TDA4VM: Generate look up table to remove distortion

Jason Tseng1

Intellectual 660 points

Part Number: TDA4VM

Hi all,

I use TDA4 platform and SDK 08.04.
My camera is FOV 119.
The resolution is 1920x1080.

Because camera is FOV 119.
It need a look up table to remove distortion.

I refer e2e.ti.com/.../faq-tda4vm-how-to-create-a-ldc-mesh-lut-for-fisheye-distortion-correction-on-tda4

I got camera distortion table(distortion_table_fov_ParaxialHeight_RealHeight.xlsx) from camera company.

distortion_table_fov_ParaxialHeight_RealHeight.xlsx

spec_file.txt get from the column A and C of distortion_table_fov_ParaxialHeight_RealHeight.xlsx .

/* spec_file.txt */

Fullscreen 7418.spec_file.txt Download

0.1	0.00511412
0.2	0.01022824
0.3	0.01534235
0.4	0.02045645
0.5	0.02557053
0.6	0.0306846
0.7	0.03579866
0.8	0.04091269
0.9	0.04602669
1	0.05114067
1.1	0.05625461
1.2	0.06136852
1.3	0.06648239
1.4	0.07159622
1.5	0.07671
1.6	0.08182374
1.7	0.08693742
1.8	0.09205105
1.9	0.09716463
2	0.10227814
2.1	0.10739159
2.2	0.11250497
2.3	0.11761828
2.4	0.12273152
2.5	0.12784468
2.6	0.13295776
2.7	0.13807075
2.8	0.14318366
2.9	0.14829648
3	0.15340921
3.1	0.15852184
3.2	0.16363437
3.3	0.16874679
3.4	0.17385911
3.5	0.17897132
3.6	0.18408342
3.7	0.1891954
3.8	0.19430726
3.9	0.199419
4	0.20453061
4.1	0.2096421
4.2	0.21475345
4.3	0.21986466
4.4	0.22497573
4.5	0.23008666
4.6	0.23519745
4.7	0.24030808
4.8	0.24541856
4.9	0.25052889
5	0.25563905
5.1	0.26074905
5.2	0.26585889
5.3	0.27096855
5.4	0.27607804
5.5	0.28118735
5.6	0.28629648
5.7	0.29140543
5.8	0.29651419
5.9	0.30162276
6	0.30673113
6.1	0.31183931
6.2	0.31694728
6.3	0.32205505
6.4	0.32716261
6.5	0.33226995
6.6	0.33737708
6.7	0.342484
6.8	0.34759068
6.9	0.35269714
7	0.35780337
7.1	0.36290937
7.2	0.36801513
7.3	0.37312064
7.4	0.37822592
7.5	0.38333094
7.6	0.38843571
7.7	0.39354022
7.8	0.39864448
7.9	0.40374847
8	0.40885219
8.1	0.41395564
8.2	0.41905882
8.3	0.42416171
8.4	0.42926433
8.5	0.43436666
8.6	0.43946869
8.7	0.44457044
8.8	0.44967188
8.9	0.45477303
9	0.45987386
9.1	0.46497439
9.2	0.47007461
9.3	0.4751745
9.4	0.48027408
9.5	0.48537333
9.6	0.49047225
9.7	0.49557083
9.8	0.50066908
9.9	0.50576699
10	0.51086455
10.1	0.51596176
10.2	0.52105862
10.3	0.52615512
10.4	0.53125126
10.5	0.53634703
10.6	0.54144243
10.7	0.54653746
10.8	0.55163211
10.9	0.55672637
11	0.56182025
11.1	0.56691374
11.2	0.57200683
11.3	0.57709952
11.4	0.58219181
11.5	0.58728369
11.6	0.59237516
11.7	0.59746621
11.8	0.60255684
11.9	0.60764704
12	0.61273681
12.1	0.61782615
12.2	0.62291506
12.3	0.62800351
12.4	0.63309152
12.5	0.63817908
12.6	0.64326618
12.7	0.64835282
12.8	0.653439
12.9	0.6585247
13	0.66360993
13.1	0.66869469
13.2	0.67377895
13.3	0.67886273
13.4	0.68394602
13.5	0.68902881
13.6	0.6941111
13.7	0.69919288
13.8	0.70427415
13.9	0.7093549
14	0.71443513
14.1	0.71951484
14.2	0.72459402
14.3	0.72967266
14.4	0.73475076
14.5	0.73982832
14.6	0.74490533
14.7	0.74998178
14.8	0.75505768
14.9	0.76013301
15	0.76520777
15.1	0.77028196
15.2	0.77535557
15.3	0.7804286
15.4	0.78550104
15.5	0.79057289
15.6	0.79564414
15.7	0.80071478
15.8	0.80578482
15.9	0.81085424
16	0.81592305
16.1	0.82099123
16.2	0.82605879
16.3	0.83112571
16.4	0.83619199
16.5	0.84125763
16.6	0.84632262
16.7	0.85138696
16.8	0.85645064
16.9	0.86151366
17	0.866576
17.1	0.87163767
17.2	0.87669867
17.3	0.88175897
17.4	0.88681859
17.5	0.89187751
17.6	0.89693574
17.7	0.90199325
17.8	0.90705006
17.9	0.91210615
18	0.91716151
18.1	0.92221615
18.2	0.92727006
18.3	0.93232323
18.4	0.93737566
18.5	0.94242734
18.6	0.94747827
18.7	0.95252843
18.8	0.95757784
18.9	0.96262647
19	0.96767433
19.1	0.9727214
19.2	0.97776769
19.3	0.98281319
19.4	0.98785789
19.5	0.99290179
19.6	0.99794488
19.7	1.00298716
19.8	1.00802861
19.9	1.01306924
20	1.01810905
20.1	1.02314801
20.2	1.02818614
20.3	1.03322341
20.4	1.03825984
20.5	1.0432954
20.6	1.0483301
20.7	1.05336394
20.8	1.05839689
20.9	1.06342897
21	1.06846016
21.1	1.07349046
21.2	1.07851986
21.3	1.08354835
21.4	1.08857594
21.5	1.09360261
21.6	1.09862836
21.7	1.10365319
21.8	1.10867708
21.9	1.11370003
22	1.11872204
22.1	1.1237431
22.2	1.12876321
22.3	1.13378236
22.4	1.13880054
22.5	1.14381774
22.6	1.14883397
22.7	1.15384921
22.8	1.15886347
22.9	1.16387673
23	1.16888898
23.1	1.17390023
23.2	1.17891047
23.3	1.18391969
23.4	1.18892788
23.5	1.19393504
23.6	1.19894117
23.7	1.20394625
23.8	1.20895028
23.9	1.21395326
24	1.21895518
24.1	1.22395604
24.2	1.22895582
24.3	1.23395453
24.4	1.23895215
24.5	1.24394868
24.6	1.24894411
24.7	1.25393845
24.8	1.25893168
24.9	1.26392379
25	1.26891479
25.1	1.27390466
25.2	1.2788934
25.3	1.283881
25.4	1.28886746
25.5	1.29385277
25.6	1.29883693
25.7	1.30381992
25.8	1.30880175
25.9	1.31378241
26	1.31876189
26.1	1.32374018
26.2	1.32871728
26.3	1.33369319
26.4	1.33866789
26.5	1.34364139
26.6	1.34861367
26.7	1.35358473
26.8	1.35855457
26.9	1.36352317
27	1.36849054
27.1	1.37345666
27.2	1.37842153
27.3	1.38338514
27.4	1.38834749
27.5	1.39330857
27.6	1.39826838
27.7	1.40322691
27.8	1.40818416
27.9	1.41314011
28	1.41809476
28.1	1.42304811
28.2	1.42800015
28.3	1.43295087
28.4	1.43790027
28.5	1.44284834
28.6	1.44779508
28.7	1.45274048
28.8	1.45768453
28.9	1.46262723
29	1.46756857
29.1	1.47250855
29.2	1.47744715
29.3	1.48238439
29.4	1.48732023
29.5	1.49225469
29.6	1.49718776
29.7	1.50211943
29.8	1.50704968
29.9	1.51197853
30	1.51690596
30.1	1.52183197
30.2	1.52675654
30.3	1.53167968
30.4	1.53660137
30.5	1.54152162
30.6	1.54644041
30.7	1.55135774
30.8	1.55627361
30.9	1.561188
31	1.56610092
31.1	1.57101235
31.2	1.57592228
31.3	1.58083073
31.4	1.58573767
31.5	1.5906431
31.6	1.59554701
31.7	1.60044941
31.8	1.60535028
31.9	1.61024961
32	1.61514741
32.1	1.62004366
32.2	1.62493836
32.3	1.6298315
32.4	1.63472308
32.5	1.63961309
32.6	1.64450152
32.7	1.64938838
32.8	1.65427364
32.9	1.65915731
33	1.66403938
33.1	1.66891985
33.2	1.6737987
33.3	1.67867594
33.4	1.68355155
33.5	1.68842553
33.6	1.69329788
33.7	1.69816858
33.8	1.70303763
33.9	1.70790503
34	1.71277077
34.1	1.71763484
34.2	1.72249724
34.3	1.72735796
34.4	1.73221699
34.5	1.73707433
34.6	1.74192998
34.7	1.74678391
34.8	1.75163614
34.9	1.75648666
35	1.76133545
35.1	1.76618251
35.2	1.77102783
35.3	1.77587142
35.4	1.78071325
35.5	1.78555334
35.6	1.79039166
35.7	1.79522822
35.8	1.800063
35.9	1.80489601
36	1.80972723
36.1	1.81455665
36.2	1.81938428
36.3	1.82421011
36.4	1.82903413
36.5	1.83385632
36.6	1.8386767
36.7	1.84349525
36.8	1.84831195
36.9	1.85312682
37	1.85793984
37.1	1.862751
37.2	1.8675603
37.3	1.87236774
37.4	1.87717329
37.5	1.88197697
37.6	1.88677876
37.7	1.89157865
37.8	1.89637665
37.9	1.90117273
38	1.90596691
38.1	1.91075916
38.2	1.91554948
38.3	1.92033787
38.4	1.92512432
38.5	1.92990882
38.6	1.93469137
38.7	1.93947196
38.8	1.94425058
38.9	1.94902723
39	1.9538019
39.1	1.95857457
39.2	1.96334526
39.3	1.96811394
39.4	1.97288062
39.5	1.97764528
39.6	1.98240791
39.7	1.98716852
39.8	1.99192709
39.9	1.99668363
40	2.00143811
40.1	2.00619053
40.2	2.01094089
40.3	2.01568918
40.4	2.02043539
40.5	2.02517951
40.6	2.02992155
40.7	2.03466148
40.8	2.03939931
40.9	2.04413502
41	2.04886861
41.1	2.05360008
41.2	2.0583294
41.3	2.06305659
41.4	2.06778162
41.5	2.0725045
41.6	2.07722521
41.7	2.08194375
41.8	2.0866601
41.9	2.09137427
42	2.09608624
42.1	2.10079601
42.2	2.10550357
42.3	2.11020891
42.4	2.11491203
42.5	2.11961291
42.6	2.12431155
42.7	2.12900794
42.8	2.13370207
42.9	2.13839394
43	2.14308353
43.1	2.14777084
43.2	2.15245586
43.3	2.15713859
43.4	2.16181901
43.5	2.16649711
43.6	2.1711729
43.7	2.17584635
43.8	2.18051747
43.9	2.18518624
44	2.18985266
44.1	2.19451671
44.2	2.19917839
44.3	2.20383769
44.4	2.2084946
44.5	2.21314912
44.6	2.21780123
44.7	2.22245093
44.8	2.2270982
44.9	2.23174304
45	2.23638544
45.1	2.24102539
45.2	2.24566289
45.3	2.25029792
45.4	2.25493047
45.5	2.25956053
45.6	2.26418811
45.7	2.26881318
45.8	2.27343574
45.9	2.27805577
46	2.28267328
46.1	2.28728825
46.2	2.29190066
46.3	2.29651052
46.4	2.30111781
46.5	2.30572253
46.6	2.31032465
46.7	2.31492418
46.8	2.31952111
46.9	2.32411542
47	2.3287071
47.1	2.33329614
47.2	2.33788255
47.3	2.34246629
47.4	2.34704737
47.5	2.35162578
47.6	2.3562015
47.7	2.36077453
47.8	2.36534485
47.9	2.36991245
48	2.37447733
48.1	2.37903947
48.2	2.38359887
48.3	2.38815551
48.4	2.39270938
48.5	2.39726047
48.6	2.40180877
48.7	2.40635428
48.8	2.41089697
48.9	2.41543684
49	2.41997388
49.1	2.42450808
49.2	2.42903942
49.3	2.4335679
49.4	2.4380935
49.5	2.44261621
49.6	2.44713603
49.7	2.45165293
49.8	2.45616692
49.9	2.46067797
50	2.46518608
50.1	2.46969123
50.2	2.47419341
50.3	2.47869262
50.4	2.48318883
50.5	2.48768205
50.6	2.49217224
50.7	2.49665942
50.8	2.50114355
50.9	2.50562463
51	2.51010266
51.1	2.5145776
51.2	2.51904946
51.3	2.52351823
51.4	2.52798388
51.5	2.5324464
51.6	2.53690579
51.7	2.54136203
51.8	2.54581511
51.9	2.55026502
52	2.55471174
52.1	2.55915526
52.2	2.56359556
52.3	2.56803264
52.4	2.57246649
52.5	2.57689708
52.6	2.5813244
52.7	2.58574845
52.8	2.59016921
52.9	2.59458666
53	2.5990008
53.1	2.6034116
53.2	2.60781906
53.3	2.61222316
53.4	2.61662389
53.5	2.62102123
53.6	2.62541517
53.7	2.6298057
53.8	2.6341928
53.9	2.63857646
54	2.64295666
54.1	2.6473334
54.2	2.65170665
54.3	2.6560764
54.4	2.66044264
54.5	2.66480535
54.6	2.66916452
54.7	2.67352014
54.8	2.67787218
54.9	2.68222064
55	2.6865655
55.1	2.69090675
55.2	2.69524436
55.3	2.69957833
55.4	2.70390864
55.5	2.70823528
55.6	2.71255823
55.7	2.71687747
55.8	2.72119299
55.9	2.72550477
56	2.72981281
56.1	2.73411708
56.2	2.73841756
56.3	2.74271425
56.4	2.74700713
56.5	2.75129622
56.6	2.75558145
56.7	2.75986282
56.8	2.76414031
56.9	2.76841389
57	2.77268356
57.1	2.7769493
57.2	2.78121109
57.3	2.78546892
57.4	2.78972277
57.5	2.79397262
57.6	2.79821846
57.7	2.80246027
57.8	2.80669803
57.9	2.81093173
58	2.81516135
58.1	2.81938688
58.2	2.8236083
58.3	2.82782558
58.4	2.83203872
58.5	2.8362477
58.6	2.8404525
58.7	2.8446531
58.8	2.84884949
58.9	2.85304165
59	2.85722956
59.1	2.8614132
59.2	2.86559256
59.3	2.86976763
59.4	2.87393837
59.5	2.87810478
59.6	2.88226684
59.7	2.88642453
59.8	2.89057783
59.9	2.89472672
60	2.89887119
60.1	2.90301122
60.2	2.9071468
60.3	2.91127789
60.4	2.9154045
60.5	2.91952659
60.6	2.92364414
60.7	2.92775715
60.8	2.9318656
60.9	2.93596946
61	2.94006871
61.1	2.94416334
61.2	2.94825334
61.3	2.95233867
61.4	2.95641933
61.5	2.96049529
61.6	2.96456654
61.7	2.96863306
61.8	2.97269482
61.9	2.97675181
62	2.98080402
62.1	2.98485142
62.2	2.98889399
62.3	2.99293171
62.4	2.99696457
62.5	3.00099255
62.6	3.00501562
62.7	3.00903378
62.8	3.01304699
62.9	3.01705524
63	3.02105851
63.1	3.02505679
63.2	3.02905005
63.3	3.03303826
63.4	3.03702143
63.5	3.04099942
63.6	3.04497223
63.7	3.04893993
63.8	3.05290249
63.9	3.05685989
64	3.06081212
64.1	3.06475916
64.2	3.06870099
64.3	3.07263759
64.4	3.07656893
64.5	3.080495
64.6	3.08441578
64.7	3.08833126
64.8	3.0922414
64.9	3.09614619
65	3.10004561
65.1	3.10393965
65.2	3.10782827
65.3	3.11171146
65.4	3.11558921
65.5	3.11946148
65.6	3.12332827
65.7	3.12718955
65.8	3.1310453
65.9	3.1348955
66	3.13874013
66.1	3.14257917
66.2	3.1464126
66.3	3.1502404
66.4	3.15406255
66.5	3.15787903
66.6	3.16168982
66.7	3.1654949
66.8	3.16929425
66.9	3.17308785
67	3.17687567
67.1	3.1806577
67.2	3.18443392
67.3	3.1882043
67.4	3.19196884
67.5	3.19572749
67.6	3.19948025
67.7	3.2032271
67.8	3.20696801
67.9	3.21070296
68	3.21443193
68.1	3.21815491
68.2	3.22187187
68.3	3.22558279
68.4	3.22928764
68.5	3.23298642
68.6	3.23667909
68.7	3.24036565
68.8	3.24404606
68.9	3.2477203
69	3.25138836
69.1	3.25505021
69.2	3.25870584
69.3	3.26235522
69.4	3.26599833
69.5	3.26963515
69.6	3.27326567
69.7	3.27688985
69.8	3.28050767
69.9	3.28411913
70	3.28772419
70.1	3.29132284
70.2	3.29491505
70.3	3.2985008
70.4	3.30208008
70.5	3.30565286

The gen_run.m, gen_lut.m and spec_file.txt put into same directory.

pitch_in_mm is 0.003 for my camera
f_in_mm is 2.29 for my camera

/* gen_run.m */

    s = 2;
    m = 4;
    pitch_in_mm = 0.003;
    f_in_mm = 2.29;
    W = 1920;
    H = 1080;
    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);

/* gen_lut.m */

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);
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];

I run gen_run.m on Octave.
It generate mesh.txt.

/* mesh.txt */

1588.mesh.txt

/* generate mesh.txt.bin */
jason:~/PROCESSOR_SDK_VISION_03_08_00_00/vision_sdk/apps/tools/LDC_mesh_table_convert$ ./convert.sh mesh.txt 1920 1080 16

/* bin to header file on WIN 10, get mesh_lut_fov119.h */
d:\bin2c>bin2c.exe mesh.txt.bin mesh_lut_fov119.h fov119

/* mesh_lut_fov119.h */

mesh_lut_fov119.h

I modified vision_apps\modules_src\app_ldc_modules.c
The LCD_LUT_1920_1080 replace with FOV119DCC_CFG.

#include "app_ldc_module.h"
#include "ldc_lut_1920x1080.h"
#include "mesh_lut_fov119.h" 

//static uint8_t  g_ldc_lut[] = LDC_LUT_1920_1080;
static uint8_t  g_ldc_lut[] = FOV119DCC_CFG;

It will cause segmentation fault when run run_app_tidl_od_cam.sh.

I think, the problem is the size of FOV119DCC_CFG.
The size of FOV119DCC_CFG only is 35328.
But the size of LCD_LUT_1920_1080 is 537664.

How can I generate a 537664 size look up table?
Do I have any step error?

Best regards

-Jason

over 2 years ago

0 Gang Hua over 2 years ago

TI__Guru 59590 points

Hi Jason,

First, in your "mesh.txt", there are NA entries, which means your output view is going beyond the camera FOV 119 degrees.
NA NA
NA NA
-189 -110
-264 -156
You will have to reduce "s" so that all entries in "mesh.txt" are valid.
The camera in the FAQ has FOV > 180 degrees.

Jason Tseng1 said:
I think, the problem is the size of FOV119DCC_CFG.
The size of FOV119DCC_CFG only is 35328.
But the size of LCD_LUT_1920_1080 is 537664.

35328 is the correct size for 1920x1080 at m=4.
537664 is for m=2.

0 Jason Tseng1 over 2 years ago in reply to Gang Hua

Intellectual 660 points

Hi Gang,

Thank you about your reply.

I following your suggestion.

I change the "s" of gen_run.m to 1.

I change the "m" of gen_run.m to 2.

I got the new mesh.txt

/* mesh.txt */

Because "m" change from 4 to 2, I use new convert.sh command parameters

jason:~/PROCESSOR_SDK_VISION_03_08_00_00/vision_sdk/apps/tools/LDC_mesh_table_convert$ ./convert.sh mesh.txt 1920 1080 4

I don't change other steps.

Finally, I got the new mesh_lut_fov119.h

The size of lookup table is 537664.

I use new lookup table by following code(app_ldc_module.c).

#include "app_ldc_module.h"
#include "ldc_lut_1920x1080.h"
#include "mesh_lut_fov119.h" 

//static uint8_t  g_ldc_lut[] = LDC_LUT_1920_1080;
static uint8_t  g_ldc_lut[] = FOV119DCC_CFG;

static vx_status configure_dcc_params(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{

I use two cameras.

camera 0 : FOV 61 (This use dummy lookup table)

camera 1 : FOV 119 (This use new lookup table )

I refer to /cfs-file/__key/communityserver-discussions-components-files/791/DifferentLDCTableForEachReplicatedNode.zip

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1027625/tda4vm-how-to-provide-different-set-of-parameters-in-replicated-node-like-two-look-up-table-for-ldc-module/3805717?tisearch=e2e-sitesearch&keymatch=LDC%25252520look%25252520up%25252520table#3805717

I attach my modified codes.

4370.app_ldc_module.h

Fullscreen 3731.app_ldc_module.c Download

/*
 *
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 *
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 * license under copyrights and patents it now or hereafter owns or controls to make,
 * have made, use, import, offer to sell and sell ("Utilize") this software subject to the
 * terms herein.  With respect to the foregoing patent license, such license is granted
 * solely to the extent that any such patent is necessary to Utilize the software alone.
 * The patent license shall not apply to any combinations which include this software,
 * other than combinations with devices manufactured by or for TI ("TI Devices").
 * No hardware patent is licensed hereunder.
 *
 * Redistributions must preserve existing copyright notices and reproduce this license
 * (including the above copyright notice and the disclaimer and (if applicable) source
 * code license limitations below) in the documentation and/or other materials provided
 * with the distribution
 *
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 * that the following conditions are met:
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 * permitted with respect to any software provided in binary form.
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 * licensed and provided to you in object code.
 *
 * If software source code is provided to you, modification and redistribution of the
 * source code are permitted provided that the following conditions are met:
 *
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 * works, are licensed by TI for use only with TI Devices.
 *
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 * and any resulting derivative works, are licensed by TI for use only with TI Devices.
 *
 * Neither the name of Texas Instruments Incorporated nor the names of its suppliers
 *
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * DISCLAIMER.
 *
 * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS
 * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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 */

#include "app_ldc_module.h"
#include "ldc_lut_1920x1080.h"
#include "mesh_lut_fov119.h" 

//static uint8_t  g_ldc_lut[] = LDC_LUT_1920_1080;
static uint8_t  g_ldc_lut[] = FOV119DCC_CFG;

static vx_status configure_dcc_params(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{
    vx_status status = VX_SUCCESS;
#if 0
    if(sensorObj->sensor_dcc_enabled)
    {
        int32_t dcc_buff_size;
        uint8_t * dcc_buf;
        vx_map_id dcc_buf_map_id;

        dcc_buff_size = appIssGetDCCSizeLDC(sensorObj->sensor_name, sensorObj->sensor_wdr_enabled);

        if (dcc_buff_size > 0)
        {
            ldcObj->dcc_config = vxCreateUserDataObject(context, "dcc_ldc", dcc_buff_size, NULL );
            status = vxGetStatus((vx_reference)ldcObj->dcc_config);

            if(status == VX_SUCCESS)
            {
                vxSetReferenceName((vx_reference)ldcObj->dcc_config, "ldc_node_dcc_config");

                vxMapUserDataObject(
                        ldcObj->dcc_config, 0,
                        dcc_buff_size,
                        &dcc_buf_map_id,
                        (void **)&dcc_buf,
                        VX_WRITE_ONLY,
                        VX_MEMORY_TYPE_HOST, 0);

                status = appIssGetDCCBuffLDC(sensorObj->sensor_name, sensorObj->sensor_wdr_enabled,  dcc_buf, dcc_buff_size);
                if(status != VX_SUCCESS)
                {
                    printf("[LDC-MODULE] Error getting DCC buffer \n");
                }
                vxUnmapUserDataObject(ldcObj->dcc_config, dcc_buf_map_id);
            }
            else
            {
                printf("[LDC-MODULE] Unable to create DCC config object! \n");
            }
        }
    }
    else
#endif		
    {
		printf ("LDC DCC Config+++ \n");
        ldcObj->dcc_config = NULL;
    }

    return status;
}
static vx_status configure_mesh_params(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{
    vx_status status = VX_SUCCESS;

    uint32_t cnt;
    vx_uint32 table_width_ds, table_height_ds;
    vx_imagepatch_addressing_t image_addr;
    vx_rectangle_t rect;
    vx_image sample;
    void *data_ptr;
    vx_map_id map_id;

    table_width_ds = (((ldcObj->table_width / (1 << ldcObj->ds_factor)) + 1u) + 15u) & (~15u);
    table_height_ds = ((ldcObj->table_height / (1 << ldcObj->ds_factor)) + 1u);

    /* Mesh Image */
    sample = vxCreateImage(context, table_width_ds, table_height_ds, VX_DF_IMAGE_U32);
    status = vxGetStatus((vx_reference)sample);

    if(status == VX_SUCCESS)
    {
        ldcObj->mesh_img_arr = vxCreateObjectArray(context, (vx_reference)sample, sensorObj->num_cameras_enabled);
        vxReleaseImage(&sample);

        status = vxGetStatus((vx_reference)ldcObj->mesh_img_arr);
        if(status != VX_SUCCESS)
        {
            printf("[LDC-MODULE] Unable to create output image array! \n");
        }
    }

    if(status == VX_SUCCESS)
    {
		for (cnt = 0; cnt < sensorObj->num_cameras_enabled; cnt ++)
        {
            sample =
                (vx_image)vxGetObjectArrayItem(ldcObj->mesh_img_arr, cnt);

            /* Copy Mesh table */
            rect.start_x = 0;
            rect.start_y = 0;
            rect.end_x = table_width_ds;
            rect.end_y = table_height_ds;

            image_addr.dim_x = table_width_ds;
            image_addr.dim_y = table_height_ds;
            image_addr.stride_x = 4u;
            image_addr.stride_y = table_width_ds * 4u;

            status = vxMapImagePatch(
                sample, &rect, 0, &map_id, &image_addr,  &data_ptr,
                VX_READ_AND_WRITE, VX_MEMORY_TYPE_HOST, VX_NOGAP_X);
				
            if (status == VX_SUCCESS)
            {
				if (0 == cnt)
                {
                    memset(data_ptr, 0, sizeof(g_ldc_lut)); /* This is FOV 61(oToCAM264ISP-L61T), NO need to remove distortion */
                }
                else
                {
					memcpy(data_ptr, g_ldc_lut, sizeof(g_ldc_lut)); /* This is FOV 119 (oToCAM264ISP-S119T), need to remove distortion */                   
					printf("++++++++++++ cnt %d, use new g_ldc_lut\n", cnt);//???????????????
                }
				
                /* Mesh Parameters */
                memset(&ldcObj->mesh_params, 0, sizeof(tivx_vpac_ldc_mesh_params_t));

                tivx_vpac_ldc_mesh_params_init(&ldcObj->mesh_params);

                ldcObj->mesh_params.mesh_frame_width  = ldcObj->table_width;
                ldcObj->mesh_params.mesh_frame_height = ldcObj->table_height;
                ldcObj->mesh_params.subsample_factor  = ldcObj->ds_factor;

                ldcObj->mesh_config = vxCreateUserDataObject(context, "tivx_vpac_ldc_mesh_params_t", sizeof(tivx_vpac_ldc_mesh_params_t), NULL);
                status = vxGetStatus((vx_reference)ldcObj->mesh_config);

                if(status == VX_SUCCESS)
                {
                    status = vxCopyUserDataObject(ldcObj->mesh_config, 0,
                                        sizeof(tivx_vpac_ldc_mesh_params_t),
                                        &ldcObj->mesh_params,
                                        VX_WRITE_ONLY,
                                        VX_MEMORY_TYPE_HOST);
                    if(status != VX_SUCCESS)
                    {
                        printf("[LDC-MODULE] Unable to copy mesh params into buffer! \n");
                    }
                }
                else
                {
                    printf("[LDC-MODULE] Unable to create mesh config object! \n");
                }
				
                vxUnmapImagePatch(sample, map_id);				
            }
            else
            {
                printf("[LDC-MODULE] Unable to copy mesh image! \n");
            }
			
            vxReleaseImage(&sample);
        }
    }
    else
    {
        printf("[LDC-MODULE] Unable to create mesh image! \n");
    }
    
    return status;
}

static vx_status configure_region_params(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{
    vx_status status = VX_SUCCESS;

    /* Block Size parameters */
    ldcObj->region_params.out_block_width  = LDC_BLOCK_WIDTH;
    ldcObj->region_params.out_block_height = LDC_BLOCK_HEIGHT;
    ldcObj->region_params.pixel_pad        = LDC_PIXEL_PAD;

    ldcObj->region_config = vxCreateUserDataObject(context, "tivx_vpac_ldc_region_params_t", sizeof(tivx_vpac_ldc_region_params_t),  NULL);
    status = vxGetStatus((vx_reference)ldcObj->region_config);

    if(status == VX_SUCCESS)
    {
        vxSetReferenceName((vx_reference)ldcObj->region_config, "ldc_node_region_config");

        status = vxCopyUserDataObject(ldcObj->region_config, 0,
                            sizeof(tivx_vpac_ldc_region_params_t),
                            &ldcObj->region_params,
                            VX_WRITE_ONLY,
                            VX_MEMORY_TYPE_HOST);
        if(status != VX_SUCCESS)
        {
            printf("[LDC-MODULE] Unable to copy ldc region params to buffer! \n");
        }
    }
    else
    {
        printf("[LDC-MODULE] Unable to create region config object! \n");
    }
    
    return status;
}

static vx_status configure_ldc_params(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{
    vx_status status = VX_SUCCESS;

    /* LDC Configuration */
    tivx_vpac_ldc_params_init(&ldcObj->params);
    ldcObj->params.luma_interpolation_type = 1;
    ldcObj->params.dcc_camera_id = sensorObj->sensorParams.dccId;

    ldcObj->config = vxCreateUserDataObject(context, "tivx_vpac_ldc_params_t", sizeof(tivx_vpac_ldc_params_t), NULL);
    status = vxGetStatus((vx_reference)ldcObj->config);

    if(status == VX_SUCCESS)
    {
        vxSetReferenceName((vx_reference)ldcObj->config, "ldc_node_config");

        status = vxCopyUserDataObject(ldcObj->config, 0,
                            sizeof(tivx_vpac_ldc_params_t),
                            &ldcObj->params,
                            VX_WRITE_ONLY,
                            VX_MEMORY_TYPE_HOST);
        if(status != VX_SUCCESS)
        {
            printf("[LDC-MODULE] Unable to copy ldc config params into buffer! \n");
        }
    }
    else
    {
        printf("[LDC-MODULE] Unable to create ldc params object! \n");
    }

    return status;
}

static vx_status create_ldc_outputs(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj)
{
    vx_status status = VX_SUCCESS;

    /* LDC Output image in NV12 format */
    vx_image output_img = vxCreateImage(context, ldcObj->table_width, ldcObj->table_height, VX_DF_IMAGE_NV12);
    status = vxGetStatus((vx_reference)output_img);
    if(status == VX_SUCCESS)
    {
        ldcObj->output_arr = vxCreateObjectArray(context, (vx_reference)output_img, sensorObj->num_cameras_enabled);
        vxReleaseImage(&output_img);

        status = vxGetStatus((vx_reference)ldcObj->output_arr);
        if(status != VX_SUCCESS)
        {
            printf("[LDC-MODULE] Unable to create output image array! \n");
        }
        else
        {
            vxSetReferenceName((vx_reference)ldcObj->output_arr, "ldc_node_output_arr");
        }
    }
    else
    {
        printf("[LDC-MODULE] Unable to create output image! \n");
    }

    if(ldcObj->en_out_ldc_write == 1)
    {
        char file_path[TIVX_FILEIO_FILE_PATH_LENGTH];
        char file_prefix[TIVX_FILEIO_FILE_PREFIX_LENGTH];

        strcpy(file_path, ldcObj->output_file_path);
        ldcObj->file_path   = vxCreateArray(context, VX_TYPE_UINT8, TIVX_FILEIO_FILE_PATH_LENGTH);
        status = vxGetStatus((vx_reference)ldcObj->file_path);
        if(status == VX_SUCCESS)
        {
            vxSetReferenceName((vx_reference)ldcObj->file_path, "ldc_write_node_file_path");

            vxAddArrayItems(ldcObj->file_path, TIVX_FILEIO_FILE_PATH_LENGTH, &file_path[0], 1);
        }
        else
        {
            printf("[LDC-MODULE] Unable to create file path object for writing outputs! \n");
        }

        strcpy(file_prefix, "ldc_output");
        ldcObj->file_prefix = vxCreateArray(context, VX_TYPE_UINT8, TIVX_FILEIO_FILE_PREFIX_LENGTH);
        status = vxGetStatus((vx_reference)ldcObj->file_prefix);
        if(status == VX_SUCCESS)
        {
            vxSetReferenceName((vx_reference)ldcObj->file_prefix, "ldc_write_node_file_prefix");

            vxAddArrayItems(ldcObj->file_prefix, TIVX_FILEIO_FILE_PREFIX_LENGTH, &file_prefix[0], 1);
        }
        else
        {
            printf("[LDC-MODULE] Unable to create file prefix object for writing outputs! \n");
        }

        ldcObj->write_cmd = vxCreateUserDataObject(context, "tivxFileIOWriteCmd", sizeof(tivxFileIOWriteCmd), NULL);
        status = vxGetStatus((vx_reference)ldcObj->write_cmd);
        if(status != VX_SUCCESS)
        {
            printf("[LDC-MODULE] Unable to create file write cmd object! \n");
        }
        else
        {
            vxSetReferenceName((vx_reference)ldcObj->write_cmd, "ldc_write_node_write_cmd");
        }
    }
    else
    {
        ldcObj->file_path   = NULL;
        ldcObj->file_prefix = NULL;
        ldcObj->write_node  = NULL;
        ldcObj->write_cmd   = NULL;
    }

    return status;
}
vx_status app_init_ldc(vx_context context, LDCObj *ldcObj, SensorObj *sensorObj, char *objName)
{
    vx_status status = VX_SUCCESS;

    ldcObj->table_width  = sensorObj->image_width;
    ldcObj->table_height = sensorObj->image_height;
    ldcObj->ds_factor    = LDC_DS_FACTOR;
    printf("+++LDC_TABLE_WIDTH %d, LDC_TABLE_HEIGHT %d \n", LDC_TABLE_WIDTH, LDC_TABLE_HEIGHT); //Jason
    printf("+++image_width %d, image_height %d \n", sensorObj->image_width, sensorObj->image_height); //Jason
    status = configure_dcc_params(context, ldcObj, sensorObj);

    //if(0)
	if(status == VX_SUCCESS)
    {
        status = configure_mesh_params(context, ldcObj, sensorObj);
    }

    if(status == VX_SUCCESS)
    {
        status = configure_region_params(context, ldcObj, sensorObj);
    }

    if(status == VX_SUCCESS)
    {
        status = configure_ldc_params(context, ldcObj, sensorObj);
    }

    if(status == VX_SUCCESS)
    {
        status = create_ldc_outputs(context, ldcObj, sensorObj);
    }

    return (status);
}

void app_deinit_ldc(LDCObj *ldcObj)
{
    vxReleaseUserDataObject(&ldcObj->config);
    vxReleaseUserDataObject(&ldcObj->region_config);
    vxReleaseUserDataObject(&ldcObj->mesh_config);

    vxReleaseObjectArray(&ldcObj->mesh_img_arr);
    vxReleaseObjectArray(&ldcObj->output_arr);

    if(ldcObj->dcc_config != NULL)
    {
        vxReleaseUserDataObject(&ldcObj->dcc_config);
    }
    if(ldcObj->en_out_ldc_write == 1)
    {
        vxReleaseArray(&ldcObj->file_path);
        vxReleaseArray(&ldcObj->file_prefix);
        vxReleaseUserDataObject(&ldcObj->write_cmd);
    }
}

void app_delete_ldc(LDCObj *ldcObj)
{
    if(ldcObj->node != NULL)
    {
        vxReleaseNode(&ldcObj->node);
    }
    if(ldcObj->write_node != NULL)
    {
        vxReleaseNode(&ldcObj->write_node);
    }
}

vx_status app_create_graph_ldc(vx_graph graph, LDCObj *ldcObj, vx_object_array input_arr)
{
    vx_status status = VX_SUCCESS;

    if (ldcObj->dcc_config != NULL)
    {
        vx_image input_img = (vx_image)vxGetObjectArrayItem(input_arr, 0);
        vx_image output_img = (vx_image)vxGetObjectArrayItem(ldcObj->output_arr, 0);        

        ldcObj->node = tivxVpacLdcNode(graph, ldcObj->config, NULL,
                                       NULL, NULL,
                                       NULL, ldcObj->dcc_config, input_img,
                                       output_img, NULL);

        vxReleaseImage(&input_img);
        vxReleaseImage(&output_img);

        status = vxGetStatus((vx_reference)ldcObj->node);
        if(status == VX_SUCCESS)
        {
            vxSetNodeTarget(ldcObj->node, VX_TARGET_STRING, TIVX_TARGET_VPAC_LDC1);
            vxSetReferenceName((vx_reference)ldcObj->node, "ldc_node");

            vx_bool replicate[] = { vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_true_e, vx_true_e, vx_false_e};
            vxReplicateNode(graph, ldcObj->node, replicate, 9);
        }
        else
        {
            printf("[LDC-MODULE] Unable to create LDC node with DCC config! \n");
        }
        
    }
    else
    {
        vx_image input_img = (vx_image)vxGetObjectArrayItem(input_arr, 0);
        vx_image output_img = (vx_image)vxGetObjectArrayItem(ldcObj->output_arr, 0);
		vx_image mesh_img = (vx_image)vxGetObjectArrayItem(ldcObj->mesh_img_arr, 0);

        ldcObj->node = tivxVpacLdcNode(graph, ldcObj->config, NULL,
                                    ldcObj->region_config, ldcObj->mesh_config,
                                    mesh_img, NULL, input_img,
                                    output_img, NULL);

        vxReleaseImage(&input_img);
        vxReleaseImage(&output_img);
		vxReleaseImage(&mesh_img);

        status = vxGetStatus((vx_reference)ldcObj->node);

        if(status == VX_SUCCESS)
        {
            vxSetNodeTarget(ldcObj->node, VX_TARGET_STRING, TIVX_TARGET_VPAC_LDC1);
            vxSetReferenceName((vx_reference)ldcObj->node, "ldc_node");

            vx_bool replicate[] = { vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_false_e, vx_true_e, vx_true_e, vx_false_e};
            vxReplicateNode(graph, ldcObj->node, replicate, 9);
        }
        else
        {
            printf("[LDC-MODULE] Unable to create LDC node without DCC config! \n");
        }
    }

    if(ldcObj->en_out_ldc_write == 1)
    {
        status = app_create_graph_ldc_write_output(graph, ldcObj);
    }

    return status;
}

vx_status app_create_graph_ldc_write_output(vx_graph graph, LDCObj *ldcObj)
{
    vx_status status = VX_SUCCESS;

    vx_image output_img = (vx_image)vxGetObjectArrayItem(ldcObj->output_arr, 0);
    ldcObj->write_node = tivxWriteImageNode(graph, output_img, ldcObj->file_path, ldcObj->file_prefix);
    vxReleaseImage(&output_img);

    status = vxGetStatus((vx_reference)ldcObj->write_node);
    if(status == VX_SUCCESS)
    {
        vxSetNodeTarget(ldcObj->write_node, VX_TARGET_STRING, TIVX_TARGET_A72_0);
        vxSetReferenceName((vx_reference)ldcObj->write_node, "ldc_write_node");

        vx_bool replicate[] = { vx_true_e, vx_false_e, vx_false_e};
        vxReplicateNode(graph, ldcObj->write_node, replicate, 3);
    }
    else
    {
        printf("[LDC-MODULE] Unable to create node to write LDC output! \n");
    }

    return (status);
}

vx_status app_send_cmd_ldc_write_node(LDCObj *ldcObj, vx_uint32 start_frame, vx_uint32 num_frames, vx_uint32 num_skip)
{
    vx_status status = VX_SUCCESS;

    tivxFileIOWriteCmd write_cmd;

    write_cmd.start_frame = start_frame;
    write_cmd.num_frames = num_frames;
    write_cmd.num_skip = num_skip;

    status = vxCopyUserDataObject(ldcObj->write_cmd, 0, sizeof(tivxFileIOWriteCmd),\
                  &write_cmd, VX_WRITE_ONLY, VX_MEMORY_TYPE_HOST);

    if(status == VX_SUCCESS)
    {
        vx_reference refs[2];

        refs[0] = (vx_reference)ldcObj->write_cmd;

        status = tivxNodeSendCommand(ldcObj->write_node, TIVX_CONTROL_CMD_SEND_TO_ALL_REPLICATED_NODES,
                                 TIVX_FILEIO_CMD_SET_FILE_WRITE,
                                 refs, 1u);

        if(VX_SUCCESS != status)
        {
            printf("LDC Node send command failed!\n");
        }

        APP_PRINTF("LDC node send command success!\n");
    }

    return (status);
}

But the distortion NO remove.

Following is the image (camera 1 : FOV 119) after use new lookup table.

Do I have any error step when I generate new look up table?

Why the new look up table no remove distortion?

Could you give me suggestion?

Best regards

-Jason

0 Gang Hua over 2 years ago in reply to Jason Tseng1

TI__Guru 59590 points

Hi Jason,

I don't find anything obviously wrong in the above steps.
Do you get any error while running the app?

Could you please share your new "mesh.txt" and your LDC input/output YUV images?

0 Jason Tseng1 over 2 years ago in reply to Gang Hua

Intellectual 660 points

Hi Gang,

My new mesh.txt file.

I run "run_app_single_cam.sh" to get YUV files.

It show "YUV Input selected. VISS and AEWB nodes will be bypassed." when run "run_app_single_cam.sh" .

Following are my YUV image files .

The input of LDC:

ldc_input.zip

The output of LDC

ldc_output.zip

Open YUV commands.

ffplay -f rawvideo -video_size 1920x1080 -pixel_format uyvy422 cap_0000.yuv

ffplay -f rawvideo -video_size 1920x1080 -pixel_format nv12 img_ldc_0001.yuv

The output of LDC have distortion on the top-middle and bottom-middle.

Could you give me suggestion?

Best regards

-Jason

0 Gang Hua over 2 years ago in reply to Jason Tseng1

TI__Guru 59590 points

Hi Jason,

Thank you for sharing the YUV images!

Lens distortion is corrected properly in your output images.
The top-middle and bottom-middle parts go out of your input image boundary.
LDC H/W repeats the boundary pixels in that case.

0 Jason Tseng1 over 2 years ago in reply to Gang Hua

Intellectual 660 points

Hi Gang,

Thank you about your reply.

>>The top-middle and bottom-middle parts go out of your input image boundary.

>>LDC H/W repeats the boundary pixels in that case.

How can I remove the repeats the boundary pixels?

Can I modified some parameters to remove the repeats?

Could you give me suggestion?

Best regards

-Jason

0 Gang Hua over 2 years ago in reply to Jason Tseng1

TI__Guru 59590 points

Those pixel locations are out of the input image boundary.
LDC H/W automatically fill in those pixels by repeating boundary pixels.

If you don't any of those in your output view, you will have to reduce your output view size so that the entire view is inside the input image.

0 Jason Tseng1 over 2 years ago in reply to Gang Hua

Intellectual 660 points

Hi Gang,

I following your suggestion.

I reduced the size of output view.

I modified the LDC_TABLE_HEIGHT of app_single_cam_common.h.

LDC_TABLE_HEIGHT change from 1080 to 880.

#define LDC_TABLE_WIDTH             (1920)
//#define LDC_TABLE_HEIGHT            (1080)
#define LDC_TABLE_HEIGHT            (880)

The bottom-middle distortion disappear.

But top-middle distortion NO disappear.

Following are the YUV files

Input YUV:

6180.input.zip

output YUV:

5824.output.zip

Open YUV commands:

ffplay -f rawvideo -video_size 1920x1080 -pixel_format uyvy422 cap_0000.yuv

ffplay -f rawvideo -video_size 1920x880 -pixel_format nv12 img_ldc_0000.yuv

How can I remove top-middle distortion about run_app_single_cam.sh?

What code do I need to modify?

Could you give me suggestion?

Thank you very much.

-Jason

0 Gang Hua over 2 years ago in reply to Jason Tseng1

TI__Guru 59590 points

Hi Jason,

It looks like you are cutting off the bottom part of your output image.

By reducing your output view size, I mean using small "s" value in your matlab script.
For example, you may try s=1.6, 1.7, 1.8 etc.

The output image size is still the same, but your output FOV is smaller.

0 Jason Tseng1 over 2 years ago in reply to Gang Hua

Intellectual 660 points

Hi Gang,

I changed the "s" from 1 to 0.8.

It removed the top-middle and bottom-middle distortion.

Thank you very mush.

-Jason

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TDA4VM: Generate look up table to remove distortion