This FAQ is adapted from another E2E discussion about the same topic here.
This is an example work flow for creating a TDA4 LDC mesh LUT for fisheye distortion correction.
1. Use the "matlab/octave" code below to generate a mesh LUT text file to be used with DCC tuning tool for TDA4 ISP.
function [] = gen_lut(spec_file, pitch_in_mm,f_in_mm, W, H, hc, vc,s ,m)
f = f_in_mm/pitch_in_mm ;
[h_p , v_p] = meshgrid( 0:W, 0:H);
[h_d,v_d] = xyz2distorted(h_p,v_p, f/s, hc, vc,spec_file, pitch_in_mm);
%-------------------------------------------------------------------------------
% If necessary, clip (h_d, v_d) into your input image boundary or ROI boundary here
%-------------------------------------------------------------------------------
h_delta = round((h_d-h_p) * 8);
v_delta = round((v_d-v_p) * 8);
mh = h_delta(1:2^m:end, 1:2^m:end)';
mv = v_delta(1:2^m:end, 1:2^m:end)';
dlmwrite('mesh.txt', [mh(:), mv(:)], 'delimiter', ' ');
function [h_d, v_d] = xyz2distorted(x, y, z, hc, vc, spec_file, pitch_in_mm)
[phi, r] = cart2pol(x-hc, y-vc);
theta = atan2(r, z);
lut = read_spec(spec_file, pitch_in_mm);
r = interp1(lut(:,1), lut(:,2), theta);
[h_d, v_d] = pol2cart(phi, r);
h_d = h_d + hc;
v_d = v_d + vc;
function lut = read_spec(spec_file, pitch_in_mm)
lut0 = dlmread(spec_file);
theta = lut0(:,1)/180*pi;
lut = [theta, lut0(:,2)/pitch_in_mm];
If you need to change the perspective of your view, you may change "xyz2distorted" as instructed below.
function [h_d, v_d] = xyz2distorted(x, y, z, hc, vc, spec_file, pitch_in_mm) xt = x - hc; yt = y - vc; zt = z * ones(size(xt)); %---------------------------------------------------------------------------------------------------- % If necessary, insert your change of camera view point as a transform on 3D points (xt, yt, zt) here %---------------------------------------------------------------------------------------------------- [phi, r] = cart2pol(xt, yt); theta = atan2(r, zt); lut = read_spec(spec_file, pitch_in_mm); r = interp1(lut(:,1), lut(:,2), theta); [h_d, v_d] = pol2cart(phi, r); h_d = h_d + hc; v_d = v_d + vc;
2. Call the above matlab code as below with the given lens distortion spec file in text format.
You may get the lens spec file and focal length in mm from your lens vendor. Information regarding sensor (pixel pitch in mm and image size) are available in your sensor datasheet.
"m" is for LUT down-sampling (m=4 below means 16x16 down-sampling).
"s" decides with size of the output view.
s = 2;
m = 4;
pitch_in_mm = 0.0028;
f_in_mm = 0.85;
W = 1280;
H = 944;
hc = W/2;
vc = H/2;
Wmesh = ceil(W / 2^m) * 2^m;
Hmesh = ceil(H / 2^m) * 2^m;
gen_lut("spec_file.txt", pitch_in_mm, f_in_mm, Wmesh, Hmesh, hc, vc, s, m);
Lens distortion spec file (the first column is in degrees and the second in mm):
0 0 1 0.01484264 2 0.02969027 3 0.04454789 4 0.05942044 5 0.07431283 6 0.08922991 7 0.10417648 8 0.11915721 9 0.13417672 10 0.14923947 11 0.16434983 12 0.179512 13 0.19473004 14 0.21000785 15 0.22534914 16 0.24075744 17 0.25623609 18 0.2717882 19 0.28741673 20 0.30312436 21 0.31891361 22 0.33478678 23 0.35074594 24 0.366793 25 0.38292965 26 0.39915742 27 0.41547767 28 0.43189163 29 0.4484004 30 0.46500498 31 0.48170629 32 0.4985052 33 0.51540257 34 0.53239923 35 0.54949606 36 0.56669399 37 0.58399403 38 0.60139728 39 0.61890497 40 0.63651849 41 0.65423936 42 0.67206928 43 0.69001016 44 0.70806407 45 0.7262333 46 0.74452032 47 0.7629278 48 0.78145862 49 0.80011582 50 0.8189026 51 0.83782233 52 0.85687848 53 0.87607467 54 0.89541455 55 0.91490184 56 0.93454026 57 0.9543335 58 0.97428515 59 0.9943987 60 1.01467742 61 1.03512436 62 1.05574223 63 1.07653335 64 1.09749959 65 1.11864221 66 1.13996187 67 1.16145842 68 1.18313088 69 1.20497727 70 1.22699447 71 1.24917817 72 1.27152265 73 1.29402069 74 1.3166634 75 1.33944009 76 1.36233815 77 1.38534288 78 1.40843739 79 1.43160246 80 1.4548165 81 1.47805542 82 1.50129263 83 1.52449902 84 1.54764298 85 1.57069051 86 1.59360531 87 1.61634901 88 1.63888135 89 1.66116052 90 1.68314347 91 1.7047863 92 1.72604473 93 1.74687449 94 1.76723187 95 1.78707414 96 1.80636008
3. The output file "mesh.txt" from above call is in the right format as input to TDA4 DCC tuning tool.
The first column is for horizontal offsets and the second for vertical offsets.
The number of rows in this file is "ceil(W / 2^m + 1) * ceil(H / 2^m + 1)" because the effective size of the down-sampled 2D mesh LUT is "ceil(W / 2^m + 1)" x "ceil(H / 2^m) + 1)".
In this case, the file has 4860 rows (81x60).
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4. Load "mesh.txt" above along with the LDC input YUV image from the camera into DCC tuning tool to generate a LDC preview and the DCC xml file for LDC.
Tuning tool can take care of the block size and H/W padding details (please follow the LDC plugin guide from the help menu).
The blue text in below screenshot shows the top 5 best options for LDC output block size and padding along with the corresponding DDR read bandwidth per output image.
LDC input image with fisheye distortion:
original image_1280x944_uyvy.yuv
LDC output preview from DCC tuning tool:
DCC xml file and its included LUT in H/W format exported by DCC tuning tool.
"test_mesh_ldc_dcc.xml"
<?xml version="1.0" encoding="utf-8"?>
<cfg_ldc_xml xmlns:xsi="http://www.w3.org/2001/xmlschema-instance" xmlns:xsd="http://www.w3.org/2001/xmlschema">
<!--this is a comment-->
<dcc_name>cfg_ldc</dcc_name>
<dcc_header>
<camera_module_id> 42 </camera_module_id>
<dcc_descriptor_id> 5 </dcc_descriptor_id>
<algorithm_vendor_id> 1 </algorithm_vendor_id>
<tunning_tool_version> 0 </tunning_tool_version>
</dcc_header>
<!--=======================================================================-->
<typedef>
<cfg_ldc_vars type="struct">
<ldc_en type="uint16"> </ldc_en>
<ldc_ldmapen type="uint16"> </ldc_ldmapen>
<ldc_datamode type="uint16"> </ldc_datamode>
<ldc_opdatamode type="uint16"> </ldc_opdatamode>
<ldc_ip_dfmt type="uint16"> </ldc_ip_dfmt>
<ldc_pwarpen type="uint16"> </ldc_pwarpen>
<ldc_yint_typ type="uint16"> </ldc_yint_typ>
<ldc_regmode_en type="uint16"> </ldc_regmode_en>
<ldc_meshtable_m type="uint16"> </ldc_meshtable_m>
<ldc_mesh_frsz_w type="uint16"> </ldc_mesh_frsz_w>
<ldc_mesh_frsz_h type="uint16"> </ldc_mesh_frsz_h>
<ldc_compute_frsz_w type="uint16"> </ldc_compute_frsz_w>
<ldc_compute_frsz_h type="uint16"> </ldc_compute_frsz_h>
<ldc_initx type="uint16"> </ldc_initx>
<ldc_inity type="uint16"> </ldc_inity>
<ldc_input_frsz_w type="uint16"> </ldc_input_frsz_w>
<ldc_input_frsz_h type="uint16"> </ldc_input_frsz_h>
<ldc_obw type="uint16"> </ldc_obw>
<ldc_obh type="uint16"> </ldc_obh>
<ldc_pixpad type="uint16"> </ldc_pixpad>
<ldc_a type="int16"> </ldc_a>
<ldc_b type="int16"> </ldc_b>
<ldc_c type="int16"> </ldc_c>
<ldc_d type="int16"> </ldc_d>
<ldc_e type="int16"> </ldc_e>
<ldc_f type="int16"> </ldc_f>
<ldc_g type="int16"> </ldc_g>
<ldc_h type="int16"> </ldc_h>
<ldc_sf_width type="uint16[3]"> </ldc_sf_width>
<ldc_sf_height type="uint16[3]"> </ldc_sf_height>
<ldc_sf_en type="uint16[3][3]"> </ldc_sf_en>
<ldc_sf_obw type="uint16[3][3]"> </ldc_sf_obw>
<ldc_sf_obh type="uint16[3][3]"> </ldc_sf_obh>
<ldc_sf_pad type="uint16[3][3]"> </ldc_sf_pad>
<ldc_ylut_en type="uint16"> </ldc_ylut_en>
<ldc_yin_bitdpth type="uint16"> </ldc_yin_bitdpth>
<ldc_yout_bitdpth type="uint16"> </ldc_yout_bitdpth>
<ldc_clut_en type="uint16"> </ldc_clut_en>
<ldc_cin_bitdpth type="uint16"> </ldc_cin_bitdpth>
<ldc_cout_bitdpth type="uint16"> </ldc_cout_bitdpth>
<ldc_y_lut type="uint16[513]"> </ldc_y_lut>
<ldc_c_lut type="uint16[513]"> </ldc_c_lut>
<mesh_table_pitch_in_bytes type="uint32"> </mesh_table_pitch_in_bytes>
<mesh_table_size type="uint32"> </mesh_table_size>
<mesh_lut type="uint16*"> </mesh_lut>
</cfg_ldc_vars>
</typedef>
<!--=======================================================================-->
<use_case val="65535">
<n-space>
<region0 class="0">
<exposure val="1" min="0" max="2000000"> </exposure>
<gain val="0" min="0" max="100000"> </gain>
</region0>
</n-space>
<parameter_package>
<ldc_dcc type="cfg_ldc_vars">
{
1 // LDC_CTRL LDC_EN(0) LDC Enable, 0: Disable, 1: Enable
1 // LDC_CTRL LDMAPEN(1) LD Mapping enable, 0: disable, 1: enable
0 // LDC_CTRL DATAMODE(4:3) Input data mode, 0: YUV422, 1: Y only, 2: YUV420, 3: YUV420 UV
0 // LDC_CTRL OP_DATAMODE Output data mode, 0: keep UYVY; 1: convert to 420
0 // LDC_CTRL IP_DFMT(6:5) Input pixel format, 0: 8b, 1: 12b packed, 2: 12b unpacked
1 // LDC_CTRL PWARPEN(7) 0: Disable perspective warp. 1: Enable perspective warp
1 // LDC_CFG YINT_TYP(6) Interpolation type for Y data. 0: Bicubic, 1: Bilinear
0 // LDC_CFG REGMODE_EN Region mode, 0: disable, 1: enable
4 // LDC_MESHTABLE_CFG M(2:0) Mesh table subsampling factor (0-7)
1280 // LDC_MESH_FRSZ W(13:0) Mesh frame width (0-8192)
944 // LDC_MESH_FRSZ H(29:16) Mesh frame height (0-8192)
1280 // LDC_COMPUTE_FRSZ W(13:0) Compute width (0-8192)
944 // LDC_COMPUTE_FRSZ H(29:16) Compute height (0-8192)
0 // LDC_INITXY INITX(13:0) Output starting horizontal coordinate (0-8192)
0 // LDC_INITXY INITY(29:16) Output starting vertical coordinate (0-8192)
1280 // LDC_INPUT_FRSZ W(29:16) Input frame width
944 // LDC_INPUT_FRSZ H(13:0) Input frame height
80 // LDC_BLOCK_SIZE OBW(7:0) Output block width (0-255)
48 // LDC_BLOCK_SIZE OBH(15:8) Output block height (0-255)
1 // LDC_BLOCK_SIZE PIXPAD(19:16) Pixel pad (0-15)
4096 // LDC_AB A(15:0) Affine Transform warp, A S16Q12
0 // LDC_AB B(31:16) Affine Transform warp, B S16Q12
0 // LDC_CD C(15:0) Affine Transform warp, C S16Q3
0 // LDC_CD D(31:16) Affine Transform warp, D S16Q12
4096 // LDC_EF E(15:0) Affine Transform warp, E S16Q12
0 // LDC_EF F(31:16) Affine Transform warp, F S16Q3
0 // LDC_GH G(15:0) Affine Transform warp, G S16Q23
0 // LDC_GH H(31:16) Affine Transform warp, H S16Q23
{0, 0, 0} //ldc_sf_width [3]
{0, 0, 0} //ldc_sf_height[3]
{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}} //ldc_sf_en [3][3]
{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}} //ldc_sf_obw[3][3]
{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}} //ldc_sf_obh[3][3]
{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}} //ldc_sf_pad[3][3]
0 // LDC_DUALOUT_CFG YLUT_EN Luma LUT enable (0-1)
8 // LDC_DUALOUT_CFG YIN_BITDPTH Luma input bit depth (8-12)
8 // LDC_DUALOUT_CFG YOUT_BITDPTH Luma output bit depth (8-12)
0 // LDC_DUALOUT_CFG CLUT_EN Chroma LUT enable (0-1)
8 // LDC_DUALOUT_CFG CIN_BITDPTH Chroma input bit depth (8-12)
8 // LDC_DUALOUT_CFG COUT_BITDPTH Chroma output bit depth (8-12)
{ //y_lut
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
}
{ //c_lut
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
}
336, //mesh_table_pitch_in_bytes
10080, //mesh_table_size
{ //mesh_lut
#include "test_mesh_lut.txt"
}
}
</ldc_dcc>
</parameter_package>
</use_case>
<!--=====================================================================-->
</cfg_ldc_xml>
"test_mesh_lut.txt"
0x053d,0x071a,0x051c,0x06c1,0x04fa,0x0669,0x04d8,0x0613,0x04b5,0x05bf,0x0492,0x056c,0x046e,0x051c,0x044a,0x04cd,0x0426,0x0480,0x0401,0x0435,0x03db,0x03ec,0x03b5,0x03a5,0x038f,0x0361,0x0369,0x031f,0x0342,0x02df,0x031c,0x02a2,0x02f5,0x0268,0x02ce,0x0230,0x02a8,0x01fb,0x0281,0x01c8,0x025b,0x0199,0x0236,0x016c,0x0211,0x0143,0x01ec,0x011c,0x01c9,0x00f8,0x01a6,0x00d7,0x0185,0x00b9,0x0165,0x009d,0x0147,0x0085,0x012a,0x006f,0x010f,0x005c,0x00f6,0x004b,0x00df,0x003c,0x00ca,0x0030,0x00b8,0x0025,0x00a8,0x001d,0x009b,0x0015,0x0091,0x000f,0x008a,0x0009,0x0085,0x0005,0x0084,000000,0x0085,0xfffb,0x008a,0xfff7,0x0091,0xfff1,0x009b,0xffeb,0x00a8,0xffe3,0x00b8,0xffdb,0x00ca,0xffd0,0x00df,0xffc4,0x00f6,0xffb5,0x010f,0xffa4,0x012a,0xff91,0x0147,0xff7b,0x0165,0xff63,0x0185,0xff47,0x01a6,0xff29,0x01c9,0xff08,0x01ec,0xfee4,0x0211,0xfebd,0x0236,0xfe94,0x025b,0xfe67,0x0281,0xfe38,0x02a8,0xfe05,0x02ce,0xfdd0,0x02f5,0xfd98,0x031c,0xfd5e,0x0342,0xfd21,0x0369,0xfce1,0x038f,0xfc9f,0x03b5,0xfc5b,0x03db,0xfc14,0x0401,0xfbcb,0x0426,0xfb80,0x044a,0xfb33,0x046e,0xfae4,0x0492,0xfa94,0x04b5,0xfa41,0x04d8,0xf9ed,0x04fa,0xf997,0x051c,0xf93f,0x053d,0xf8e6,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0x04f8,0x06f9,0x04d7,0x069f,0x04b6,0x0647,0x0493,0x05f1,0x0471,0x059c,0x044e,0x0549,0x042a,0x04f8,0x0406,0x04a8,0x03e1,0x045b,0x03bc,0x040f,0x0396,0x03c6,0x0370,0x037f,0x0349,0x033b,0x0322,0x02f8,0x02fb,0x02b8,0x02d4,0x027b,0x02ad,0x0241,0x0286,0x0209,0x025e,0x01d4,0x0237,0x01a2,0x0210,0x0173,0x01ea,0x0147,0x01c4,0x011d,0x019f,0x00f7,0x017a,0x00d4,0x0157,0x00b4,0x0134,0x0097,0x0113,0x007e,0x00f4,0x0067,0x00d6,0x0053,0x00ba,0x0041,0x00a0,0x0032,0x0088,0x0026,0x0073,0x001c,0x0060,0x0014,0x004f,0x000e,0x0042,0x0009,0x0037,0x0006,0x002f,0x0003,0x002b,0x0002,0x0029,000000,0x002b,0xfffe,0x002f,0xfffd,0x0037,0xfffa,0x0042,0xfff7,0x004f,0xfff2,0x0060,0xffec,0x0073,0xffe4,0x0088,0xffda,0x00a0,0xffce,0x00ba,0xffbf,0x00d6,0xffad,0x00f4,0xff99,0x0113,0xff82,0x0134,0xff69,0x0157,0xff4c,0x017a,0xff2c,0x019f,0xff09,0x01c4,0xfee3,0x01ea,0xfeb9,0x0210,0xfe8d,0x0237,0xfe5e,0x025e,0xfe2c,0x0286,0xfdf7,0x02ad,0xfdbf,0x02d4,0xfd85,0x02fb,0xfd48,0x0322,0xfd08,0x0349,0xfcc5,0x0370,0xfc81,0x0396,0xfc3a,0x03bc,0xfbf1,0x03e1,0xfba5,0x0406,0xfb58,0x042a,0xfb08,0x044e,0xfab7,0x0471,0xfa64,0x0493,0xfa0f,0x04b6,0xf9b9,0x04d7,0xf961,0x04f8,0xf907,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0x04b5,0x06d9,0x0494,0x067e,0x0473,0x0626,0x0451,0x05cf,0x042e,0x0579,0x040b,0x0525,0x03e7,0x04d4,0x03c3,0x0484,0x039e,0x0436,0x0379,0x03ea,0x0353,0x03a0,0x032c,0x0359,0x0306,0x0314,0x02de,0x02d1,0x02b7,0x0291,0x028f,0x0254,0x0267,0x0219,0x023f,0x01e1,0x0218,0x01ac,0x01f0,0x017a,0x01c8,0x014c,0x01a1,0x0120,0x017a,0x00f7,0x0154,0x00d2,0x012e,0x00b0,0x010a,0x0091,0x00e6,0x0075,0x00c4,0x005d,0x00a4,0x0047,0x0085,0x0035,0x0068,0x0026,0x004d,0x0019,0x0034,0x000f,0x001d,0x0007,0x000a,0x0002,0xfff9,0xffff,0xffeb,0xfffd,0xffdf,0xfffc,0xffd7,0xfffd,0xffd3,0xfffe,0xffd1,000000,0xffd3,0x0002,0xffd7,0x0003,0xffdf,0x0004,0xffeb,0x0003,0xfff9,0x0001,0x000a,0xfffe,0x001d,0xfff9,0x0034,0xfff1,0x004d,0xffe7,0x0068,0xffda,0x0085,0xffcb,0x00a4,0xffb9,0x00c4,0xffa3,0x00e6,0xff8b,0x010a,0xff6f,0x012e,0xff50,0x0154,0xff2e,0x017a,0xff09,0x01a1,0xfee0,0x01c8,0xfeb4,0x01f0,0xfe86,0x0218,0xfe54,0x023f,0xfe1f,0x0267,0xfde7,0x028f,0xfdac,0x02b7,0xfd6f,0x02de,0xfd2f,0x0306,0xfcec,0x032c,0xfca7,0x0353,0xfc60,0x0379,0xfc16,0x039e,0xfbca,0x03c3,0xfb7c,0x03e7,0xfb2c,0x040b,0xfadb,0x042e,0xfa87,0x0451,0xfa31,0x0473,0xf9da,0x0494,0xf982,0x04b5,0xf927,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0x0474,0x06b8,0x0453,0x065d,0x0432,0x0604,0x0410,0x05ac,0x03ee,0x0556,0x03cb,0x0502,0x03a7,0x04af,0x0383,0x045f,0x035e,0x0410,0x0338,0x03c4,0x0312,0x037a,0x02ec,0x0332,0x02c4,0x02ed,0x029d,0x02aa,0x0275,0x0269,0x024d,0x022c,0x0225,0x01f1,0x01fc,0x01b9,0x01d3,0x0184,0x01ab,0x0152,0x0183,0x0124,0x015a,0x00f8,0x0133,0x00d0,0x010b,0x00ac,0x00e5,0x008a,0x00bf,0x006c,0x009b,0x0052,0x0078,0x003b,0x0056,0x0027,0x0036,0x0016,0x0018,0x0009,0xfffc,0xffff,0xffe2,0xfff7,0xffcb,0xfff2,0xffb6,0xffef,0xffa5,0xffef,0xff96,0xfff0,0xff8a,0xfff3,0xff82,0xfff6,0xff7d,0xfffb,0xff7b,000000,0xff7d,0x0005,0xff82,0x000a,0xff8a,0x000d,0xff96,0x0010,0xffa5,0x0011,0xffb6,0x0011,0xffcb,0x000e,0xffe2,0x0009,0xfffc,0x0001,0x0018,0xfff7,0x0036,0xffea,0x0056,0xffd9,0x0078,0xffc5,0x009b,0xffae,0x00bf,0xff94,0x00e5,0xff76,0x010b,0xff54,0x0133,0xff30,0x015a,0xff08,0x0183,0xfedc,0x01ab,0xfeae,0x01d3,0xfe7c,0x01fc,0xfe47,0x0225,0xfe0f,0x024d,0xfdd4,0x0275,0xfd97,0x029d,0xfd56,0x02c4,0xfd13,0x02ec,0xfcce,0x0312,0xfc86,0x0338,0xfc3c,0x035e,0xfbf0,0x0383,0xfba1,0x03a7,0xfb51,0x03cb,0xfafe,0x03ee,0xfaaa,0x0410,0xfa54,0x0432,0xf9fc,0x0453,0xf9a3,0x0474,0xf948,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0x0434,0x0698,0x0414,0x063d,0x03f3,0x05e3,0x03d1,0x058a,0x03af,0x0534,0x038c,0x04df,0x0369,0x048b,0x0344,0x043a,0x031f,0x03eb,0x02fa,0x039e,0x02d4,0x0354,0x02ad,0x030b,0x0286,0x02c5,0x025e,0x0282,0x0236,0x0241,0x020e,0x0203,0x01e5,0x01c8,0x01bc,0x0190,0x0192,0x015b,0x0169,0x0129,0x0140,0x00fb,0x0117,0x00d0,0x00ef,0x00a8,0x00c6,0x0084,0x009f,0x0064,0x0078,0x0047,0x0053,0x002e,0x002f,0x0018,0x000c,0x0006,0xffeb,0xfff7,0xffcb,0xffeb,0xffae,0xffe3,0xff93,0xffde,0xff7b,0xffdc,0xff66,0xffdc,0xff53,0xffde,0xff44,0xffe2,0xff38,0xffe8,0xff2f,0xfff0,0xff2a,0xfff8,0xff28,000000,0xff2a,0x0008,0xff2f,0x0010,0xff38,0x0018,0xff44,0x001e,0xff53,0x0022,0xff66,0x0024,0xff7b,0x0024,0xff93,0x0022,0xffae,0x001d,0xffcb,0x0015,0xffeb,0x0009,0x000c,0xfffa,0x002f,0xffe8,0x0053,0xffd2,0x0078,0xffb9,0x009f,0xff9c,0x00c6,0xff7c,0x00ef,0xff58,0x0117,0xff30,0x0140,0xff05,0x0169,0xfed7,0x0192,0xfea5,0x01bc,0xfe70,0x01e5,0xfe38,0x020e,0xfdfd,0x0236,0xfdbf,0x025e,0xfd7e,0x0286,0xfd3b,0x02ad,0xfcf5,0x02d4,0xfcac,0x02fa,0xfc62,0x031f,0xfc15,0x0344,0xfbc6,0x0369,0xfb75,0x038c,0xfb21,0x03af,0xfacc,0x03d1,0xfa76,0x03f3,0xfa1d,0x0414,0xf9c3,0x0434,0xf968,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0x03f7,0x0678,0x03d7,0x061c,0x03b6,0x05c2,0x0395,0x0568,0x0373,0x0511,0x0350,0x04bb,0x032d,0x0468,0x0308,0x0416,0x02e4,0x03c6,0x02be,0x0378,0x0298,0x032d,0x0271,0x02e4,0x024a,0x029e,0x0222,0x025a,0x01fa,0x0219,0x01d1,0x01da,0x01a8,0x019f,0x017e,0x0167,0x0154,0x0132,0x012b,0x0100,0x0101,0x00d2,0x00d7,0x00a7,0x00ae,0x0080,0x0085,0x005c,0x005c,0x003c,0x0035,0x0020,0x000e,0x0008,0xffe9,0xfff4,0xffc5,0xffe3,0xffa2,0xffd6,0xff82,0xffcd,0xff64,0xffc7,0xff48,0xffc4,0xff2f,0xffc4,0xff18,0xffc7,0xff05,0xffcd,0xfef5,0xffd4,0xfee8,0xffde,0xfedf,0xffe8,0xfed9,0xfff4,0xfed8,000000,0xfed9,0x000c,0xfedf,0x0018,0xfee8,0x0022,0xfef5,0x002c,0xff05,0x0033,0xff18,0x0039,0xff2f,0x003c,0xff48,0x003c,0xff64,0x0039,0xff82,0x0033,0xffa2,0x002a,0xffc5,0x001d,0xffe9,0x000c,0x000e,0xfff8,0x0035,0xffe0,0x005c,0xffc4,0x0085,0xffa4,0x00ae,0xff80,0x00d7,0xff59,0x0101,0xff2e,0x012b,0xff00,0x0154,0xfece,0x017e,0xfe99,0x01a8,0xfe61,0x01d1,0xfe26,0x01fa,0xfde7,0x0222,0xfda6,0x024a,0xfd62,0x0271,0xfd1c,0x0298,0xfcd3,0x02be,0xfc88,0x02e4,0xfc3a,0x0308,0xfbea,0x032d,0xfb98,0x0350,0xfb45,0x0373,0xfaef,0x0395,0xfa98,0x03b6,0xfa3e,0x03d7,0xf9e4,0x03f7,0xf988,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 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0xfb4b,0x06d9,0xfb6c,0x067e,0xfb8d,0x0626,0xfbaf,0x05cf,0xfbd2,0x0579,0xfbf5,0x0525,0xfc19,0x04d4,0xfc3d,0x0484,0xfc62,0x0436,0xfc87,0x03ea,0xfcad,0x03a0,0xfcd4,0x0359,0xfcfa,0x0314,0xfd22,0x02d1,0xfd49,0x0291,0xfd71,0x0254,0xfd99,0x0219,0xfdc1,0x01e1,0xfde8,0x01ac,0xfe10,0x017a,0xfe38,0x014c,0xfe5f,0x0120,0xfe86,0x00f7,0xfeac,0x00d2,0xfed2,0x00b0,0xfef6,0x0091,0xff1a,0x0075,0xff3c,0x005d,0xff5c,0x0047,0xff7b,0x0035,0xff98,0x0026,0xffb3,0x0019,0xffcc,0x000f,0xffe3,0x0007,0xfff6,0x0002,0x0007,0xffff,0x0015,0xfffd,0x0021,0xfffc,0x0029,0xfffd,0x002d,0xfffe,0x002f,000000,0x002d,0x0002,0x0029,0x0003,0x0021,0x0004,0x0015,0x0003,0x0007,0x0001,0xfff6,0xfffe,0xffe3,0xfff9,0xffcc,0xfff1,0xffb3,0xffe7,0xff98,0xffda,0xff7b,0xffcb,0xff5c,0xffb9,0xff3c,0xffa3,0xff1a,0xff8b,0xfef6,0xff6f,0xfed2,0xff50,0xfeac,0xff2e,0xfe86,0xff09,0xfe5f,0xfee0,0xfe38,0xfeb4,0xfe10,0xfe86,0xfde8,0xfe54,0xfdc1,0xfe1f,0xfd99,0xfde7,0xfd71,0xfdac,0xfd49,0xfd6f,0xfd22,0xfd2f,0xfcfa,0xfcec,0xfcd4,0xfca7,0xfcad,0xfc60,0xfc87,0xfc16,0xfc62,0xfbca,0xfc3d,0xfb7c,0xfc19,0xfb2c,0xfbf5,0xfadb,0xfbd2,0xfa87,0xfbaf,0xfa31,0xfb8d,0xf9da,0xfb6c,0xf982,0xfb4b,0xf927,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 0xfb08,0x06f9,0xfb29,0x069f,0xfb4a,0x0647,0xfb6d,0x05f1,0xfb8f,0x059c,0xfbb2,0x0549,0xfbd6,0x04f8,0xfbfa,0x04a8,0xfc1f,0x045b,0xfc44,0x040f,0xfc6a,0x03c6,0xfc90,0x037f,0xfcb7,0x033b,0xfcde,0x02f8,0xfd05,0x02b8,0xfd2c,0x027b,0xfd53,0x0241,0xfd7a,0x0209,0xfda2,0x01d4,0xfdc9,0x01a2,0xfdf0,0x0173,0xfe16,0x0147,0xfe3c,0x011d,0xfe61,0x00f7,0xfe86,0x00d4,0xfea9,0x00b4,0xfecc,0x0097,0xfeed,0x007e,0xff0c,0x0067,0xff2a,0x0053,0xff46,0x0041,0xff60,0x0032,0xff78,0x0026,0xff8d,0x001c,0xffa0,0x0014,0xffb1,0x000e,0xffbe,0x0009,0xffc9,0x0006,0xffd1,0x0003,0xffd5,0x0002,0xffd7,000000,0xffd5,0xfffe,0xffd1,0xfffd,0xffc9,0xfffa,0xffbe,0xfff7,0xffb1,0xfff2,0xffa0,0xffec,0xff8d,0xffe4,0xff78,0xffda,0xff60,0xffce,0xff46,0xffbf,0xff2a,0xffad,0xff0c,0xff99,0xfeed,0xff82,0xfecc,0xff69,0xfea9,0xff4c,0xfe86,0xff2c,0xfe61,0xff09,0xfe3c,0xfee3,0xfe16,0xfeb9,0xfdf0,0xfe8d,0xfdc9,0xfe5e,0xfda2,0xfe2c,0xfd7a,0xfdf7,0xfd53,0xfdbf,0xfd2c,0xfd85,0xfd05,0xfd48,0xfcde,0xfd08,0xfcb7,0xfcc5,0xfc90,0xfc81,0xfc6a,0xfc3a,0xfc44,0xfbf1,0xfc1f,0xfba5,0xfbfa,0xfb58,0xfbd6,0xfb08,0xfbb2,0xfab7,0xfb8f,0xfa64,0xfb6d,0xfa0f,0xfb4a,0xf9b9,0xfb29,0xf961,0xfb08,0xf907,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, 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This H/W version of the mesh table "test_mesh_lut.txt" is in 32-bit words with little endian encoding and each row of the mesh table must be 16-byte aligned.
For example, the first row in "mesh.txt" above is "1818 (0x71a), 1341 (0x53d)", and the corresponding 32-bit binary word is "0x53d, 0x71a" in "test_mesh_lut.txt".
At the end of each row in "test_mesh_lut.txt", you can find the padding of six "0x0000" so that each row is 336 bytes (336=16x21).
Note: this "test_mesh_lut.txt" has the same content as "ldc_lut_xxxxxxxx.h" if you don't use DCC for LDC programming.
The size of the H/W mesh table is "84x60" in elements of 32-bit words, which is slightly larger than "81x60" of the "mesh.txt" above because of the row alignment.
5. Copy the above xml file and its included LUT text file to the "imaging/sensor_drv/src/sensor_name/dcc_xmls/" folder in PSDK for your sensor.
Then, you may need to run the "generate_dcc.sh" under the folder and recompile PSDK.
PSDK sample apps such as "vx_app_single_cam" will pick up the new DCC settings for LDC.
Note: some additional discussions in another e2e thread: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1114821/faq-tda4vm-how-ldc-lut-can-be-converted-from-text-to-binary-format-and-be-used-in-sdk/4135718#4135718
Note: if you are using edgeai/gstteramer, tuning tool exports the DCC binary file while you click the "Export DCC profile binary" button in the Toolbar or from the "Execute" menu. The generated DCC binary file can be used in the gstreamer pipeline.
Note: in the case of LDC input and output images are of different size, we will need to make a small change in the matlab code above because the image center of I/O images are different.
In the code below, (hc_d, vc_d) is image center of the LDC input image (distorted image) and (hc_p, vc_p) is the image center of the LDC output image.
BTW, as the input and output image are of different sizes, to maintain the same view, you would need to adjust the original view scaler "s" by "s = s * Wi / Wo".
%----------------------------------------------------------------------------------------------------
function [] = gen_lut(spec_file, pitch_in_mm,f_in_mm, Wm, Hm, hc_d, vc_d, Wi, Hi, hc_p, vc_p, s ,m)
f = f_in_mm/pitch_in_mm ;
[h_p , v_p] = meshgrid( 0:Wm, 0:Hm);
[h_d,v_d] = xyz2distorted(h_p, v_p, f/s, hc_d, vc_d, hc_p, vc_p, spec_file, pitch_in_mm);
%-------------------------------------------------------------------------------
% If necessary, clip (h_d, v_d) into your input image boundary or ROI boundary here
%-------------------------------------------------------------------------------
h_delta = round((h_d-h_p) * 8);
v_delta = round((v_d-v_p) * 8);
mh = h_delta(1:2^m:end, 1:2^m:end)';
mv = v_delta(1:2^m:end, 1:2^m:end)';
dlmwrite('mesh.txt', [mh(:), mv(:)], 'delimiter', ' ');
%----------------------------------------------------------------------------------------------------
function [h_d, v_d] = xyz2distorted(x, y, z, hc_d, vc_d, hc_p, vc_p, spec_file, pitch_in_mm)
xt = x - hc_p;
yt = y - vc_p;
zt = z * ones(size(xt));
%----------------------------------------------------------------------------------------------------
% If necessary, insert your change of camera view point as a transform on 3D points (xt, yt, zt) here
%----------------------------------------------------------------------------------------------------
[phi, r] = cart2pol(xt, yt);
theta = atan2(r, zt);
lut = read_spec(spec_file, pitch_in_mm);
r = interp1(lut(:,1), lut(:,2), theta);
[h_d, v_d] = pol2cart(phi, r);
h_d = h_d + hc_d;
v_d = v_d + vc_d;
Note: there is a known issue as of 03/2024 in LDC driver that requires output image row pitch, P (maybe slightly larger that image width), to be a multiple of OBW.
It is not a limitation of LDC H/W, but an issue in driver while copying LDC output from SL2 to DDR via DMA.
If OBW is not a factor of P, you may see artifacts on the left border of you LDC output image (coming from right side of the image).
If you see these kind of artifacts, you may adjust OBW to be a factor of the row pitch of your LDC output image to get around.