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TDA4AL-Q1: How to generate CHARTPOS.BIN for 2-camera side-by-side stitching?

bonchang ku
Prodigy 20 points

Part Number: TDA4AL-Q1

Hello, Experts.

I am working with Vision Apps SRV example. Normally the calibration tool requires 4 cameras to generate CHARTPOS.BIN and CALMAT.BIN. 
In my case, I only want to use 2 cameras (left and right) for side-by-side image stitching. 

Is there any recommended way to generate CHARTPOS.BIN for 2-camera configuration? 

Can the existing calibration tool be adapted, or should I manually extract chart corners and build CHARTPOS.BIN?

Thanks in advance.

 

  • 0
    TI__Mastermind 26100 points

    Hi,

    Let me check this and get back to you about the possibility of using only 2 cameras in the existing calibration tool, are you referring to the tool in the sdk $(psdkra)\vision_apps\tools\3d_calibration_tool ?

    Regards,
    Gokul

  • 0 in reply to Gokul S
    Prodigy 20 points

    Hi Gokul,
    Thank you for your quick response.

    Yes, the tool I am currently checking is $(psdkra)\vision_apps\tools\3d_calibration_tool. The tool provides an option to specify the number of cameras. When I set it to 2, it successfully generates the LENS.BIN, but when attempting to generate the CHARTPOS.BIN, it requires 4 cameras.

    My goal is to use only 2 cameras and stitch them side by side. However, without being able to generate the CHARTPOS.BIN, it seems difficult to reference the srv_calibration code. I wanted to check with you on this point.

    Regards,
    Bon

  • 0 in reply to bonchang ku
    TI__Mastermind 26100 points

    Hi,

    If the tool gives you this prompt, then I don't think you would be able to use it to generate for 2 cameras.

    Could you check the app_srv_calibration code, you would get flexibility to modify the code according to your usecase.

    I am looping in experts to comment on this.

    Regards,
    Gokul

  • 0 in reply to Gokul S
    Prodigy 20 points

    Hi Gokul,

    Thank you for your helpful response.

    Following your advice, I looked into the app_srv_calibration code. I understand it requires CHARTPOS.BIN and LENS.BIN. However, while I can get LENS.BIN for a 2-camera setup, the calibration tool doesn't generate CHARTPOS.BIN unless there are at least 4 cameras.

    To work around this and use the application with 2 cameras, I would like to manually generate or customize the CHARTPOS.BIN file myself.

    for example 

    CHARTPOS.BIN is 164 byte of data. 

    the code use this whole date on "vxCopyUserDataObject" like below. 

    in order to use app_srv_calibration for 2camera. 

    I nned to customize this, but because the target kernel implementation is closed-source.

    the exact byte layout is currently unclear to me.

    Could you please provide some advice on how I can properly handle or configure this point?

    Thank you and best regard.

    Bonchang.

  • 0 in reply to bonchang ku
    TI__Mastermind 26100 points

    Hi,

    bonchang ku said:

    I nned to customize this, but because the target kernel implementation is closed-source.

    You can customize the target kernel implementation, source code is available in sdk, 

    refer $(psdkra)/vision_apps/kernels/srv/c66/vx_pose_estimation_target.c   -> tivxPoseEstimationProcess() will be called when the node is executing.
    $(psdkra)/vision_apps/kernels/srv/c66/core_pose_estimation.c

    Regards,
    Gokul