Major Updates

design/stitcher.v

@@ -0,0 +1,114 @@
+module stitcher(
+input         clk,
+input         rst_n,
+input         left_data_valid,
+input [7:0]   left_data,
+input         right_data_valid,
+input [7:0]   right_data,
+input         keypoint_valid,
+input [31:0]  left_keypoint,
+input [31:0]  right_keypoint,
+output        data_valid,
+output [7:0]  data);
+
+reg [7:0] L_DATA[0:(3*N*M - 1)];
+reg [7:0] R_DATA[0:(3*N*M - 1)];
+reg [7:0] IMAGE[0:(6*N*M - 1)];
+reg [7:0] pixel_value;
+reg [7:0] out;
+reg [2:0] PS, NS;
+
+parameter IDLE = 3'b000, STORE = 3'b001, LOAD = 3'b010, COMPUTE = 3'b011, BLEND = 3'b100, DISPLAY = 3'b101;
+parameter N = 450, M = 450;
+
+integer i, j, k, p, q, o, row1, row2, col1, col2, ref_keypoint1, ref_keypoint2;
+
+always @(posedge clk or negedge rst_n)
+begin
+ if (~rst_n)
+  PS <= IDLE;
+ else
+  PS <= NS;
+end
+
+always @(posedge clk)
+begin
+ if (left_data_valid)
+ begin
+  L_DATA[i] <= left_data;
+  i <= i + 1;
+ end
+ else
+  i <= i;
+end
+
+always @(posedge clk)
+begin
+ if (right_data_valid)
+ begin
+  R_DATA[i] <= right_data;
+  j <= j + 1;
+ end
+ else
+  j <= j;
+end
+
+always @(left_data_valid, right_data_valid,left_data, right_data, keypoint_valid, PS)
+begin
+ case (PS)
+ IDLE: begin
+        i = 0;
+        j = 0;
+        k = 0;
+        p = 0;
+        q = 0;
+        o = 0;
+        row1 = 0;
+        row2 = 0;
+        col1 = 0;
+        col2 = 0;
+        ref_keypoint1 = 0;
+        ref_keypoint2 = 0;
+        pixel_value = 0;
+        for(p = 0; p < 6*N*M; p = p+1)
+        begin
+         IMAGE[p] = 0;
+        end
+        if (left_data_valid || right_data_valid)
+         NS = STORE;
+        else
+         NS = IDLE;
+       end
+ STORE: begin
+         NS = (i == 3*N*M - 1 && j == 3*N*M - 1) ? LOAD : STORE;
+        end
+ LOAD: begin
+        ref_keypoint1 = (keypoint_valid == 1'b1) ? left_keypoint : ref_keypoint1;
+        ref_keypoint2 = (keypoint_valid == 1'b1) ? right_keypoint : ref_keypoint2;
+        NS = (keypoint_valid == 1'b1) ? COMPUTE : LOAD;
+       end
+ COMPUTE: begin
+           row1 = ref_keypoint1/M;
+           row2 = ref_keypoint2/M;
+           col1 = 3*(ref_keypoint1 - (row1*M));
+           col2 = 3*(ref_keypoint2 - (row2*M));
+           NS = BLEND;
+          end
+ BLEND: begin
+         pixel_value = (q <= col1) ? L_DATA[q + (o*3*M)] : R_DATA[col2 + (q - col1) + (o*3*M)];
+         IMAGE[q + (6*o*M)] = pixel_value;
+         o = (q == (((3*M)-col2)+col1)-1) ? o + 1 : o;
+         q = (q == (((3*M)-col2)+col1)-1) ? 0 : q + 1;
+         NS = DISPLAY;
+         // NS = (o == N+1 && q == 0) ? DISPLAY : BLEND;
+        end
+ DISPLAY: begin
+           out = IMAGE[k];
+           k = k + 1;
+           NS = (k == 6*N*M) ? IDLE : BLEND;
+          end
+ endcase
+end
+assign data_valid = (PS == DISPLAY) ? 1'b1 : 1'b0;
+assign data = (PS == DISPLAY) ? out : 8'hzz;
+endmodule

make/Makefile

@@ -3,7 +3,7 @@
 
 CC=iverilog
 FLAGS=-Wall -Winfloop
-SOURCE_FILES= ../testbenches/top_tb.v ../design/Controller.v ../design/image.v ../design/image2.v ../design/display.v ../design/RWM_1.v ../design/RWM_2.v ../design/camera.v ../design/Grayscaler.v ../design/filter5x5.v ../design/keypoints.v ../design/sobel_filter.v ../design/descriptor.v ../design/matcher.v
+SOURCE_FILES= ../testbenches/top_tb.v ../design/Controller.v ../design/image.v ../design/image2.v ../design/display.v ../design/RWM_1.v ../design/RWM_2.v ../design/camera.v ../design/Grayscaler.v ../design/filter5x5.v ../design/keypoints.v ../design/sobel_filter.v ../design/descriptor.v ../design/matcher.v ../design/stitcher.v
 DUMPFILES=../vcd/interface_tb.vcd
 
 create: