Linux/TDA2PXEVM: TDA2PXEVM

I have an one more question.
The NullSrcLink support only one channel?

Regards,
Heechang

Hi Kim,

You could set the numCh in the outQueInfo in create args and run it for multiple channel.
I see some code for both YUV422/420 formats..

Rgds,
Brijesh

Hi all,

The comment in nullSrcLink_tsk.c is like "/* Only one channel is supported as of now */"
So, I remove the line OSA_assert(pPrm->outQueInfo.numCh ==1U).
Is it OK?

Regards,
Heechang

Hi,
Are you using nulSrc link on A15 running linux?
If yes, then you can remove that assert and go ahead. I think it should work. If you face any issue just let us know.

Regards,
Anuj

Hi Anuj,

Yes, I used nullSrc link on A15.
But, if I set the nullSrc channel for 2 then error is shown at "UTILS_assert (channelId < PPROC_LINK_MAX_NUM_INPUT_CHANNELS)" in stereoPostProcessingLink_algPlugin.c.

The channelId is 0 to 2. I think that the channel Id should be 0 to 1.
If I modify the PPROC_LINK_MAX_NUM_INPUT_CHANNELS to 3. the error shown at "UTILS_assert (pSysBufferMetadata->srcTimestamp == pSysBufferLRVideo->srcTimestamp)".

I used usecase for NullSrc two images into Disparity map algorithm.
(NullSrc -> Dup -> Alg_Census -> Alg_DisparityHamDist -> merge_stereo -> Alg_StereoPostProcessing)

Regards,
Heechang

Hi Anuj,

I think that the NullSrc Link channels have some problem.
When I set 2 of the numCh in NullSrc Link, error is shown at "UTILS_assert (channelId < PPROC_LINK_MAX_NUM_INPUT_CHANNELS)" in stereoPostProcessingLink_algPlugin.c.
If I set the 1 then error does not shown.

Regards,
Heechang

[HOST] [HOST ] 240.796132 s: [ NULL_SRC ] Link Statistics,
[HOST] [HOST ] 240.796132 s: ******************************
[HOST] [HOST ] 240.796132 s:
[HOST] [HOST ] 240.796132 s: Elapsed time = 5399 msec
[HOST] [HOST ] 240.796132 s:
[HOST] [HOST ] 240.796132 s: New data Recv = 30.37 fps
[HOST] [HOST ] 240.796162 s: Get Full Buf Cb = 26.85 fps
[HOST] [HOST ] 240.796162 s: Put Empty Buf Cb = 26.85 fps
[HOST] [HOST ] 240.796162 s: Driver/Notify Cb = 30.19 fps
[HOST] [HOST ] 240.796162 s:
[HOST] [HOST ] 240.796162 s: Input Statistics,
[HOST] [HOST ] 240.796162 s:
[HOST] [HOST ] 240.796162 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [HOST ] 240.796193 s: | FPS | FPS | FPS | FPS
[HOST] [HOST ] 240.796193 s: --------------------------------------------------
[HOST] [HOST ] 240.796193 s: 0 | 30.37 3.51 0. 0 26.85
[HOST] [HOST ] 240.796193 s: 1 | 30.37 30.19 0. 0 0.18
[HOST] [HOST ] 240.796193 s:
[HOST] [HOST ] 240.796223 s: Output Statistics,
[HOST] [HOST ] 240.796223 s:
[HOST] [HOST ] 240.796223 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [HOST ] 240.796223 s: | ID | FPS | FPS | FPS
[HOST] [HOST ] 240.796223 s: ---------------------------------------------
[HOST] [HOST ] 240.796223 s: 0 | 0 26.85 0. 0 0. 0
[HOST] [HOST ] 240.796254 s: 1 | 0 0.18 0. 0 0. 0

> I set 2 of the numCh in NullSrc link
>PPROC_LINK_MAX_NUM_INPUT_CHANNELS set 3 (StereoPostProcessingLink_algPlugin.h)

Regards,
Heechang

Hi Anuj,

Could you try below usecase?

NullSrc(A15) -> Dup_CensusIn(IPU) -> Alg_Census(EVE) -> Alg_DisparityHamDist(EVE) -> MergeStereo(IPU) -> Alg_StereoPostProcess(DSP) -> Display_Disparity(IPU)
Dup_CensusIn(IPU) -> MergeStereo(IPU)

The NullSrcLink is 2 channel and FHD input image each other.

If I set 2 of the output channel number, it has error cause PPROC_LINK_MAX_NUM_INPUT_CHANNELS is defined by 2 in StereoPostProcess_Plugin.

Regards,
Heechang

Hi,

Your nullSrc has 2 channel and after that you are adding dup which goes to merge and Alg_Census.
So the merge with output 1 queue with 4 channels, so Alg_StereoPostProcess will get a 4 channel input, which will cause issue.
Alg_StereoPostProcess can take a 2 channel input so if you use 1 channel in nullSrc and have the same usecase then your merge link will output 2 channel which is the requirement for Alg_StereoPostProcess .

Regards,
Anuj

Hi Anuj,

In usecase like below, it works well although 4 channels input into Alg_StereoPostProcess.
The Merge_StereoOut comes 4 channels from Dup_CensusIn(2 channels) and Alg_Census(2 channels).

IssCapture -> IssM2mIsp -> IssM2mResizer_Capture -> Select_Capture -> IssM2mSimcop -> Merge_Simcop -> Dup_Simcop
Select_Capture -> Merge_Simcop
Dup_Simcop -> Sync_Org -> Alg_DmaSwMs -> Display_Org
Dup_Simcop -> Sync_CensusIn -> Dup_CensusIn -> Alg_Census (EVE1) -> Alg_DisparityHamDist (EVE1) -> Merge_StereoOut -> Alg_StereoPostProcess (DSP1) -> Display_Disparity
Dup_CensusIn->Merge_StereoOut
IssM2mIsp -> Alg_IssAewb
GrpxSrc -> Display_Grp

I'm checking the Disparity and Stereo algorithm.
Like 2 channel camera input, I use 2 channel image input to Alg_census.
But, if I use 1 channel in nullSrc I cannot check the Disparity and Stereo algorithm, right?

Regards,
Heechang

Hi Anuj,

I modified the parameters in usecase.
Dup : 1 queue(2 channels) output into EVE. (previously 2 queues output into EVE and merge stereo link)
Merge_stereo : 1 input queue from Alg_DisparityHamDist.

But, the fps is twice.

[HOST] [EVE1 ] 41.312511 s:
[HOST] [EVE1 ] 41.312663 s: [ IPC_IN_0 ] Link Statistics,
[HOST] [EVE1 ] 41.312877 s: ******************************
[HOST] [EVE1 ] 41.313090 s:
[HOST] [EVE1 ] 41.313243 s: Elapsed time = 3209 msec
[HOST] [EVE1 ] 41.313517 s:
[HOST] [EVE1 ] 41.313670 s: Get Full Buf Cb = 29.60 fps
[HOST] [EVE1 ] 41.313944 s: Put Empty Buf Cb = 59.20 fps
[HOST] [EVE1 ] 41.314188 s: Driver/Notify Cb = 29.29 fps
[HOST] [EVE1 ] 41.314463 s:
[HOST] [EVE1 ] 41.314615 s: Input Statistics,
[HOST] [EVE1 ] 41.314798 s:
[HOST] [EVE1 ] 41.314951 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.315226 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.315470 s: --------------------------------------------------
[HOST] [EVE1 ] 41.315714 s: 0 | 29.60 0. 0 0. 0 29.60
[HOST] [EVE1 ] 41.316080 s: 1 | 29.60 0. 0 0. 0 29.60
[HOST] [EVE1 ] 41.316476 s:
[HOST] [EVE1 ] 41.316629 s: Output Statistics,
[HOST] [EVE1 ] 41.316812 s:
[HOST] [EVE1 ] 41.316995 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.317239 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.317483 s: ---------------------------------------------
[HOST] [EVE1 ] 41.317788 s: 0 | 0 29.60 0. 0 0. 0
[HOST] [EVE1 ] 41.318123 s: 1 | 0 29.60 0. 0 0. 0
[HOST] [EVE1 ] 41.318489 s:
[HOST] [EVE1 ] 41.318642 s: [ IPC_IN_0 ] LATENCY,
[HOST] [EVE1 ] 41.318825 s: ********************
[HOST] [EVE1 ] 41.319038 s: Local Link Latency : Avg = 32 us, Min = 30 us, Max = 62 us,
[HOST] [EVE1 ] 41.319404 s: Source to Link Latency : Avg = 2468 us, Min = 823 us, Max = 54841 us,
[HOST] [EVE1 ] 41.319831 s:
[HOST] [EVE1 ] 41.319984 s: [ IPC_IN_0 ] Detailed IPC Latency Statistics [ IPU2 -> EVE1 ] ,
[HOST] [EVE1 ] 41.320258 s: ***************************************************************
[HOST] [EVE1 ] 41.320563 s: IPC One-way Buffer Passing Latency (usecs) : Avg = 484, Min = 396, Max = 671
[HOST] [EVE1 ] 41.320960 s: IPC One-way Notify Interrupt Latency (usecs) : Avg = 329, Min = 244, Max = 518
[HOST] [EVE1 ] 41.322729 s:
[HOST] [EVE1 ] 41.322881 s: [ ALG_CENSUS ] Link Statistics,
[HOST] [EVE1 ] 41.323125 s: ******************************
[HOST] [EVE1 ] 41.323308 s:
[HOST] [EVE1 ] 41.323491 s: Elapsed time = 3219 msec
[HOST] [EVE1 ] 41.323735 s:
[HOST] [EVE1 ] 41.323888 s: New data Recv = 29.20 fps
[HOST] [EVE1 ] 41.324162 s:
[HOST] [EVE1 ] 41.324315 s: Input Statistics,
[HOST] [EVE1 ] 41.324498 s:
[HOST] [EVE1 ] 41.324650 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.324925 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.325169 s: --------------------------------------------------
[HOST] [EVE1 ] 41.325413 s: 0 | 59. 2 0. 0 0. 0 59. 2
[HOST] [EVE1 ] 41.325809 s: 1 | 59. 2 0. 0 0. 0 59. 2
[HOST] [EVE1 ] 41.326175 s:
[HOST] [EVE1 ] 41.326328 s: Output Statistics,
[HOST] [EVE1 ] 41.326511 s:
[HOST] [EVE1 ] 41.326694 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.326938 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.327182 s: ---------------------------------------------
[HOST] [EVE1 ] 41.327426 s: 0 | 0 59. 2 0. 0 0. 0
[HOST] [EVE1 ] 41.327822 s: 1 | 0 59. 2 0. 0 0. 0
[HOST] [EVE1 ] 41.328188 s:
[HOST] [EVE1 ] 41.328341 s: [ ALG_CENSUS ] LATENCY,
[HOST] [EVE1 ] 41.328524 s: ********************
[HOST] [EVE1 ] 41.328737 s: Local Link Latency : Avg = 3515 us, Min = 3446 us, Max = 3782 us,
[HOST] [EVE1 ] 41.329164 s: Source to Link Latency : Avg = 8093 us, Min = 4636 us, Max = 62557 us,
[HOST] [EVE1 ] 41.329561 s:
[HOST] [EVE1 ] 41.330323 s:
[HOST] [EVE1 ] 41.330506 s: [ ALG_DISPARITY_HAMDIST ] Link Statistics,
[HOST] [EVE1 ] 41.330720 s: ******************************
[HOST] [EVE1 ] 41.330933 s:
[HOST] [EVE1 ] 41.331086 s: Elapsed time = 3220 msec
[HOST] [EVE1 ] 41.331330 s:
[HOST] [EVE1 ] 41.331482 s: New data Recv = 29.19 fps
[HOST] [EVE1 ] 41.331757 s:
[HOST] [EVE1 ] 41.331909 s: Input Statistics,
[HOST] [EVE1 ] 41.332092 s:
[HOST] [EVE1 ] 41.332245 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.332489 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.332733 s: --------------------------------------------------
[HOST] [EVE1 ] 41.332977 s: 0 | 59. 0 57.14 0. 0 1.86
[HOST] [EVE1 ] 41.333374 s:
[HOST] [EVE1 ] 41.333526 s: Output Statistics,
[HOST] [EVE1 ] 41.333709 s:
[HOST] [EVE1 ] 41.333862 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.334106 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.334319 s: ---------------------------------------------
[HOST] [EVE1 ] 41.334563 s: 0 | 0 1.86 57.14 0. 0

Regards,
Heechang

Hi,

The Dup link should be 2 to 6 output queues?cannot be 1?

Regards,
Heechang

Hi,

I'd like to check the stereo disparity algorithm using nullSrc.
In order to check this, nullSrc should be 2 channels cause of 2 channels input for census algorithm.
I have right and left view images for nullSrc.

Regards,
Heechang

Hi,

We use Dup if we required to duplicate the output queue.
So if you want to have only 1 output queue then there is no duplication.
So in such cases (Dup having 1 output queue) dup link is not required, you can directly connect previous link of dup to next link of dup.

Similarly merge is required only when you have multiple input queue and want to combine all inputs to a single out queue.
If you have only 1 input queue then there is no requirement of merge link.

About your usecase mentioed in previous post there is Select_Capture link which will provide outout to either IssM2mSimcop or Merge_simcop. So ideally Merge_Simcop is getting only 1 input queue. So The Merge_StereoOut comes 2 channels from Dup_CensusIn(1 channels) and Alg_Census(1 channels).

Regards,
Anuj

Hi Anuj,

I modified the parameters in usecase.
Dup : 1 queue(2 channels) output into EVE. (previously 2 queues output into EVE and merge stereo link)
Merge_stereo : 1 input queue from Alg_DisparityHamDist.

But, the fps is twice in ALG_CENSUS.

[HOST] [EVE1 ] 41.312511 s:
[HOST] [EVE1 ] 41.312663 s: [ IPC_IN_0 ] Link Statistics,
[HOST] [EVE1 ] 41.312877 s: ******************************
[HOST] [EVE1 ] 41.313090 s:
[HOST] [EVE1 ] 41.313243 s: Elapsed time = 3209 msec
[HOST] [EVE1 ] 41.313517 s:
[HOST] [EVE1 ] 41.313670 s: Get Full Buf Cb = 29.60 fps
[HOST] [EVE1 ] 41.313944 s: Put Empty Buf Cb = 59.20 fps
[HOST] [EVE1 ] 41.314188 s: Driver/Notify Cb = 29.29 fps
[HOST] [EVE1 ] 41.314463 s:
[HOST] [EVE1 ] 41.314615 s: Input Statistics,
[HOST] [EVE1 ] 41.314798 s:
[HOST] [EVE1 ] 41.314951 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.315226 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.315470 s: --------------------------------------------------
[HOST] [EVE1 ] 41.315714 s: 0 | 29.60 0. 0 0. 0 29.60
[HOST] [EVE1 ] 41.316080 s: 1 | 29.60 0. 0 0. 0 29.60
[HOST] [EVE1 ] 41.316476 s:
[HOST] [EVE1 ] 41.316629 s: Output Statistics,
[HOST] [EVE1 ] 41.316812 s:
[HOST] [EVE1 ] 41.316995 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.317239 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.317483 s: ---------------------------------------------
[HOST] [EVE1 ] 41.317788 s: 0 | 0 29.60 0. 0 0. 0
[HOST] [EVE1 ] 41.318123 s: 1 | 0 29.60 0. 0 0. 0
[HOST] [EVE1 ] 41.318489 s:
[HOST] [EVE1 ] 41.318642 s: [ IPC_IN_0 ] LATENCY,
[HOST] [EVE1 ] 41.318825 s: ********************
[HOST] [EVE1 ] 41.319038 s: Local Link Latency : Avg = 32 us, Min = 30 us, Max = 62 us,
[HOST] [EVE1 ] 41.319404 s: Source to Link Latency : Avg = 2468 us, Min = 823 us, Max = 54841 us,
[HOST] [EVE1 ] 41.319831 s:
[HOST] [EVE1 ] 41.319984 s: [ IPC_IN_0 ] Detailed IPC Latency Statistics [ IPU2 -> EVE1 ] ,
[HOST] [EVE1 ] 41.320258 s: ***************************************************************
[HOST] [EVE1 ] 41.320563 s: IPC One-way Buffer Passing Latency (usecs) : Avg = 484, Min = 396, Max = 671
[HOST] [EVE1 ] 41.320960 s: IPC One-way Notify Interrupt Latency (usecs) : Avg = 329, Min = 244, Max = 518
[HOST] [EVE1 ] 41.322729 s:
[HOST] [EVE1 ] 41.322881 s: [ ALG_CENSUS ] Link Statistics,
[HOST] [EVE1 ] 41.323125 s: ******************************
[HOST] [EVE1 ] 41.323308 s:
[HOST] [EVE1 ] 41.323491 s: Elapsed time = 3219 msec
[HOST] [EVE1 ] 41.323735 s:
[HOST] [EVE1 ] 41.323888 s: New data Recv = 29.20 fps
[HOST] [EVE1 ] 41.324162 s:
[HOST] [EVE1 ] 41.324315 s: Input Statistics,
[HOST] [EVE1 ] 41.324498 s:
[HOST] [EVE1 ] 41.324650 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.324925 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.325169 s: --------------------------------------------------
[HOST] [EVE1 ] 41.325413 s: 0 | 59. 2 0. 0 0. 0 59. 2
[HOST] [EVE1 ] 41.325809 s: 1 | 59. 2 0. 0 0. 0 59. 2
[HOST] [EVE1 ] 41.326175 s:
[HOST] [EVE1 ] 41.326328 s: Output Statistics,
[HOST] [EVE1 ] 41.326511 s:
[HOST] [EVE1 ] 41.326694 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.326938 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.327182 s: ---------------------------------------------
[HOST] [EVE1 ] 41.327426 s: 0 | 0 59. 2 0. 0 0. 0
[HOST] [EVE1 ] 41.327822 s: 1 | 0 59. 2 0. 0 0. 0
[HOST] [EVE1 ] 41.328188 s:
[HOST] [EVE1 ] 41.328341 s: [ ALG_CENSUS ] LATENCY,
[HOST] [EVE1 ] 41.328524 s: ********************
[HOST] [EVE1 ] 41.328737 s: Local Link Latency : Avg = 3515 us, Min = 3446 us, Max = 3782 us,
[HOST] [EVE1 ] 41.329164 s: Source to Link Latency : Avg = 8093 us, Min = 4636 us, Max = 62557 us,
[HOST] [EVE1 ] 41.329561 s:
[HOST] [EVE1 ] 41.330323 s:
[HOST] [EVE1 ] 41.330506 s: [ ALG_DISPARITY_HAMDIST ] Link Statistics,
[HOST] [EVE1 ] 41.330720 s: ******************************
[HOST] [EVE1 ] 41.330933 s:
[HOST] [EVE1 ] 41.331086 s: Elapsed time = 3220 msec
[HOST] [EVE1 ] 41.331330 s:
[HOST] [EVE1 ] 41.331482 s: New data Recv = 29.19 fps
[HOST] [EVE1 ] 41.331757 s:
[HOST] [EVE1 ] 41.331909 s: Input Statistics,
[HOST] [EVE1 ] 41.332092 s:
[HOST] [EVE1 ] 41.332245 s: CH | In Recv | In Drop | In User Drop | In Process
[HOST] [EVE1 ] 41.332489 s: | FPS | FPS | FPS | FPS
[HOST] [EVE1 ] 41.332733 s: --------------------------------------------------
[HOST] [EVE1 ] 41.332977 s: 0 | 59. 0 57.14 0. 0 1.86
[HOST] [EVE1 ] 41.333374 s:
[HOST] [EVE1 ] 41.333526 s: Output Statistics,
[HOST] [EVE1 ] 41.333709 s:
[HOST] [EVE1 ] 41.333862 s: CH | Out | Out | Out Drop | Out User Drop
[HOST] [EVE1 ] 41.334106 s: | ID | FPS | FPS | FPS
[HOST] [EVE1 ] 41.334319 s: ---------------------------------------------
[HOST] [EVE1 ] 41.334563 s: 0 | 0 1.86 57.14 0. 0

And, how can I find the information of the parameters for "chains_common_stereo_defines.h "

Regards,
Heechang

Hi,

Please take a reference of the below usecase
vision_sdk\apps\src\rtos\usecases\lvds_vip_single_stereo

Regards,
Anuj

Hi, 

I attached the photo which is the result of disparity map.

But, the result looks like edge detection.

Please, check this.

Regards,

Heechang

Hi,

Are you using any TI Usecase or you have created/modified any usecase?

it also seems like the camera calibration is not done.

Please check the below doc and complete all the process

vision_sdk\docs\FeatureSpecificUserGuides\VisionSDK_UserGuide_TDA2xx_StereoCalibrationGuide.pdf

Regards,
Anuj

Hi,

I created the usecase in HLOS which is reference for "vision_sdk/apps/src/rtos/usecases/iss_mult_capture_isp_simcop_stereo_tda3xx/ ".
The photo looks like detecting edge which you think that this problem looks like camera calibration?
The camera team is not ready to build up camera calibration.

So, I'd like to check the algorithm with 2 images input(right and left image I have).

What usecase can be checked?
You said that "NullSrc(A15) -> Alg_Census(EVE) -> Alg_DisparityHamDist(EVE) -> Alg_StereoPostProcess(DSP) -> Display_Disparity(IPU)" is impossible.

Regards,
Heechang

Hi,

Please add sync link after nullSrc and try.

Regards,
Anuj

Hi,

Yes, I added sync link and check the image.
But, the result is same with still images.

Regards,
Heechang

Hi,

I have right and left still images and display it through stereo vision algorithm.
The input image size is 1280x720 and also remap width and height set same size(1280 and 720).
If I modify remap size, then the result image is broken.
In case only input and remap size should be set by same vaule, the image is not broken but the result looks not stereo vision(looks same with attached photo in this post.).

In your many stereo vision usecase, remap width and height is set by 800x384.
If I set this size, the image is broken.

How should I set the values in stereo vision?
In vision sdk v3.4, your stereo vision is verified?

Regards,
Heechang

Hi,

That means the images are not proper.
Please try to take images from the properly calibrated cameras.

Regards,
Anuj

Hi,

I don't understand your comment.
I have stereo stillimages from "vision.middlebury.edu/.../" and it is proper images for stereo vision algorithm.

Regards,
Heechang

Hi,

I also tested images in "ti_components\algorithms\eve_sw_01_18_01_00\algorithms\stereoVision\test\testvecs\input\ti".
But the result is not disparity map.

Regards,
Heechang

Hi,

Please try with properly calibrated cameras.

Regards,
Anuj

Hi,

I tested your test vector images, but the result looks not disparity map.
Since the result of still images is not good, I think that it seems not meaningful.
I think that your VSDK recently released version is verified but, could you have try the stereo vision usecase by v3.4?
In HLOS, have you been try stereo vision?

It is simple.
Just I set the parameters reference from other cases.
But, the result looks not finding disparity.

Regards,
Heechang

Hi,

The difference between HLOS and RTOS is initialization of the stereo parameters.
I set the default parameters in function of "ChainsCommon_Stereo_initImageDims()"

pStereoParams->numDisparities = NUM_DISPARITIES;
pStereoParams->disparitySearchDir = DISPARITY_SEARCH_DIR;
pStereoParams->disparityStepSize = DISPARITY_STEP_SIZE;
pStereoParams->disparitySupportWinWidth = DISPARITY_WIN_WIDTH;
pStereoParams->disparitySupportWinHeight = DISPARITY_WIN_HEIGHT;
pStereoParams->leftRightCheckEna = DISPARITY_EXRA_RIGHT_LEFT_DISP_MAP;
pStereoParams->censusWinWidth = CENSUS_WIN_WIDTH;
pStereoParams->censusWinHeight = CENSUS_WIN_HEIGHT;
pStereoParams->censusWinHorzStep = CENSUS_WIN_HORZ_STEP;
pStereoParams->censusWinVertStep = CENSUS_WIN_VERT_STEP;
pStereoParams->postproc_colormap_index = POSTPROC_COLORMAP_INDEX;

I did not use SystemLink_registerHandler() cause it seems not need in HLOS.

Regards,
Heechang

Hi,

Stereo vision usecase has not been tested on linux side.
We have tested that on bios side only.
So please 1st try to run the usecase on bios side by following the the doc suggested in above reply .
1st try to get that up and working which will ensure that cameras are properly calibrated and disparity map is coming proper.
Then you can proceed with other things.

Regards,
Anuj

Hi Anuj,

We don't have a bios platform environment.
We're now working on Linux platform.

It takes time to build up the bios platform.
So, I have a favor to ask you testing this usecase in HLOS.

[usecase]
NullSource (A15) -> Sync_CensusIn -> Dup_CensusIn -> Alg_Census (EVE1) -> Alg_DisparityHamDist (EVE1) -> Merge_StereoOut -> Alg_StereoPostProcess (DSP1) -> Display_Disparity

Dup_CensusIn->Merge_StereoOut

The images input path is "\ti_components\algorithms\eve_sw_01_18_01_00\algorithms\stereoVision\test\testvecs\input\ti".

I think that It might be fast to check this.

Regards,
Heechang

Hi,

I resolved this issue.
But I don't understand.
In postprocessing and census algorithm, the left and right channel is mapped ch[0] and ch[1].
But if I input left image to ch[1] and right image to ch[2], the result is good.

Anyway, I resolved this issue in HLOS.

Thanks

Regards,
Heechang

Glad to know the issue is resolved.
But what are you feeding in ch[0]?

Regards,
Anuj