TDA2XX: SFM_POSE.bin format

Josh HUANG

Intellectual 290 points

Hi all:

Because we want to change own capture lenses,

Anyone knows the format of CamPrm in SFM_POSE.bin.

It can obtain the better FCW results, thanks!

Regards,

Josh

over 8 years ago

0 Yordan Kamenov over 8 years ago

TI__Mastermind 42515 points

Hi Josh,

I have forwarded your question to a SFM expert.

Regards,
Yordan

0 Deepak Poddar over 8 years ago in reply to Yordan Kamenov

TI__Expert 4725 points

Hi,

its format is [9 + 12 * N] float values. Nis total number frames to be processed. where first 9 elements are intrinsic parameter(k[3x3]), and next 12 elements [P[3x4]] is the extrinsic parameter for each captured frames. All values are 32 bit float.

You can trace this file read as well in the code, and you can find that these values are read and provided to SFM algorithm interface.

Regards

Deepak Poddar

0 Josh HUANG over 8 years ago in reply to Deepak Poddar

Intellectual 290 points

Hi Deepak:

Thanks for your reply！

Can I get intrinsic and extrinsic parameters for SFM_POSE.bin using TI's tools(vision_sdk/tools/camera_calibration_tools)?

What kind of calibration rule does TI follow? We want to know the detail meaning of the intrinsic(9) and extrinsic(12) parameters.

Regards,

Josh

0 Deepak Poddar over 8 years ago in reply to Josh HUANG

TI__Expert 4725 points

Hi,

Please refer the link for more details about intrinsic and extrinsic parameters.

Intrinsic parameter is fixed camera property. intrinsic[9] = [fx,0,cx,0,fy,cy,0,0,1]. I believe this can be found from camera calibration tool. However I will check this internally and will let you know.

Secondly extrinsic parameter is related to pose of the camera. Pose is related to camera position in world co-ordinate. Extrinsic[12] = [r11,r12,r13,t1,r21,r22,r23,t2,r31,r32,r33,t3]. where [t1,t2,t3] are translation parameters, and [r11-r33] are rotation parameters. Extrinsic parameter can found using external sensor mounted to car, e.g. IMU. Or this also can be found using sophisticated computer vision algorithm e.g. solvePnP. solvePnP information can be found in same opencv link shared above.

Can you please let us know more about your project/company ? That will help us in providing better support to you.

Regards

Deepak Poddar

0 Deepak Poddar over 8 years ago in reply to Deepak Poddar

TI__Expert 4725 points

Hi,

You can not use vision sdk calibration tool to find intrinsic parameters. Typically these intrinsic parameters are given by camera manufacturer.

Regards

Deepak Poddar

0 Xing Wang77 over 8 years ago in reply to Josh HUANG

Prodigy 100 points

How can you get the SFM_POSE.BIN file?

0 Josh HUANG over 8 years ago in reply to Xing Wang77

Intellectual 290 points

Hi Xing:
You can contact your TI FAE

0 Yordan Kamenov over 8 years ago in reply to Josh HUANG

TI__Mastermind 42515 points

Hi Xing,

it is included in VISION_SDK_02.XX.XX.XX_INPUTS.tar.gz which can be found on CDDS:
cdds.ext.ti.com/.../emxNavigator.jsp

If you do not have access to CDDS you need to contact your local FAE as Josh said.

Regards,
Yordan

0 Xing Wang23 over 8 years ago in reply to Yordan Kamenov

Prodigy 60 points

What is the exact usage of SFM_POSE.BIN? To generate the 3D surround view usecase? Can TDA2x use this since I can't see any 3D usecase but only 2D usecases.

Thanks,
Xing

0 Deepak Poddar over 8 years ago in reply to Xing Wang23

TI__Expert 4725 points

Hi,

This used in forward collision warning algorithm, which is front camera ADAS algorithm. This algorithm is not related to surround view.

Forward collision warning algorithm, finds the distance of detected object's distance from driving car where camera is installed.

Regards

Deepak Poddar

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TDA2XX: SFM_POSE.bin format