TDA4VM: Error in viewing the output image in dcc tool

Aneesh Peram

Part Number: TDA4VM

Hi all,

I am trying to get the bird eye view using the mesh lut. I followed the following steps.

1.I have generated the mesh.txt using the matlab script(As give in the Jacinto-7 ISP Architecture and Tuning document).I have given the imx390 180 fov spec file as input.I have attached the spec file below.

spec.txt

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0   0
0.925   0.02946409
1.85    0.05892627
2.775   0.0883846
3.7 0.11783718
4.625   0.14728207
5.55    0.17671738
6.475   0.20614116
7.4 0.23555152
8.325   0.26494653
9.25    0.29432429
10.175  0.32368286
11.1    0.35302035
12.025  0.38233484
12.95   0.41162442
13.875  0.44088718
14.8    0.47012122
15.725  0.49932462
16.65   0.52849547
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

0	0
0.925	0.02946409
1.85	0.05892627
2.775	0.0883846
3.7	0.11783718
4.625	0.14728207
5.55	0.17671738
6.475	0.20614116
7.4	0.23555152
8.325	0.26494653
9.25	0.29432429
10.175	0.32368286
11.1	0.35302035
12.025	0.38233484
12.95	0.41162442
13.875	0.44088718
14.8	0.47012122
15.725	0.49932462
16.65	0.52849547
17.575	0.55763188
18.5	0.58673193
19.425	0.61579373
20.35	0.64481535
21.275	0.6737949
22.2	0.70273046
23.125	0.73162013
24.05	0.76046198
24.975	0.78925411
25.9	0.8179946
26.825	0.84668151
27.75	0.87531292
28.675	0.90388689
29.6	0.93240147
30.525	0.96085471
31.45	0.98924464
32.375	1.01756929
33.3	1.04582666
34.225	1.07401474
35.15	1.10213152
36.075	1.13017495
37	1.15814296
37.925	1.18603346
38.85	1.21384435
39.775	1.24157348
40.7	1.26921868
41.625	1.29677773
42.55	1.32424839
43.475	1.35162837
44.4	1.37891533
45.325	1.40610691
46.25	1.43320066
47.175	1.46019409
48.1	1.48708466
49.025	1.51386974
49.95	1.54054665
50.875	1.56711262
51.8	1.5935648
52.725	1.61990028
53.65	1.64611601
54.575	1.67220889
55.5	1.69817567
56.425	1.72401303
57.35	1.7497175
58.275	1.7752855
59.2	1.80071332
60.125	1.8259971
61.05	1.85113284
61.975	1.8761164
62.9	1.90094345
63.825	1.92560952
64.75	1.95010996
65.675	1.97443991
66.6	1.99859437
67.525	2.0225681
68.45	2.04635569
69.375	2.06995151
70.3	2.09334972
71.225	2.11654426
72.15	2.13952888
73.075	2.16229707
74	2.18484213
74.925	2.20715712
75.85	2.2292349
76.775	2.2510681
77.7	2.27264915
78.625	2.29397029
79.55	2.31502354
80.475	2.33580076
81.4	2.35629365
82.325	2.37649376
83.25	2.39639251
84.175	2.41598122
85.1	2.43525112
86.025	2.45419342
86.95	2.47279928
87.875	2.4910599
88.8	2.50896653
89.725	2.52651052
90.65	2.54368333
91.575	2.56047662
92.5	2.57688227

2.After that i gave the mesh.txt file and an image as input to the dcc tunning tool.

3. I am not getting the expected output image from the dcc tunning tool.

I have attached the input and output images and the advanced parameters.

Please let me know if there is any mistake with the spec file or advanced parameters or procedure followed. I have also added the mesh.txt for your reference.

Thanks and Regards,

Aneesh

mesh.txt

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1512 850
1442 832
1374 813
1307 795
1242 776
1178 757
1116 739
1056 720
997 701
940 683
885 664
832 646
781 627
731 609
683 591
637 573
593 556
551 539
510 522
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

over 4 years ago

0 Brijesh Jadav over 4 years ago

TI__Guru**** 456475 points

Aneesh,

Block height seems to be too high, can you try keeping it same as block width?

Regards,

Brijesh

0 Gokul Kujulva over 4 years ago in reply to Brijesh Jadav

Genius 4465 points

Hello Brijesh,

We tried to change block height as same as block width . But there is no changes in the output.

Have you tried to generate bird-eye output from our end ?

What are the steps involved to achieve the goal ?

Thanks & regards,

Gokul

0 Brijesh Jadav over 4 years ago in reply to Gokul Kujulva

TI__Guru**** 456475 points

Hi Gokul,

ok, looks something is wrong in the LUT. Let me check with our expert.

Regards,

Brijesh

0 Mayank Mangla over 4 years ago in reply to Brijesh Jadav

TI__Mastermind 24525 points

Hello Aneesh,

Can you please share the following

1. input image in YUV420SP 8 bit format

2. DCC XML file and the included txt files, generated by tuning tool

Regards,

Mayank

0 Gang Hua over 4 years ago in reply to Mayank Mangla

TI__Guru 54280 points

Hi Aneesh,

IMX390 is 1080P ~ WUXGA, but your image above is shown as 1280x720.

Are you sure you are using a IMX390 camera?

0 Gokul Kujulva over 4 years ago in reply to Gang Hua

Genius 4465 points

Hello Gang Hua,

We have not tried the camera yet. our camera is on shipment.

So we have asked in another e2e thread , to share the captured images & intrinsic parameters from your application. (No response for this thread)

https://e2e.ti.com/support/processors/f/791/t/978714

Please find in the attachment (the reference image used , output file(dcc_1080).

Thanks & regards,

Gokul

dcc_output.zip

0 Mayank Mangla over 4 years ago in reply to Gokul Kujulva

TI__Mastermind 24525 points

Gokul,

The images you have shared are in bmp and png formats. Can you please share YUV420SP images? Also, DCC XML is missing.

Regards,

Mayank

0 Gokul Kujulva over 4 years ago in reply to Mayank Mangla

Genius 4465 points

Hello Mayank,

I have attached output file (output_test) & XML files

After giving YUV input (attached) , there is some output visible. Actually, we are trying to generate the bird-eye view. How to achieve it?

Thanks & regards,

Gokul

mesh_1080.txt

0385.ti.zip

0 Gang Hua over 4 years ago in reply to Gokul Kujulva

TI__Guru 54280 points

Everything looks good in your zip file with the 1080p input image from IMX390.
The "output_test.png" as expected with distortion corrected.

In the post above, the input image to tuning tool is 1280x720 which is not from IMX390.
We cannot use mismatched image and lens model.

As we discussed last week, you may use SRV demo coming with SDK and the SRV calibration tool.
If you want to do it manually, you may follow any homography tutorials available online and insert it to the matlab code as we discussed last week.

Here are the top 2 from google:

medium.com/.../homography-and-how-to-calculate-it-8abf3a13ddc5

https://math.stackexchange.com/questions/494238/how-to-compute-homography-matrix-h-from-corresponding-points-2d-2d-planar-homog

Best,
Gang

0 Gokul Kujulva over 4 years ago in reply to Gang Hua

Genius 4465 points

Hello Team,

Is it possible to generate Bird-eye-view output from the SRV Demo & using calibration tool ?

Thanks & regards,

Gokul

0 Mayank Mangla over 4 years ago in reply to Gokul Kujulva

TI__Mastermind 24525 points

Hello Gokul,

DCC tuning tool and SRV calibration tools are separate. DCC tool works on single images only. Please initiate a new thread for SRV calibration.

Regards,

Mayank

0 KB over 4 years ago in reply to Gokul Kujulva

TI__Guru** 113161 points

Hi Gokul,

The Vision Apps User Guide has a picture of what the bird-eye-view / bowl view supported in the TDA4 demos:

https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/07_02_00_06/exports/docs/vision_apps/docs/user_guide/group_apps_srv_demos_app_srv_camera.html#autotoc_md165

As discussed offline, the code that is stitching the images will run on the A72 and make use of the GPU via OpenGL(). The OpenVX Api definitions are a place to start when referencing the code in the SDK, one such API is below:

https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/07_02_00_06/exports/docs/vision_apps/docs/user_guide/group__group__vision__apps__kernels__srv.html#ga593b96dedd8c4d6d2717409d3b76b18a

Regards,

0 Gokul Kujulva over 4 years ago in reply to KB

Genius 4465 points

Hello Kip,

In the function tivxAddKernelGenerate3Dbowl ("kernels/srv/host/vx_generate_3dbowl_host.c"), it is set to target DSP;s.

/* add supported target's */
325 tivxAddKernelTarget(kernel, TIVX_TARGET_DSP1);
326 tivxAddKernelTarget(kernel, TIVX_TARGET_DSP2);

Are they running on DSP ? Can you please check ?

Also please check this file "kernels/srv/c66/vx_generate_3dbowl_target.c"

Thanks & regards,

Gokul

0 Hemant Hariyani over 4 years ago in reply to Gokul Kujulva

TI__Expert 8385 points

Hello Gokul,

The graphics application implementation is flexible and supports external bowl (generated on DSP or anywhere for that meter) or can generate one on A72 if it isn't passed.

You can look at kernels/srv/gpu/3dsrv

Look at srv_setup (in srv.cpp) and srv_generate_lut (in srv_lut.cpp). This should give you an idea about how this is working.

Regards

Hemant

0 Gokul Kujulva over 4 years ago in reply to Hemant Hariyani

Genius 4465 points

Hello Hemant,

How the GPU is utilized in SRV ?

Please give an overview with block diagram.

There are two other nodes kernel_generate_3dbowl and kernel_generate_gpulut.

What is the purpose of these nodes ? Please explain.

Thanks & regards,
Gokul

0 Hemant Hariyani over 4 years ago in reply to Gokul Kujulva

TI__Expert 8385 points

Hello Gokul,

Sorry for not getting back sooner.

You can refer to this appnote for description of surround view implementation:

https://www.ti.com/lit/wp/spry270a/spry270a.pdf?ts=1615912339103

3D bowl defines the set of vertices to represent the scene around the car. Lut is lookup table for image coordinates. The above document should help clarify how surround view implementation works.

Regards

Hemant

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TDA4VM: Error in viewing the output image in dcc tool