(mb_info, 'arduino_lcd18.bin')
except RuntimeError:
exception_raised = True
assert exception_raised, 'Should raise exception.'
ol.reset()
del ol
class cv2pynq():
MAX_WIDTH = 1920
MAX_HEIGHT = 1080
def __init__(self, load_overlay=True):
self.bitstream_name = None
self.bitstream_name = "cv2pynq03.bit"
self.bitstream_path = os.path.join(CV2PYNQ_BIT_DIR,
self.bitstream_name)
self.ol = Overlay(self.bitstream_path)
self.ol.download()
self.ol.reset()
self.xlnk = Xlnk()
self.partitions = 10 #split the cma into partitions for pipelined transfer
self.cmaPartitionLen = self.MAX_HEIGHT * self.MAX_WIDTH / self.partitions
self.listOfcma = [
self.xlnk.cma_array(shape=(int(self.MAX_HEIGHT / self.partitions),
self.MAX_WIDTH),
dtype=np.uint8) for i in range(self.partitions)
]
self.img_filters = self.ol.image_filters
self.dmaOut = self.img_filters.axi_dma_0.sendchannel
self.dmaIn = self.img_filters.axi_dma_0.recvchannel
self.dmaOut.stop()
self.dmaIn.stop()
self.dmaIn.start()
self.dmaOut.start()
self.filter2DType = -1 # filter types: SobelX=0, SobelY=1, ScharrX=2, ScharrY=3, Laplacian1=4, Laplacian3=5
self.filter2D_5Type = -1 # filter types: SobelX=0, SobelY=1, Laplacian5=4
self.filter2DfType = -1 # filter types: blur=0, GaussianBlur=1
self.ffi = FFI()
self.f2D = self.img_filters.filter2D_hls_0
self.f2D.reset()
self.f2D_5 = self.img_filters.filter2D_hls_5_0
self.f2D_5.reset()
self.f2D_f = self.img_filters.filter2D_f_0
self.f2D_f.reset()
self.erodeIP = self.img_filters.erode_hls_0
self.erodeIP.reset()
self.dilateIP = self.img_filters.dilate_hls_0
self.dilateIP.reset()
self.cmaBuffer_0 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer0 = self.cmaBuffer_0.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer0.init(self.cmaBuffer_0)
self.cmaBuffer_1 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer1 = self.cmaBuffer_1.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer1.init(self.cmaBuffer_1)
self.cmaBuffer_2 = self.xlnk.cma_array(
shape=(self.MAX_HEIGHT * 4, self.MAX_WIDTH),
dtype=np.uint8) # *4 for CornerHarris return
self.cmaBuffer2 = self.cmaBuffer_2.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer2.init(self.cmaBuffer_2)
self.CannyIP = self.img_filters.canny_edge_0
self.CannyIP.reset()
#self.cornerHarrisIP = self.img_filters.CornerHarris_hls_0
#self.cornerHarrisIP.reset()
def close(self):
#self.dmaOut.stop()
#self.dmaIn.stop()
self.cmaBuffer_0.close()
self.cmaBuffer_1.close()
self.cmaBuffer_2.close()
for cma in self.listOfcma:
cma.close()
def Sobel(self, src, ddepth, dx, dy, dst, ksize):
if (ksize == 3):
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
if (dx == 1) and (dy == 0):
if self.filter2DType != 0:
self.filter2DType = 0
self.f2D.r1 = 0x000100ff #[-1 0 1]
self.f2D.r2 = 0x000200fe #[-2 0 2]
self.f2D.r3 = 0x000100ff #[-1 0 1]
elif (dx == 0) and (dy == 1):
if self.filter2DType != 1:
self.filter2DType = 1
self.f2D.r1 = 0x00fffeff #[-1 -2 -1]
self.f2D.r2 = 0x00000000 #[ 0 0 0]
self.f2D.r3 = 0x00010201 #[ 1 2 1]
else:
raise RuntimeError("Incorrect dx dy configuration")
self.img_filters.select_filter(1)
self.f2D.start()
return self.filter2D(src, dst)
else: #ksize == 5
self.f2D_5.rows = src.shape[0]
self.f2D_5.columns = src.shape[1]
if (dx == 1) and (dy == 0):
if self.filter2D_5Type != 0:
self.filter2D_5Type = 0
self.f2D_5.par_V = bytes([ \
#-1, -2, 0, 2, 1,
0xff, 0xfe, 0x00, 0x02, 0x01, \
#-4, -8, 0, 8, 4,
0xfc, 0xf8, 0x00, 0x08, 0x04, \
#-6, -12, 0, 12, 6,
0xfa, 0xf4, 0x00, 0x0c, 0x06, \
#-4, -8, 0, 8, 4,
0xfc, 0xf8, 0x00, 0x08, 0x04, \
#-1, -2, 0, 2, 1,
0xff, 0xfe, 0x00, 0x02, 0x01, \
0,0,0]) #fill up to allign with 4
elif (dx == 0) and (dy == 1):
if self.filter2D_5Type != 1:
self.filter2D_5Type = 1
self.f2D_5.par_V = bytes([ \
#-1, -4, -6, -4, -1,
0xff, 0xfc, 0xfa, 0xfc, 0xff, \
#-2, -8, -12, -8, -2,
0xfe, 0xf8, 0xf4, 0xf8, 0xfe, \
# 0, 0, 0, 0, 0,
0x00, 0x00, 0x00, 0x00, 0x00, \
# 2, 8, 12, 8, 2,
0x02, 0x08, 0x0c, 0x08, 0x02, \
# 1, 4, 6, 4, 1,
0x01, 0x04, 0x06, 0x04, 0x01, \
0,0,0]) #fill up to allign with 4
else:
raise RuntimeError("Incorrect dx dy configuration")
self.img_filters.select_filter(5)
self.f2D_5.start()
return self.filter2D(src, dst)
def Scharr(self, src, ddepth, dx, dy, dst):
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
if (dx == 1) and (dy == 0):
if self.filter2DType != 2:
self.filter2DType = 2
self.f2D.r1 = 0x000300fd #[-3 0 3]
self.f2D.r2 = 0x000a00f6 #[-10 0 10]
self.f2D.r3 = 0x000300fd #[-3 0 3]
elif (dx == 0) and (dy == 1):
if self.filter2DType != 3:
self.filter2DType = 3
self.f2D.r1 = 0x00fdf6fd #[-3 -10 -3]
self.f2D.r2 = 0x00000000 #[ 0 0 0]
self.f2D.r3 = 0x00030a03 #[ 3 10 3]
else:
raise RuntimeError("Incorrect dx dy configuration")
self.img_filters.select_filter(1)
self.f2D.start()
return self.filter2D(src, dst)
def Laplacian(self, src, ddepth, dst, ksize):
if ksize == 5:
self.f2D_5.rows = src.shape[0]
self.f2D_5.columns = src.shape[1]
if self.filter2D_5Type != 4:
self.filter2D_5Type = 4 # "Laplacian_5"
self.f2D_5.par_V = bytes([ \
#2, 4, 4, 4, 2,
0x02, 0x04, 0x04, 0x04, 0x02, \
#4, 0, -8, 0, 4,
0x04, 0x00, 0xf8, 0x00, 0x04, \
#4, -8, -24, -8, 4,
0x04, 0xf8, 0xe8, 0xf8, 0x04, \
#4, 0, -8, 0, 4,
0x04, 0x00, 0xf8, 0x00, 0x04, \
#2, 4, 4, 4, 2,
0x02, 0x04, 0x04, 0x04, 0x02, \
0,0,0]) #fill up to allign with 4
self.img_filters.select_filter(5)
self.f2D_5.start()
return self.filter2D(src, dst)
else: #ksize 1 or 3
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
if ksize == 1:
if (self.filter2DType != 4):
self.filter2DType = 4 # "Laplacian_1"
self.f2D.r1 = 0x00000100 #[ 0 1 0]
self.f2D.r2 = 0x0001fc01 #[ 1 -4 1]
self.f2D.r3 = 0x00000100 #[ 0 1 0]
elif ksize == 3:
if (self.filter2DType != 5):
self.filter2DType = 5 # "Laplacian_3"
self.f2D.r1 = 0x00020002 #[ 2 0 2]
self.f2D.r2 = 0x0000f800 #[ 0 -8 0]
self.f2D.r3 = 0x00020002 #[ 2 0 2]
self.img_filters.select_filter(1)
self.f2D.start()
return self.filter2D(src, dst)
def blur(self, src, ksize, dst):
self.f2D_f.rows = src.shape[0]
self.f2D_f.columns = src.shape[1]
if (self.filter2DfType != 0):
self.filter2DfType = 0 #blur
mean = self.floatToFixed(1 / 9, cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r11 = mean
self.f2D_f.r12 = mean
self.f2D_f.r13 = mean
self.f2D_f.r21 = mean
self.f2D_f.r22 = mean
self.f2D_f.r23 = mean
self.f2D_f.r31 = mean
self.f2D_f.r32 = mean
self.f2D_f.r33 = mean
self.img_filters.select_filter(2)
self.f2D_f.start()
return self.filter2D(src, dst)
def GaussianBlur(self, src, ksize, sigmaX, sigmaY, dst):
self.f2D_f.rows = src.shape[0]
self.f2D_f.columns = src.shape[1]
if (self.filter2DfType != 1):
self.filter2DfType = 1 #GaussianBlur
if (sigmaX <= 0):
sigmaX = 0.3 * ((ksize[0] - 1) * 0.5 - 1) + 0.8
if (sigmaY <= 0):
sigmaY = sigmaX
kX = cv2.getGaussianKernel(3, sigmaX, ktype=cv2.CV_32F) #kernel X
kY = cv2.getGaussianKernel(3, sigmaY, ktype=cv2.CV_32F) #kernel Y
self.f2D_f.r11 = self.floatToFixed(kY[0] * kX[0],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r12 = self.floatToFixed(kY[0] * kX[1],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r13 = self.floatToFixed(kY[0] * kX[2],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r21 = self.floatToFixed(kY[1] * kX[0],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r22 = self.floatToFixed(kY[1] * kX[1],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r23 = self.floatToFixed(kY[1] * kX[2],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r31 = self.floatToFixed(kY[2] * kX[0],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r32 = self.floatToFixed(kY[2] * kX[1],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.f2D_f.r33 = self.floatToFixed(kY[2] * kX[2],
cv2pynqDriverFilter2D_f.K_FP_W,
cv2pynqDriverFilter2D_f.K_FP_F)
self.img_filters.select_filter(2)
self.f2D_f.start()
return self.filter2D(src, dst)
def erode(self, src, kernel, dst, iterations, mode):
self.img_filters.select_filter(3)
return self.erodeDilateKernel(src, kernel, dst, iterations, mode,
self.erodeIP)
def dilate(self, src, kernel, dst, iterations, mode):
self.img_filters.select_filter(4)
return self.erodeDilateKernel(src, kernel, dst, iterations, mode,
self.dilateIP)
def Canny(self, src, threshold1, threshold2, dst):
self.img_filters.select_filter(0)
self.CannyIP.rows = src.shape[0]
self.CannyIP.columns = src.shape[1]
self.CannyIP.threshold1 = threshold1
self.CannyIP.threshold2 = threshold2
self.CannyIP.start()
if hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
self.cmaBuffer1.nbytes = src.nbytes
self.dmaIn.transfer(self.cmaBuffer1)
if hasattr(src, 'physical_address'):
self.dmaOut.transfer(src)
else:
self.cmaBuffer0.nbytes = src.nbytes
self.copyNto(self.cmaBuffer0, src, src.nbytes)
self.dmaOut.transfer(self.cmaBuffer0)
self.dmaIn.wait()
ret = np.ndarray(src.shape, src.dtype)
self.copyNto(ret, self.cmaBuffer1, ret.nbytes)
return ret
def filter2D(self, src, dst):
if dst is None:
self.cmaBuffer1.nbytes = src.nbytes
elif hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
if hasattr(src, 'physical_address'):
self.dmaIn.transfer(self.cmaBuffer1)
self.dmaOut.transfer(src)
self.dmaIn.wait()
else: #pipeline the copy to contiguous memory and filter calculation in hardware
if src.nbytes < 184800: #440x420
self.partitions = 1
elif src.nbytes < 180000: #600x300
self.partitions = 2
elif src.nbytes < 231200: #680x340
self.partitions = 4
else:
self.partitions = 8
self.cmaBuffer1.nbytes = src.nbytes
self.dmaIn.transfer(self.cmaBuffer1)
chunks_len = int(src.nbytes / (self.partitions))
self.cmaBuffer0.nbytes = chunks_len
self.cmaBuffer2.nbytes = chunks_len
#self.copyNto(src,self.cmaBuffer0,chunks_len)
self.copyNto(self.cmaBuffer0, src, chunks_len)
for i in range(1, self.partitions):
if i % 2 == 1:
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer0)
#self.copyNtoOff(src ,self.cmaBuffer2,chunks_len, i*chunks_len, 0)
self.copyNtoOff(self.cmaBuffer2, src, chunks_len, 0,
i * chunks_len)
else:
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer2)
#self.copyNtoOff(src ,self.cmaBuffer0,chunks_len, i*chunks_len, 0)
self.copyNtoOff(self.cmaBuffer0, src, chunks_len, 0,
i * chunks_len)
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer2)
rest = src.nbytes % self.partitions
if rest > 0: #cleanup any remaining data and send it to HW
#self.copyNtoOff(src ,self.cmaBuffer0,chunks_len, self.partitions*chunks_len, 0)
self.copyNtoOff(self.cmaBuffer0, src, chunks_len, 0,
self.partitions * chunks_len)
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer0)
rest -= chunks_len
self.dmaIn.wait()
ret = np.ndarray(src.shape, src.dtype)
self.copyNto(ret, self.cmaBuffer1, ret.nbytes)
return ret
def floatToFixed(self, f, total_bits, fract_bits):
"""convert float f to a signed fixed point with #total_bits and #frac_bits after the point"""
fix = int((abs(f) * (1 << fract_bits)))
if (f < 0):
fix += 1 << total_bits - 1
return fix
def erodeDilateKernel(self, src, kernel, dst, iterations, mode, filter):
filter.mode = mode
filter.rows = src.shape[0]
filter.columns = src.shape[1]
if hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
filter.start()
if iterations > 1:
self.dmaIn.transfer(self.cmaBuffer1)
else:
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
self.cmaBuffer2.nbytes = src.nbytes #buffer = self.xlnk.cma_array(src.shape, dtype=np.uint8)
for i in range(2, iterations + 1):
filter.start()
if i % 2 == 0:
self.dmaIn.transfer(self.cmaBuffer2)
if i != iterations: #avoid copy after last iteration
self.dmaOut.transfer(self.cmaBuffer1)
else:
self.dmaOut.transfer(dst)
else:
self.dmaIn.transfer(self.cmaBuffer1)
if i != iterations:
self.dmaOut.transfer(self.cmaBuffer2)
else:
self.dmaOut.transfer(dst)
self.dmaIn.wait()
return dst
self.cmaBuffer0.nbytes = src.nbytes
self.cmaBuffer1.nbytes = src.nbytes
filter.start()
self.dmaIn.transfer(self.cmaBuffer1)
if hasattr(src, 'physical_address'):
self.dmaOut.transfer(src)
else:
self.copyNto(self.cmaBuffer0, src,
src.nbytes) #np.copyto(srcBuffer,src)
self.dmaOut.transfer(self.cmaBuffer0)
self.dmaIn.wait()
self.cmaBuffer2.nbytes = src.nbytes #buffer = self.xlnk.cma_array(src.shape, dtype=np.uint8)
for i in range(2, iterations + 1):
filter.start()
if i % 2 == 0:
self.dmaIn.transfer(self.cmaBuffer2)
self.dmaOut.transfer(self.cmaBuffer1)
else:
self.dmaIn.transfer(self.cmaBuffer1)
self.dmaOut.transfer(self.cmaBuffer2)
self.dmaIn.wait()
ret = np.ndarray(src.shape, src.dtype)
if iterations % 2 == 1:
self.copyNto(ret, self.cmaBuffer1, ret.nbytes)
else:
self.copyNto(ret, self.cmaBuffer2, ret.nbytes)
return ret
'''def cornerHarris(self, src, k, dst):
self.img_filters.select_filter(5)
self.cornerHarrisIP.rows = src.shape[0]
self.cornerHarrisIP.columns = src.shape[1]
self.cornerHarrisIP.start()
if hasattr(src, 'physical_address') and hasattr(dst, 'physical_address') and (dst.nbytes == src.nbytes*4):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
self.cmaBuffer2.nbytes = src.nbytes*4
self.dmaIn.transfer(self.cmaBuffer2)
if hasattr(src, 'physical_address') :
self.dmaOut.transfer(src)
else:
self.cmaBuffer0.nbytes = src.nbytes
self.copyNto(self.cmaBuffer0,src,src.nbytes)
self.dmaOut.transfer(self.cmaBuffer0)
self.dmaIn.wait()
ret = np.ndarray(src.shape,np.float32)
self.copyNto(ret,self.cmaBuffer2,ret.nbytes)
return ret'''
def copyNto(self, dst, src, N):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
self.ffi.memmove(dstPtr, srcPtr, N)
def copyNtoOff(self, dst, src, N, dstOffset, srcOffset):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
dstPtr += dstOffset
srcPtr += srcOffset
self.ffi.memmove(dstPtr, srcPtr, N)
class ContiguousArrayCv2pynq(ContiguousArray):
def init(self, cmaArray):
self._nbytes = cmaArray.nbytes
self.physical_address = cmaArray.physical_address
self.cacheable = cmaArray.cacheable
# overwrite access to nbytes with own function
@property
def nbytes(self):
return self._nbytes
@nbytes.setter
def nbytes(self, value):
self._nbytes = value
class cv2pynq():
MAX_WIDTH = 1920
MAX_HEIGHT = 1080
def __init__(self, load_overlay=True):
#self.bitstream_name = None
self.bitstream_name = "opencv.bit"
self.bitstream_path = os.path.join(CV2PYNQ_BIT_DIR,
self.bitstream_name)
self.ol = Overlay(self.bitstream_path)
self.ol.download()
self.ol.reset()
self.img_filters = self.ol.image_filters
self.dmaOut = self.img_filters.axi_dma_0.sendchannel
self.dmaIn = self.img_filters.axi_dma_0.recvchannel
self.dmaOut.stop()
self.dmaIn.stop()
self.dmaIn.start()
self.dmaOut.start()
self.filter2DType = -1 # filter types: SobelX=0, SobelY=1, ScharrX=2, ScharrY=3, Laplacian1=4, Laplacian3=5
self.filter2D_5Type = -1 # filter types: SobelX=0, SobelY=1, Laplacian5=4
self.f2D = self.img_filters.filter2D_hls_0
self.f2D.reset()
self.f2D_5 = self.img_filters.filter2D_hls_5_0
self.f2D_5.reset()
def close(self):
self.dmaOut.stop()
self.dmaIn.stop()
def Sobel(self, src, ddepth, dx, dy, dst, ksize):
if (ksize == 3):
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
if (dx == 1) and (dy == 0):
if self.filter2DType != 0:
self.filter2DType = 0
self.f2D.r1 = 0x000100ff #[-1 0 1]
self.f2D.r2 = 0x000200fe #[-2 0 2]
self.f2D.r3 = 0x000100ff #[-1 0 1]
elif (dx == 0) and (dy == 1):
if self.filter2DType != 1:
self.filter2DType = 1
self.f2D.r1 = 0x00fffeff #[-1 -2 -1]
self.f2D.r2 = 0x00000000 #[ 0 0 0]
self.f2D.r3 = 0x00010201 #[ 1 2 1]
else:
raise RuntimeError("Incorrect dx dy configuration")
self.img_filters.select_filter(0)
self.f2D.start()
return self.filter2D(src, dst)
else: #ksize == 5
self.f2D_5.rows = src.shape[0]
self.f2D_5.columns = src.shape[1]
if (dx == 1) and (dy == 0):
if self.filter2D_5Type != 0:
self.filter2D_5Type = 0
self.f2D_5.par_V = bytes([ \
#-1, -2, 0, 2, 1,
0xff, 0xfe, 0x00, 0x02, 0x01, \
#-4, -8, 0, 8, 4,
0xfc, 0xf8, 0x00, 0x08, 0x04, \
#-6, -12, 0, 12, 6,
0xfa, 0xf4, 0x00, 0x0c, 0x06, \
#-4, -8, 0, 8, 4,
0xfc, 0xf8, 0x00, 0x08, 0x04, \
#-1, -2, 0, 2, 1,
0xff, 0xfe, 0x00, 0x02, 0x01, \
0,0,0]) #fill up to allign with 4
elif (dx == 0) and (dy == 1):
if self.filter2D_5Type != 1:
self.filter2D_5Type = 1
self.f2D_5.par_V = bytes([ \
#-1, -4, -6, -4, -1,
0xff, 0xfc, 0xfa, 0xfc, 0xff, \
#-2, -8, -12, -8, -2,
0xfe, 0xf8, 0xf4, 0xf8, 0xfe, \
# 0, 0, 0, 0, 0,
0x00, 0x00, 0x00, 0x00, 0x00, \
# 2, 8, 12, 8, 2,
0x02, 0x08, 0x0c, 0x08, 0x02, \
# 1, 4, 6, 4, 1,
0x01, 0x04, 0x06, 0x04, 0x01, \
0,0,0]) #fill up to allign with 4
else:
raise RuntimeError("Incorrect dx dy configuration")
self.img_filters.select_filter(1)
self.f2D_5.start()
return self.filter2D(src, dst)
def Laplacian(self, src, ddepth, dst, ksize):
if ksize == 5:
self.f2D_5.rows = src.shape[0]
self.f2D_5.columns = src.shape[1]
if self.filter2D_5Type != 4:
self.filter2D_5Type = 4 # "Laplacian_5"
self.f2D_5.par_V = bytes([ \
#2, 4, 4, 4, 2,
0x02, 0x04, 0x04, 0x04, 0x02, \
#4, 0, -8, 0, 4,
0x04, 0x00, 0xf8, 0x00, 0x04, \
#4, -8, -24, -8, 4,
0x04, 0xf8, 0xe8, 0xf8, 0x04, \
#4, 0, -8, 0, 4,
0x04, 0x00, 0xf8, 0x00, 0x04, \
#2, 4, 4, 4, 2,
0x02, 0x04, 0x04, 0x04, 0x02, \
0,0,0]) #fill up to allign with 4
self.img_filters.select_filter(1)
self.f2D_5.start()
return self.filter2D(src, dst)
else: #ksize 1 or 3
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
if ksize == 1:
if (self.filter2DType != 4):
self.filter2DType = 4 # "Laplacian_1"
self.f2D.r1 = 0x00000100 #[ 0 1 0]
self.f2D.r2 = 0x0001fc01 #[ 1 -4 1]
self.f2D.r3 = 0x00000100 #[ 0 1 0]
elif ksize == 3:
if (self.filter2DType != 5):
self.filter2DType = 5 # "Laplacian_3"
self.f2D.r1 = 0x00020002 #[ 2 0 2]
self.f2D.r2 = 0x0000f800 #[ 0 -8 0]
self.f2D.r3 = 0x00020002 #[ 2 0 2]
self.img_filters.select_filter(0)
self.f2D.start()
return self.filter2D(src, dst)
def filter2D(self, src, dst):
if hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
class cv2PL():
MAX_WIDTH = 1920
MAX_HEIGHT = 1080
def __init__(self, load_overlay=True):
self.bitstream_name = "base.bit"
self.bitstream_path = os.path.join(CV2PYNQ_BIT_DIR,
self.bitstream_name)
self.ol = Overlay(self.bitstream_path)
self.ol.download()
self.ol.reset()
self.xlnk = Xlnk()
self.partitions = 10 # Split the CMA into partitions for pipelined transfer
self.cmaPartitionLen = self.MAX_HEIGHT * self.MAX_WIDTH / self.partitions
self.listOfcma = [
self.xlnk.cma_array(shape=(int(self.MAX_HEIGHT / self.partitions),
self.MAX_WIDTH),
dtype=np.uint8) for i in range(self.partitions)
]
self.img_filters = self.ol.img_process
self.dmaOut = self.img_filters.axi_dma_0.sendchannel # The memory to stream channel
self.dmaIn = self.img_filters.axi_dma_0.recvchannel # The stream to memory channel
self.dmaOut.stop()
self.dmaIn.stop()
self.dmaIn.start()
self.dmaOut.start()
self.CannyIP = self.img_filters.canny_edge_0
self.CannyIP.reset()
self.cmaBuffer_0 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer0 = self.cmaBuffer_0.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer0.init(self.cmaBuffer_0)
self.cmaBuffer_1 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer1 = self.cmaBuffer_1.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer1.init(self.cmaBuffer_1)
self.cmaBuffer_2 = self.xlnk.cma_array(
shape=(self.MAX_HEIGHT * 4, self.MAX_WIDTH),
dtype=np.uint8) # *4 for CornerHarris return
self.cmaBuffer2 = self.cmaBuffer_2.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer2.init(self.cmaBuffer_2)
def close(self):
#self.dmaOut.stop()
#self.dmaIn.stop()
self.cmaBuffer_0.close()
self.cmaBuffer_1.close()
self.cmaBuffer_2.close()
for cma in self.listOfcma:
cma.close()
def Canny(self, src, threshold1, threshold2, dst):
self.CannyIP.rows = src.shape[0]
self.CannyIP.columns = src.shape[1]
self.CannyIP.threshold1 = threshold1
self.CannyIP.threshold2 = threshold2
self.CannyIP.start()
if hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
def floatToFixed(self, f, total_bits, fract_bits):
"""convert float f to a signed fixed point with #total_bits and #frac_bits after the point"""
fix = int((abs(f) * (1 << fract_bits)))
if (f < 0):
fix += 1 << total_bits - 1
return fix
def copyNto(self, dst, src, N):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
self.ffi.memmove(dstPtr, srcPtr, N)
def copyNtoOff(self, dst, src, N, dstOffset, srcOffset):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
dstPtr += dstOffset
srcPtr += srcOffset
self.ffi.memmove(dstPtr, srcPtr, N)
class ContiguousArrayCv2pynq(ContiguousArray):
def init(self, cmaArray):
self._nbytes = cmaArray.nbytes
self.physical_address = cmaArray.physical_address
self.cacheable = cmaArray.cacheable
# overwrite access to nbytes with own function
@property
def nbytes(self):
return self._nbytes
@nbytes.setter
def nbytes(self, value):
self._nbytes = value
class cv2pynq():
MAX_WIDTH = 800
MAX_HEIGHT = 600
def __init__(self, load_overlay=True):
self.bitstream_name = None
self.bitstream_name = "imgfilter.bit"
self.bitstream_path = os.path.join(self.bitstream_name)
self.ol = Overlay(self.bitstream_path)
self.ol.download()
self.ol.reset()
self.xlnk = Xlnk()
self.partitions = 10 #split the cma into partitions for pipelined transfer
self.cmaPartitionLen = self.MAX_HEIGHT * self.MAX_WIDTH / self.partitions
self.listOfcma = [
self.xlnk.cma_array(shape=(int(self.MAX_HEIGHT / self.partitions),
self.MAX_WIDTH),
dtype=np.uint8) for i in range(self.partitions)
]
self.filter2d = self.ol
self.dmaOut = self.filter2d.axi_dma_0.sendchannel
self.dmaIn = self.filter2d.axi_dma_0.recvchannel
self.dmaOut.stop()
self.dmaIn.stop()
self.dmaIn.start()
self.dmaOut.start()
self.filter2DType = -1 # filter types: SobelX=0
self.ffi = FFI()
self.f2D = self.filter2d.filter2D_hls_0
self.f2D.reset()
self.cmaBuffer_0 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer0 = self.cmaBuffer_0.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer0.init(self.cmaBuffer_0)
self.cmaBuffer_1 = self.xlnk.cma_array(shape=(self.MAX_HEIGHT,
self.MAX_WIDTH),
dtype=np.uint8)
self.cmaBuffer1 = self.cmaBuffer_1.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer1.init(self.cmaBuffer_1)
self.cmaBuffer_2 = self.xlnk.cma_array(
shape=(self.MAX_HEIGHT * 4, self.MAX_WIDTH),
dtype=np.uint8) # *4 for CornerHarris return
self.cmaBuffer2 = self.cmaBuffer_2.view(self.ContiguousArrayCv2pynq)
self.cmaBuffer2.init(self.cmaBuffer_2)
def close(self):
self.cmaBuffer_0.close()
self.cmaBuffer_1.close()
self.cmaBuffer_2.close()
for cma in self.listOfcma:
cma.close()
def copyNto(self, dst, src, N):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
self.ffi.memmove(dstPtr, srcPtr, N)
def copyNtoOff(self, dst, src, N, dstOffset, srcOffset):
dstPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(dst))
srcPtr = self.ffi.cast("uint8_t *", self.ffi.from_buffer(src))
dstPtr += dstOffset
srcPtr += srcOffset
self.ffi.memmove(dstPtr, srcPtr, N)
def filter2D(self, src, dst):
if dst is None:
self.cmaBuffer1.nbytes = src.nbytes
elif hasattr(src, 'physical_address') and hasattr(
dst, 'physical_address'):
self.dmaIn.transfer(dst)
self.dmaOut.transfer(src)
self.dmaIn.wait()
return dst
if hasattr(src, 'physical_address'):
self.dmaIn.transfer(self.cmaBuffer1)
self.dmaOut.transfer(src)
self.dmaIn.wait()
else: #pipeline the copy to contiguous memory and filter calculation in hardware
if src.nbytes < 184800: #440x420
self.partitions = 1
elif src.nbytes < 180000: #600x300
self.partitions = 2
elif src.nbytes < 231200: #680x340
self.partitions = 4
else:
self.partitions = 8
self.cmaBuffer1.nbytes = src.nbytes
self.dmaIn.transfer(self.cmaBuffer1)
chunks_len = int(src.nbytes / (self.partitions))
self.cmaBuffer0.nbytes = chunks_len
self.cmaBuffer2.nbytes = chunks_len
self.copyNto(src, self.cmaBuffer0, chunks_len)
for i in range(1, self.partitions):
if i % 2 == 1:
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer0)
self.copyNtoOff(src, self.cmaBuffer2, chunks_len,
i * chunks_len, 0)
else:
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer2)
self.copyNtoOff(src, self.cmaBuffer0, chunks_len,
i * chunks_len, 0)
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer2)
rest = src.nbytes % self.partitions
if rest != 0: #cleanup any remaining data and send it to HW
self.copyNtoOff(src, self.cmaBuffer0, chunks_len,
self.partitions * chunks_len, 0)
while not self.dmaOut.idle and not self.dmaOut._first_transfer:
pass
self.dmaOut.transfer(self.cmaBuffer0)
self.dmaIn.wait()
ret = np.ndarray(src.shape, src.dtype)
self.copyNto(ret, self.cmaBuffer1, ret.nbytes)
return ret
class ContiguousArrayCv2pynq(ContiguousArray):
def init(self, cmaArray):
self._nbytes = cmaArray.nbytes
self.physical_address = cmaArray.physical_address
self.cacheable = cmaArray.cacheable
# overwrite access to nbytes with own function
@property
def nbytes(self):
return self._nbytes
@nbytes.setter
def nbytes(self, value):
self._nbytes = value
def Sobel(self, src, ddepth, dx, dy, dst, ksize):
if (ksize == 3):
self.filter2DType = 0
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
self.f2D.r1 = 0x000100ff #[-1 0 1]
self.f2D.r2 = 0x000200fe #[-2 0 2]
self.f2D.r3 = 0x000100ff #[-1 0 1]
self.f2D.start()
return self.filter2D(src, dst)
def Sobel1(self, src, ddepth, dx, dy, dst, ksize):
if (ksize == 3):
if self.filter2DType != 1:
self.filter2DType = 1
self.f2D.rows = src.shape[0]
self.f2D.columns = src.shape[1]
self.f2D.channels = 1
self.f2D.r1 = 0x00fffeff #[-1 -2 -1]
self.f2D.r2 = 0x00000000 #[ 0 0 0]
self.f2D.r3 = 0x00010201 #[ 1 2 1]
self.f2D.start()
return self.filter2D(src, dst)
