References:
Terasic DE10-Nano Platform (datasheet): https://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=English&No=1046
Terasic D8M-GPIO Camera module (demo and datasheet): http://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=English&No=1011
VGA timing guide (completely applicable to HDMI): https://timetoexplore.net/blog/video-timings-vga-720p-1080p
Sobel reference: https://docs.opencv.org/2.4/doc/tutorials/imgproc/imgtrans/sobel_derivatives/sobel_derivatives.html
Grayscale conversions: https://www.johndcook.com/blog/2009/08/24/algorithms-convert-color-grayscale/
Sobel RTL: https://github.com/grant4001/Sobel_DE10