“…In addition, the lack of code optimization tools was another hurdle that prevented from efficient code scheduling and data flow debugging. Even with these limitations, the imaging functions carefully programmed in assembly language were able to deliver high performance, e.g., 19 ms for 2D convolution, 14 ms for affine warping, and 75 ms for 2D FFT on a 512 ϫ 512 8-bit image [9,30,31]. Prior to the introduction of the TMS320C80, this kind of image processing execution time has been only possible with dedicated hardwired boards or board sets, e.g., commercial convolver, warper, and special FFT boards.…”