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Add Edge Detector module for PV model and TB
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‎modules/edge-detector/Makefile‎

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# Adding stb lib for image handling
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INCDIR_STB=lib/stb
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INCLUDES_STB := $(wildcard $(INCDIR_STB)/*.h)
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# Include common Makefile
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include ../Makefile
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# Include stb lib for compilation
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INCLUDES += INCLUDES_STB
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# Defining preprocessor directive for debug
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ifdef IPS_DEBUG_EN
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CFLAGS += -DIPS_DEBUG_EN
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LFLAGS += -DIPS_DEBUG_EN
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endif # IPS_DEBUG_EN
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# Defining preprocessor directive for dumping enable
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ifdef IPS_DUMP_EN
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CFLAGS += -DIPS_DUMP_EN
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LFLAGS += -DIPS_DUMP_EN
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endif # IPS_DUMP_EN
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# Defining preprocessor directive for normalizing the resulting magnitude
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ifdef TEST_NORMALIZE_MAGNITUDE
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CFLAGS += -DTEST_NORMALIZE_MAGNITUDE
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LFLAGS += -DTEST_NORMALIZE_MAGNITUDE
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endif # TEST_NORMALIZE_MAGNITUDE
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# Run the compiled file
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run:
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@./test
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# Show waveform
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waveform:
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@gtkwave edge_detector.vcd

‎modules/edge-detector/README.md‎

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# **Edge Detector Module**

‎modules/edge-detector/include/sobel_edge_detector_pv_model.hpp‎

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#ifndef SOBEL_EDGE_DETECTOR_HPP
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#define SOBEL_EDGE_DETECTOR_HPP
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#include <systemc.h>
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SC_MODULE(Edge_Detector)
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{
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int localWindow[3][3];
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const int sobelGradientX[3][3] = {{-1, 0, 1},
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{-2, 0, 2},
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{-1, 0, 1}};
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const int sobelGradientY[3][3] = {{-1, -2, -1},
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{ 0, 0, 0},
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{ 1, 2, 1}};
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int resultSobelGradientX;
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int resultSobelGradientY;
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SC_CTOR(Edge_Detector)
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{
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// SC_METHOD(hello_world);
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}
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void set_local_window(int window[3][3]);
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void compute_sobel_gradient_x();
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void compute_sobel_gradient_y();
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int obtain_sobel_gradient_x();
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int obtain_sobel_gradient_y();
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};
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#endif // SOBEL_EDGE_DETECTOR_HPP

‎modules/edge-detector/src/sobel_edge_detector_pv_model.cpp‎

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#include "sobel_edge_detector_pv_model.hpp"
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void Edge_Detector::set_local_window(int window[3][3])
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{
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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this->localWindow[i][j] = window[i][j];
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}
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}
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}
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void Edge_Detector::compute_sobel_gradient_x()
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{
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this->resultSobelGradientX = 0;
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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this->resultSobelGradientX += this->localWindow[i][j] * this->sobelGradientX[i][j];
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}
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}
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}
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void Edge_Detector::compute_sobel_gradient_y()
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{
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this->resultSobelGradientY = 0;
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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this->resultSobelGradientY += this->localWindow[i][j] * this->sobelGradientY[i][j];
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}
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}
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}
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int Edge_Detector::obtain_sobel_gradient_x()
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{
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this->compute_sobel_gradient_x();
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return this->resultSobelGradientX;
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}
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int Edge_Detector::obtain_sobel_gradient_y()
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{
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this->compute_sobel_gradient_y();
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return this->resultSobelGradientY;
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}

‎modules/edge-detector/src/tb_edge_detector.cpp‎

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#define int64 systemc_int64
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#define uint64 systemc_uint64
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#include <systemc.h>
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#undef int64
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#undef uint64
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#define int64 opencv_int64
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#define uint64 opencv_uint64
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#include <opencv2/opencv.hpp>
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#undef int64
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#undef uint64
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#include <cmath>
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#include "sobel_edge_detector_pv_model.hpp"
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using namespace cv;
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int sc_main(int, char*[])
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{
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Mat greyImage, colorImage;
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int localWindow[3][3];
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int localGradientX, localGradientY;
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int localResult;
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#ifdef TEST_NORMALIZE_MAGNITUDE
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int** tmpValues;
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int maxTmpValue = 0;
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#endif // TEST_NORMALIZE_MAGNITUDE
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// Pass command linke arguments
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sc_argc();
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sc_argv();
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// Open VCD file
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sc_trace_file* wf = sc_create_vcd_trace_file("edge_detector");
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wf->set_time_unit(1, SC_NS);
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Edge_Detector edge_detector("edge_detector");
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colorImage = imread("../../tools/datagen/src/imgs/car.jpg", IMREAD_UNCHANGED);
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if (colorImage.empty())
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{
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cout << "Image File " << "Not Found" << endl;
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// wait for any key press
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return -1;
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}
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cvtColor(colorImage, greyImage, cv::COLOR_BGR2GRAY);
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Mat detectedImage(greyImage.rows, greyImage.cols, CV_8UC1);
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#ifdef TEST_NORMALIZE_MAGNITUDE
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tmpValues = new int*[greyImage.rows];
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for (int i = 0; i < greyImage.rows; i++)
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{
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tmpValues[i] = new int[greyImage.cols];
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}
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#endif // TEST_NORMALIZE_MAGNITUDE
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sc_start();
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for (int i = 0; i < greyImage.rows; i++)
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{
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for (int j = 0; j < greyImage.cols; j++)
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{
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for (int k = 0; k < 3; k++)
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{
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for (int l = 0; l < 3; l++)
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{
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if ((i == 0) && (j == 0)) // Upper left corner
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{
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if ((k == 0) || (l == 0))
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if ((i == 0) && (j == greyImage.cols - 1)) // Upper right corner
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{
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if ((k == 0) || (l == 2))
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if (i == 0) // Upper border
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{
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if (k == 0)
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if ((i == greyImage.rows - 1) && (j == 0)) // Lower left corner
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{
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if ((k == 2) || (l == 0))
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if ((i == greyImage.rows - 1) && (j == greyImage.cols - 1)) // Lower right corner
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{
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if ((k == 2) || (l == 2))
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if (i == greyImage.rows - 1) // Lower border
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{
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if (k == 2)
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if (j == 0) // Left border
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{
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if (l == 0)
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else if (j == greyImage.cols - 1) // Right border
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{
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if (l == 2)
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{
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localWindow[k][l] = 0;
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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else
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{
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localWindow[k][l] = (int)greyImage.at<uchar>(i + k - 1, j + l - 1);
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}
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}
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}
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edge_detector.set_local_window(localWindow);
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localGradientX = edge_detector.obtain_sobel_gradient_x();
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localGradientY = edge_detector.obtain_sobel_gradient_y();
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localResult = (int)sqrt((float)(pow(localGradientX, 2)) + (float)(pow(localGradientY, 2)));
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#ifdef TEST_NORMALIZE_MAGNITUDE
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tmpValues[i][j] = localResult;
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if (localResult > maxTmpValue)
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{
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maxTmpValue = localResult;
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}
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#else
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if (localResult > 255)
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{
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detectedImage.at<uchar>(i, j) = 255;
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}
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else
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{
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detectedImage.at<uchar>(i, j) = localResult;
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}
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#endif // TEST_NORMALIZE_MAGNITUDE
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}
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}
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#ifdef TEST_NORMALIZE_MAGNITUDE
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for (int i = 0; i < detectedImage.rows; i++)
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{
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for (int j = 0; j < detectedImage.cols; j++)
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{
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detectedImage.at<uchar>(i, j) = (char)((int)(255.0 * (((float)(tmpValues[i][j])) / ((float)(maxTmpValue)))));
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}
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}
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#endif // TEST_NORMALIZE_MAGNITUDE
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imshow("Window Name", colorImage);
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waitKey(0);
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imshow("Window Name", greyImage);
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waitKey(0);
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imshow("Window Name", detectedImage);
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waitKey(0);
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std::cout << "@" << sc_time_stamp() << " Terminating simulation" << std::endl;
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sc_close_vcd_trace_file(wf);
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return 0;
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}

‎modules/edge-detector/utils.sh‎

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#!/bin/sh
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export SYSTEMC=/home/systemc-2.3.3
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export LD_LIBRARY_PATH=$SYSTEMC/lib-linux64:/usr/local/lib
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export USER_DEF_SYSTEMC_DIR=1
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export INCLUDE_OPENCV=1

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