Harris Corner Detection

harris example resides in L2/examples/harris directory.

This benchmark tests the performance of harris function. The harris function detects corners in the image using harris corner detection and Non-maximum suppression algorithms.

The tutorial provides a step-by-step guide that covers commands for building and running kernel.

Executable Usage

  • Work Directory(Step 1)

The steps for library download and environment setup can be found in README file of L2 folder. For getting the design,

cd L2/example/harris

  • Build kernel(Step 2)

Run the following make command to build your XCLBIN and host binary targeting a specific device. Please be noticed that this process will take a long time, maybe couple of hours.

export OPENCV_INCLUDE=< path-to-opencv-include-folder >
export OPENCV_LIB=< path-to-opencv-lib-folder >
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:< path-to-opencv-lib-folder >
export DEVICE=< path-to-platform-directory >/< platform >.xpfm
make host xclbin TARGET=hw

  • Run kernel(Step 3)

To get the benchmark results, please run the following command.

make run TARGET=hw

  • Example output(Step 4)

-----------Harris Design---------------
INFO: Running OpenCL section.
Found Platform
Platform Name: Xilinx
XCLBIN File Name: krnl_harris
INFO: Importing Vitis_Libraries/vision/L2/examples/harris/Xilinx_Harris_L2_Test_vitis_hw_u200/build_dir.hw.xilinx_u200_xdma_201830_2/krnl_harris.xclbin
Loading: 'Vitis_Libraries/vision/L2/examples/harris/Xilinx_Harris_L2_Test_vitis_hw_u200/build_dir.hw.xilinx_u200_xdma_201830_2/krnl_harris.xclbin'
Kernel Created
Kernel Args set
Kernel called

Data copied from device to host
Execution done!
ocv corner count = 428, Hls corner count = 446
Commmon = 405         Success = 90.807175     Loss = 5.373832         Gain = 9.192825
Test Passed

------------------------------------------------------------

Profiling

The harris design is validated on Alveo u200 board at 300 MHz frequency. The hardware resource utilizations are listed in the following table.

Table 1 Hardware resources for Harris corner detection

Dataset

LUT

BRAM

FF

DSP

Resolution

NPPC

other params

4K

8

L1 Norm, Filter - 3x3

40460

227

27236

208

FHD

8

L1 Norm, Filter - 3x3

22478

113

16021

138

The performance is shown below

Table 2 Performance numbers in terms of FPS (Frames Per Second) for Harris corner detection

Dataset

FPS(CPU)

FPS(FPGA)

4k (3840x2160)

22

289

Full HD(1920x1080)

62

1100