Source Code for "Real-Time Dense Stereo Matching with ELAS on FPGA Accelerated Embedded Devices"
Switch branches/tags
Nothing to show
Clone or download
seakros Initial
Still need to add Makefile and details of building with it. Also need to add multi-threaded/instance version of system and describe how to use that.
Latest commit 22337fe Mar 13, 2018
Failed to load latest commit information.
src Upload files to TVG GitHub Mar 7, 2018
LICENSE Initial commit Jan 26, 2018 Initial Mar 13, 2018


Source Code for "Real-Time Dense Stereo Matching with ELAS on FPGA Accelerated Embedded Devices"

The code has no dependancy on OpenCV for reading/writing images - nothing needs to be cross-compiled and linked for the ARM CPU. The system expects 8-bit binary PGM images for the L/R inputs and outputs 16-bit binary PGM disparity map.

Building through SDx/SDSoC GUI:

  1. Open a new project in Xilinx SDx/SDSoC with correct board/chip selected
  2. Add source files to project
  3. Modify the Topmain.h file to vary the parameters used in the build of the different accelerators.
  4. In project settings, set functions "ExtMatchDense", "ExtMatchSparse" and "triage" for hardware acceration
  5. Set Clock Frequency of HW functions to desired frequency, set the same frequency value for the "Data Motion Network". Whether a build at a desired clock frequency succeeds may depend on the capabilities & speedgrade of the SoC used.
  6. Ensure that "Generate bitsream" & "Generate SD card image" options are selected.

Testing System

  1. Following the succeful build, navigate to the build directory and copy contents located in the "sd_card" directory onto external {micro, standard} SD card.
  2. Similarly, copy input images onto SD card in the fashion expected in Topmain.cpp
  3. Insert SD card into development board and boot board.
  4. Navigate to /mnt/ directoy and run ./Project_Name.elf