AM5728: Optimization of 3D vision system

ccsq ccsq

Part Number: AM5728
Other Parts Discussed in Thread: TIDEP0076

It takes twice as long as windows to transplant 3D vision system to am5728, scan and detect objects, and generate 3D point cloud data.

Now I want to optimize the system on am5728. What's the good advice of Ti experts?

1) Because I'm not familiar with DSP, the current 3D vision system is running on the cotex A15. I don't know which parts can be run on DSP?

2) At present, before generating point cloud data, it is implemented with functions in opencv library. In the system, I did not configure the environment variable OPENCV_OPENCL_DEVICE. Does it mean that the optimized Ti opencv is not running? How do I use the optimized Ti opencv library? Is it to configure export OPENCV_OPENCL_DEVICE=’TI AM57:ACCELERATOR:TI Multicore C66 DSP' 。That's it? What do I need to do on DSP?

3) There is GPU function on am5728. How can I use GPU? Do I call the interface in opengles2.0, which means I have used the function of GPU?

4) Point cloud display is currently implemented by QT virtualization module? The effect is not very good. It is implemented with VTK library on windows. The library of VTK is only based on X11 on Linux, and the file system of am5728 is based on Weston, so VTK cannot be used. What other libraries can point cloud display run on Weston?

5) After the point cloud data is generated, the point cloud data needs to be processed. At present, the PCL library is used to realize the point cloud data processing. It is slow for am5728 lines to use PCL library to process the point cloud data. How to optimize the PCL library on am5728? Need to transport PCL library to DSP?

over 4 years ago

0 Dave Bell over 4 years ago

TI__Genius 14680 points

ccsq ccsq,

Please take a look at the machine vision reference design at http://www.ti.com/tool/TIDEP0076. There are hardware dependencies to run the demo, but there is a detailed design guide (direct link http://www.ti.com/lit/pdf/tiduc48) that talks about the data flow and software. The demo software may serve as a good reference for you.

For the specific questions:

1) refer to tiduc48
2) Correct. See http://software-dl.ti.com/processor-sdk-linux/esd/docs/06_02_00_81/linux/Foundational_Components_OpenVX.html
3) Correct. See http://software-dl.ti.com/processor-sdk-linux/esd/docs/06_02_00_81/linux/Foundational_Components/Graphics/Graphics_and_Display.html
4) I see you have posted related questions. I will look into these posts as well and come back.
5) Please see http://e2e.ti.com/support/processors/f/791/p/720362/2657939#2657939 referring to PCL with Processor SDK

Best regards,

Dave

0 Dave Bell over 4 years ago in reply to Dave Bell

TI__Genius 14680 points

Follow up on #4

Please have a look at the TI Design on 3D Machine Vision using AM5728 + DLP.
www.ti.com/.../TIDEP0076

The reference design source code demonstrates the displaying of the point cloud data on LCD. Source code is not packaged in Processor SDK due to licensing issues but you can download the tarball from the TIDEP0076 link above.

Refer to the TI design document in the link above for installing and compiling the package.

Best regards,

Dave

0 ccsq ccsq over 4 years ago in reply to Dave Bell

Intellectual 295 points

Hi Dave,

Thanks for your reply! there are still a few questions to consult.

1) There are three questions about tiduc48b document: a) phase 3 software processing data flow is not seen in the document. Has phase 3 been implemented? Now our 3D vision is to optimize in the way of phase 3, but there is no relevant information for reference? b) The capture frame is changed from array mode to ping pong buffer mode. How is it implemented? c) The document says that 3D rendering is implemented on GPU. How is this implemented?

2) Does openvx replace opencv? If not, when do I need to use openvx? Can't find the usage scenario of openvx in the link file you provided?

3) What other libraries can point cloud display run on Weston? The previous post should be closed. Do I need to post a new post?

4) We have migrated PCL library to am5728, but now PCL library is running on cotexa15? Using PCL library to deal with point cloud data is slow, is it necessary to transplant PCL to DSP? But we don't know how to migrate it. We want to improve the speed of point cloud data processing. Do you have any good suggestions?

Best regards,

0 Paula Carrillo over 4 years ago in reply to ccsq ccsq

TI__Mastermind 33530 points

Hi ccsq, my 2-cents to your 2nd question

2) My definition: OpenVX is a framework mechanism that supports the use of heterogonous HW in vision applications by using graphs. For a more formal definition please see https://www.khronos.org/openvx/. So to your specific question, OpenVX doesn't replace OpenCV. In some cases it could replace OpenCL.

A question from where you get "export OPENCV_OPENCL_DEVICE=’TI AM57:ACCELERATOR:TI Multicore C66 DSP'"? from example demo? if so, which one?. Trying to understand what is your baseline example..

Thank you,

Paula

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AM5728: Optimization of 3D vision system