Merge pull request #31 from jasvinderkhurana/main

Adding Vitis accelerated resize example

vitis_accelerated_examples/vitis_accelerated_resize/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(vitis_accelerated_resize)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unknown-pragmas)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(Threads REQUIRED)
+find_package(ament_vitis)
+
+# add_executable(accelerated_vadd_new
+#   src/host_new.cpp)
+# target_include_directories(accelerated_vadd_new PUBLIC include)
+# target_link_libraries(accelerated_vadd_new
+#   ${OpenCL_LIBRARY}
+#   pthread)
+
+  find_package(vitis_common REQUIRED)
+  find_package(OpenCL REQUIRED)
+
+  # accelerated_vadd
+  add_executable(vitis_accelerated_resize
+    src/resize_fpga.cpp
+    src/main.cpp
+  )
+  target_include_directories(vitis_accelerated_resize PUBLIC 
+	   include
+	   $ENV{XILINX_HLS}/common/technology/autopilot
+    	   $ENV{XILINX_HLS}/include
+	   )
+
+  target_link_libraries(vitis_accelerated_resize
+    ${OpenCL_LIBRARY}
+    pthread
+  )
+  ament_target_dependencies(vitis_accelerated_resize 
+	  rclcpp
+	  rclcpp_components 
+	  std_msgs 
+	  cv_bridge 
+	  image_transport 
+	  vitis_common  )
+
+if (ROS_VITIS)
+  # resize kernel
+  vitis_acceleration_kernel(
+    NAME resize_accel
+    FILE src/xf_resize_accel.cpp
+    CONFIG cfg/kr260.cfg
+    INCLUDE
+      include
+      ${CMAKE_INSTALL_PREFIX}/include
+    TYPE
+      # sw_emu
+      # hw_emu
+      hw
+    LINK
+    PACKAGE
+    )
+
+endif()  # ROS_VITIS
+
+  install(TARGETS
+    vitis_accelerated_resize
+    # accelerated_vadd_new
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
+ament_package()

vitis_accelerated_examples/vitis_accelerated_resize/cfg/kr260.cfg

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+platform=kv260_custom_platform
+save-temps=1
+debug=1
+
+[advanced]
+param=compiler.skipTimingCheckAndFrequencyScaling=1
+
+# Enable profiling of data ports
+[profile]
+data=all:all:all
+
+# [hls]
+# clock=300000000:vadd_accelerated

vitis_accelerated_examples/vitis_accelerated_resize/include/minimalimagepublisher.hpp

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+/*
+      ____  ____
+     /   /\/   /
+    /___/  \  /   Copyright (c) 2024, AMD®.
+    \   \   \/    Author: Jasvinder Khurana <[email protected]>
+     \   \
+     /   /        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 MINIMAL_IMAGE_PUBLISHER_HPP_
+#define MINIMAL_IMAGE_PUBLISHER_HPP_
+
+
+
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "std_msgs/msg/header.hpp"
+#include <chrono>
+#include <cv_bridge/cv_bridge.h> // cv_bridge converts between ROS 2 image messages and OpenCV image representations.
+#include <image_transport/image_transport.hpp> // Using image_transport allows us to publish and subscribe to compressed image streams in ROS2
+#include <opencv2/opencv.hpp> // We include everything about OpenCV as we don't care much about compilation time at the moment.
+
+using namespace std::chrono_literals;
+
+class MinimalImagePublisher : public rclcpp::Node {
+public:
+  MinimalImagePublisher() : Node("opencv_image_publisher"), count_(0) {
+    publisher_ =
+        this->create_publisher<sensor_msgs::msg::Image>("random_image", 10);
+    timer_ = this->create_wall_timer(
+        500ms, std::bind(&MinimalImagePublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback() {
+    // Create a new 640x480 image
+    cv::Mat my_image(cv::Size(640, 480), CV_8UC3);
+
+    // Generate an image where each pixel is a random color
+    cv::randu(my_image, cv::Scalar(0, 0, 0), cv::Scalar(255, 255, 255));
+
+    // Write message to be sent. Member function toImageMsg() converts a CvImage
+    // into a ROS image message
+    msg_ = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", my_image)
+               .toImageMsg();
+
+    // Publish the image to the topic defined in the publisher
+    publisher_->publish(*msg_.get());
+    RCLCPP_INFO(this->get_logger(), "Image %ld published", count_);
+    count_++;
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  sensor_msgs::msg::Image::SharedPtr msg_;
+  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr publisher_;
+  size_t count_;
+};
+
+#endif

vitis_accelerated_examples/vitis_accelerated_resize/include/resize_fpga.hpp

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+/*
+      ____  ____
+     /   /\/   /
+    /___/  \  /   Copyright (c) 2024, AMD®.
+    \   \   \/    Author: Jasvinder Khurana <[email protected]>
+     \   \
+     /   /        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 IMAGE_PROC_RESIZE_FPGA_HPP_
+#define IMAGE_PROC_RESIZE_FPGA_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+#include <image_transport/image_transport.hpp>
+#include <ament_index_cpp/get_resource.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+#include <cstring>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <thread>
+
+#include <vitis_common/common/ros_opencl_120.hpp>
+
+
+class AcceleratedResize  : public rclcpp::Node
+{
+public:
+  AcceleratedResize(const rclcpp::NodeOptions& options);
+
+protected:
+
+  int 			interpolation_;
+  bool 			use_scale_;
+  bool 			profile_;
+  double 		scale_height_;
+  double 		scale_width_;
+  int 			height_;
+  int 			width_;
+
+  cl::Kernel* 		krnl_;
+  cl::Context* 		context_;
+  cl::CommandQueue* 	queue_;
+
+  std::mutex 		connect_mutex_;
+
+  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr publisher_;
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscriber_;
+//  image_transport::CameraPublisher 	pub_image_;
+//  image_transport::CameraSubscriber 	sub_image_;
+
+  void connectCb();
+  size_t get_msg_size(sensor_msgs::msg::Image::ConstSharedPtr image_msg);
+  size_t get_msg_size(sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);
+
+
+  void imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & image_msg);
+
+//    sensor_msgs::msg::Image::ConstSharedPtr image_msg,
+//    sensor_msgs::msg::CameraInfo::ConstSharedPtr info_msg);
+
+private:
+
+  cv::Mat  		result_hls;
+  cv_bridge::CvImage 	output_image;
+  cv_bridge::CvImagePtr cv_ptr;
+  void InitKernel();
+  void ExecuteKernel(bool gray, int src_width, int src_height, int dst_width, int dst_height);
+};
+
+
+#endif  // IMAGE_PROC_RESIZE_FPGA_HPP_

vitis_accelerated_examples/vitis_accelerated_resize/include/xf_resize_config.h

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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_RESIZE_CONFIG_
+#define _XF_RESIZE_CONFIG_
+
+#include "hls_stream.h"
+#include "ap_int.h"
+#include <vitis_common/common/xf_common.hpp>
+#include <vitis_common/imgproc/xf_resize.hpp>
+
+/* resize kernel configuration */
+
+#define RO 0 // Resource Optimized (8-pixel implementation)
+#define NO 1 // Normal Operation (1-pixel implementation)
+
+// port widths
+#define INPUT_PTR_WIDTH 128
+#define OUTPUT_PTR_WIDTH 128
+
+// For Nearest Neighbor & Bilinear Interpolation, max down scale factor 2 for all 1-pixel modes, and for upscale in x
+// direction
+#define MAXDOWNSCALE 2
+
+#define RGB 1
+#define GRAY 0
+/* Interpolation type*/
+#define INTERPOLATION 1
+// 0 - Nearest Neighbor Interpolation
+// 1 - Bilinear Interpolation
+// 2 - AREA Interpolation
+
+/* Input image Dimensions */
+#define WIDTH 640  // Maximum Input image width
+#define HEIGHT 480 // Maximum Input image height
+
+/* Output image Dimensions */
+#define NEWWIDTH 1280  // Maximum output image width
+#define NEWHEIGHT 960 // Maximum output image height
+
+/* Interface types */
+#if RO
+
+#if RGB
+#define NPC_T XF_NPPC4
+#else
+#define NPC_T XF_NPPC8
+#endif
+
+#else
+#define NPC_T XF_NPPC1
+#endif
+
+#if RGB
+#define TYPE XF_8UC3
+#define CH_TYPE XF_RGB
+#else
+#define TYPE XF_8UC1
+#define CH_TYPE XF_GRAY
+#endif
+
+#endif

vitis_accelerated_examples/vitis_accelerated_resize/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>vitis_accelerated_resize</name>
+  <version>0.1.0</version>
+  <description>An example to showcase how to integrate Vitis Vision Library with KRS.
+    Here in this example we are showcasing the integration of resize functions.
+  </description>
+
+  <maintainer email="[email protected]">Jasvinder Khurana</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Jasvinder Khurana</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_vitis</buildtool_depend>  
+
+  <build_depend>acceleration_firmware_kv260</build_depend>
+  <build_depend>vitis_common</build_depend>
+  <build_depend>rclcpp</build_depend>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_vitis</buildtool_depend>
+  <buildtool_depend>ament_cuda</buildtool_depend>
+
+  <depend>cv_bridge</depend>
+  <depend>image_geometry</depend>
+  <depend>image_transport</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rcutils</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tracetools_image_pipeline</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+
+  <exec_depend>acceleration_firmware_kv260</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>