VisionSDK_3D_SurroundView_UserGuide_TDA3xx Vision SDK User Guide 3D Surround View TDA3xx Demo
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Vision SDK TDA3xx
3D Surround View
User Guide
Copyright © 2017 Texas Instruments Incorporated. All rights reserved.
Information in this document is subject to change without notice. Texas Instruments may have pending
patent applications, trademarks, copyrights, or other intellectual property rights covering matter in this
document. The furnishing of this documents is given for usage with Texas Instruments products only and
does not give you any license to the intellectual property that might be contained within this document.
Texas Instruments makes no implied or expressed warranties in this document and is not responsible for
the products based from this document.
Page 1 of 43
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Page 2 of 43
Table of Contents
1
1.1
Introduction ................................................................................................. 5
References ..................................................................................................... 5
2
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2.1.6
2.2
2.2.1
2.2.2
System Requirements................................................................................... 6
Hardware ....................................................................................................... 6
Camera Modules .............................................................................................. 6
Aggregator ..................................................................................................... 6
MicroSD ......................................................................................................... 6
Mounting of Camera modules ............................................................................ 6
Connecting UB960/UB964 with TDA3xx EVM ....................................................... 7
Calibration Chart ............................................................................................. 7
Software ........................................................................................................ 8
Turn on Lens Shading Correction (LSC) .............................................................. 8
PC based calibration tool (Optional) ................................................................... 8
3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
Various Tables stored in mmc/sd ................................................................. 8
SRV Demo ...................................................................................................... 8
Calibration Demo ............................................................................................. 9
Calibration Demo in Manual mode ..................................................................... 9
Calibration Demo in Auto Mode ......................................................................... 9
Format of V2W.LZ4 and V2W_IDX.BIN files ....................................................... 11
Notations Used and Concept of Sets.................................................................. 14
Format of CARIMG_IDX.BIN and CARIMG_SETx.LZ4 files .................................... 15
Format of LUT_SETx.LZ4 and LUT_IDX.BIN files ................................................. 16
4
4.1
4.2
3D SRV ....................................................................................................... 18
Demo Application ........................................................................................... 18
Execution of demo application .......................................................................... 19
5
5.1
5.2
5.2.1
Calibration .................................................................................................. 19
Auto ............................................................................................................. 19
Manual .......................................................................................................... 21
Steps to run Manual mode calibration ............................................................... 21
6
6.1
6.1.1
6.1.2
6.2
Development Guide .................................................................................... 22
Compression of LUTs ...................................................................................... 22
Selection of DSP to run the decompression for SRV usecase ................................ 22
Compression Ratio vs Decompression Time ....................................................... 22
Changing the seam angle and it’s limitation ....................................................... 23
7
7.1
7.2
7.3
7.4
7.5
Sample LOGs .............................................................................................. 24
Select the camera used ................................................................................... 24
Calibration Use case selection .......................................................................... 26
Auto Calibration Selection ................................................................................ 28
Manual Calibration Selection ............................................................................ 35
Surround View Use Case selection .................................................................... 39
8
Revision History ......................................................................................... 43
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Page 4 of 43
1
Introduction
Vision Software Development Kit (Vision SDK) is a multi-processor software
development package for TI’s family of ADAS SoCs. The software framework
allows users to create different ADAS application data flows involving video
capture, video pre-processing, video analytics algorithms, and video display. The
framework has sample ADAS data flows which exercises different CPUs and HW
accelerators in the ADAS SoC and demonstrates how to effectively use different
sub-systems within the SoC. Frame work is generic enough to plug in application
specific algorithms in the system.
Vision SDK demonstrates 3D surround view on TDA3xx via demo application
(usecase). This document details various aspects of establishing 3D Surround
View on TDA3xx & EVM. SRV refers to 3D surround view in this document.
This document is applicable for Vision SDK versioned 2.9 and greater.
1.1
References
Refer the below additional documents for more information about Vision SDK
Document
Description
VisionSDK_ReleaseNotes.pdf
Release specific information
VisionSDK_UserGuide_TDA3xx.pdf
This document. Contains install,
build, execution information
VisionSDK_ApiGuide.CHM
User API interface details
VisionSDK_SW_Architecture.pdf
Overview
architecture
VisionSDK_DevelopmentGuide.pdf
Details how to create data flow
(s) & add new functionality
of
software
Page 5 of 43
2
System Requirements
VisionSDK_UserGuide_TDA3xx.pdf documents detailed pre-requisites to use Vision
SDK, the following sections lists SRV demo application specific requirements.
2.1
Hardware
2.1.1
Camera Modules
Below listed are the camera modules supported in 3D SRV demo application. SRV
application would require 4 number of camera modules. Note that all camera
modules used should be same. (i.e. it’s not possible to have 2 TIDA-00262
modules and 2 IMI OV10640 modules)
2.1.1.1
TIDA-00262
Is based on Aptina’s AR0140AT sensor and uses TI’s FPD Link III to transmit
uncompressed digital data (uses DS90UB913A-Q1). http://www.ti.com/tool/TIDA00262
2.1.1.2
IMI OV10640 (RDACM24A)
Is based on Omnivision’s OV10640 sensor and uses TI’s FPD Link III to transmit
uncompressed
digital
data
(DS90UB913A-Q1).
http://www.globalimi.com/media/2015/10/Generic-Minicube-Catalogue-1020151.pdf
2.1.2
Aggregator
Above described camera modules terminate into a aggregator (UB960/UB964
EVM), which receives 4 independent uncompressed video stream via FPD Link III
and encodes the same into 4 virtual channels on a single mipi CSI2 interface.
Please contact your Texas Instruments representative for details.
2.1.3
MicroSD
These demo application stores, retrieve multiple look up table (LUT’s) to / from
mmc/sd. A micro MMC/SD would be required and holds couple of LUT’s. The
details of LUT’s are detailed in following pages. Refer section 3 for details. It’s
recommended to use mmc/sd with speed rating UHS 1 or greater.
2.1.4
Mounting of Camera modules
The cameras are to be mounted at 4 end points of a car, as show in picture below
Figure 1. Note that each of cameras is approx. at the center of side of the jeep
and facing the ground plane. It’s recommended that the camera be inclined at
45°. Also ensure the following mapping is maintained.
Camera
Channel
Front
0
Right
1
Back
2
Left
3
Calibration use case could be used to visually identify and map the channel. Please
refer section 5 for details.
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Right
Front
Back
Left
Figure 1 Camera Mounted on a Toy Jeep
It’s not mandatory to mount these cameras on a car; the car could be a rectangular block, as shown
below. Camera could be mounted as show, while doing so, please ensure the length/width is
maintained.
21 Inches
9 Inches
6 Inches
Back
Camera
6 Inches
Front
Camera
Left
Camera
2.1.5
Connecting UB960/UB964 with TDA3xx EVM
Please refer the TDA3xx user guide, the procedure to connect and configuring
UB960 EVM/UB964 EVM to source 9 volts on the FPD Link III is detailed.
2.1.6
Calibration Chart
To caliber the SRV, cameras require reference points / images to determine
required
corrections.
A
reference
chart
is
provided
in
Page 7 of 43
vision_sdk\apps\tools\surround_vision_tools\docs\poster_calib_chart.p
df, please print the chart and place the jeep in specified position.
2.2
Software
This section list the optional software required for calibrating SRV. These are in
addition to software requirements specified in the TDA3xx user guide.
2.2.1
Turn on Lens Shading Correction (LSC)
By default the LSC is turned OFF, for optimal image quality (of the stitched
output), LSC requires to be turned ON, steps below details changes required.
In folder vision_sdk\apps\src\rtos\iss\src\sensor\ov10640
Copy the file ov10640_dcc_lscEnabled.h to ov10640_dcc.h
Re Build vision SDK, ensure to set the flag BUILD_DEPENDANCY_ALWAYS to
yes in Rules.make
2.2.2
PC based calibration tool (Optional)
1. When calibrating SRV, offline intervention might be necessary. This is done
via a PC based tool. Calibration tool is available as part of Vision SDK
release under the folder
\vision_sdk\apps\tools\surround_vision_tools\3d_calibration_too
l. Detailed Instructions for offline calibration are provided in
”VisionSDK_UserGuide_3D_SurroundView_Manual_CalibTool.pdf” under
“\vision_sdk\docs\SurroundView\”.
3
Various Tables stored in mmc/sd
Please follow the steps prescribed in TDA3x user guide to format the mmc/sd card
and create a folder named TDA3X.
All the required LUTs are present in the Vision SDK release under
\vision_sdk\apps\tools\surround_vision_tools\Srv_LUTs\TDA3X,
please
copy the LUTs required for the demo in mmc/sd under TDA3X folder.
Note: If you are working with a 128MB DDR build you need to use
\vision_sdk\apps\tools\surround_vision_tools\Srv_LUTs\TDA3X_128MB_DDR.
This is because only 15 view points can be supported with the available memory.
3.1
SRV Demo
The SRV demo requires tables to be stored in mmc/sd under the folder TDA3X,
namely. Please ensure that these tables are present, before demo is started.
1. LUT_IDX.BIN: This file defines the number of view-points, set details,
offset and size for each view point parameter defined in LUT_SETx.BIN
2. LUT_SETx.LZ4: These files contain the following compressed information
for the view points in a particular set.
o
Width, height, block width, block height and other configurations
o
LDC LUT, for each camera
o
Blend Table
3. CARIMAGE_IDX.BIN: This file defines the size, offset and set details for
all view point that are compressed and stored in sets of some user-defined
size.
Page 8 of 43
4. CARIMAGE_SETx.LZ4: These files contain the compressed Car Image for
each view point which lies within that set.
3.2
Calibration Demo
The Calibration Demo would require minimum 2 tables to be stored in mmc/sd
under the folder TDA3X. Please ensure that these tables are present, before demo
is started.
1. V2W_IDX.BIN: This file defines the number of view-points and offset for
each view point. These offsets are used to read various view point
parameters in V2W.LZ4
2. V2W.LZ4: This file contains the following compressed information for each
view point
3.3
o
View 2 World Table, for each camera
o
Width, height, block width, block height and other configurations
Calibration Demo in Manual mode
When manual / PC based tool is used for the calibration, there could two more
files present/required in mmc/sd
1. FRONT_0.YUV, RIGHT_0.YUV, BACK_0.YUV & LEFT_0.YUV: These are
frames captured from respective cameras. These would be written by demo
application and would be required by the PC based tool for the calibration.
2. CALMAT.BIN: Written by the PC based calibration tool. Once the PC based
calibration is successful, CALMAT.BIN would be generated. Please copy the
same to mmc/sd in TDA3X folder.
3.4
Calibration Demo in Auto Mode
For Auto Calibration the jeep/car with the four cameras mounted on it is required
to be placed at the center of the life size print of the calibration chart. The sample
chart
‘poster_calib_chart.pdf’
is
present
in
‘vision_sdk\apps\tools\surround_vision_tools\docs’ directory.
The ‘TDA3X’ directory on the MMC/SD card should contain the CHARTPOS.BIN file.
This file should have the following format with the actual dimensions of the
chart used for calibration:
4 bytes
:Number of cameras
124 bytes
:Header
4 bytes
:Size of the square in mm
8 bytes
:Co-ordinates of the bottom left corner of Chart 1 in mm
8 bytes
:Co-ordinates of the bottom left corner of Chart 2 in mm
8 bytes
:Co-ordinates of the bottom left corner of Chart 3 in mm
8 bytes
:Co-ordinates of the bottom left corner of Chart 4 in mm
Page 9 of 43
A sample CHARTPOS_HUMMER.BIN used for Hummer jeep is provided at
‘\vision_sdk\apps\tools\surround_vision_tools\Srv_LUTs\TDA3X’
Page 10 of 43
3.5
Format of V2W.LZ4 and V2W_IDX.BIN files
The V2W.LZ4 file contains the following data sections for every view point.
1024 bytes header of the view point
150 KB (Max) of V2W table of the view point
View Point 0
Header: 1024 bytes
V2W table:
View Point 1
150 KB (Max)
1 View Point
(uncompressed)
Compressed V2W
Table
.
.
V2W.LZ4
(compresssed)
View Point N
V2W Table (uncompressed)
The View Point Header has the following structure format defined in the
‘\vision_sdk\apps\include\alglink_api\algorithmLink_srvCommon.h’ file:
typedef struct
{
UInt32
viewPointId;
/**< An unique ID identifying the view point */
UInt32
numCameras;
/**< Number of cameras from which video is being captured */
UInt32 srvOutputWidth;
/**< Surround View Output Width */
UInt32 srvOutputHeight;
/**< Surround View Output Height */
UInt32 srvSubSample;
/**< Surround View LUT sub sample */
UInt32
ldcOutFrameWidth[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Expected width of output frame, after LDC correction
for each view point */
Page 11 of 43
UInt32
ldcOutFrameHeight[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Expected height of output frame, after LDC correction
for each view point */
UInt32
ldcOutPadX[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Applications could use this to ignore / pad pixels on output.
e.g. if output width was 1280 and pad was 10
actual output width would be 1270 with a 1280 pitch */
UInt32
ldcOutPadY[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Applications could use this to ignore / pad lines on output.
e.g. if output height was 800 and pad was 10
actual output width would be 790 lines */
UInt32
ldcOutBlockWidth[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Block Width to be used by LDC */
UInt32
ldcOutBlockHeight[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Block Height to be used by LDC */
/* This is specific to synth plugin, viewPointId should also be included */
UInt32
carPosX;
/**< Expected position of the car to be rendered at, X co-ordinate, for each
view point */
UInt32
carPosY;
/**< Expected position of the car to be rendered at, X co-ordinate, for each
view point */
UInt32 carBoxWidth;
/**< Width of the car box */
UInt32 carBoxHeight;
/**< Height of the car box */
Int32 viewRotationAngleRad;
/**< Slope of the rotated view in clock wise direction */
UInt32
sizeOfcarImg;
/**< Size of the CAR image, expressed in bytes. This plugin will not use
this, required here to aid applications */
UInt32
remapChannels;
/**< Flag used to remap video input channels to output channel. When set to
TRUE, remappedCh will hold valid remap table. */
UInt32
remappedCh[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< Define remapping for all valid view points. If remap is not desired
for an channel, set the value to channel id as show below.
e.g. 2 valid view point and view point 0 : no remap required and
view point 1 require channel remap. Channels 0,3 are inter
changed & channels 1 & 2 are interchaned.
remapChannels = FALSE;
remappedCh[0U] = 0U;
remappedCh[1U] = 1U;
remappedCh[2U] = 2U;
Page 12 of 43
remappedCh[3U] = 3U;
remapChannels = TRUE;
remappedCh[0U] = 3U;
remappedCh[1U] = 2U;
remappedCh[2U] = 1U;
remappedCh[3U] = 0U;
*/
AlgorithmLink_ldcSlicePrm slicePrm[ALGLINK_SRV_COMMON_MAX_CAMERAS];
/**< LDC Slice parameters */
UInt32 carFormat;
/**< Car dump format - Y or Y+UV */
/**< Car dump format - Y or Y+UV */
/* Corners defined in following order:
* 0: Front Right
* 1: Rear Right
* 2: Rear Left
* 3: Front Left
*/
UInt32 carCornerX[4];
/* X coordinate of car corners */
UInt32 carCornerY[4];
/* Y coordinate of car corners */
UInt32 boxCornerX[4];
/* X coordinate of box corners */
UInt32 boxCornerY[4];
/* Y coordinate of box corners */
float
*viewToWorldMeshTable;
/**< Describes a map from real world to mesh table */
UInt32
*carImgPtr;
/**< Pointer describing the CAR. This plugin will not use this, require d
here to aid applications */
UInt32 *baseBufAddr;
/**< Base address of the super buffer, this buffer will hold all the
required data for a given view point */
System_VideoFrameCompositeBuffer *pCompBuf;
/**< Composite buffer, Caller allocated memory required for this structures
and will use the following members as input and output
numFrames
[IN]
Will be used to specify the number of cameras
metaBufAddr [IN/OUT]
The space for this array of pointer is
allocated by caller and this function will
update the same with LDC LUTs
metaBufAddr[0] will hold the memory required
for channel 0 (camera 0) and so on...
metaBufSize [OUT]
Will specify the total size in bytes for all
channels */
Int8 *blendTableAddr;
Page 13 of 43
/**< Blend Table Address */
} AlgorithmLink_SrvCommonViewPointParams;
The V2W_IDX.BIN file has the following format:
3.6
4 bytes
: No of view points
4 bytes
: Uncompressed V2W Table Size
4 bytes
: Number of sets
116 bytes
: Header (currently empty)
List of Offset (4 bytes) and Size (4 bytes) values of data sections into the
uncompressed V2W Table for each view point.
Notations Used and Concept of Sets
The following notations are used here:
S - set size
: number of view point per set
M - index of last set : number of sets the view points have been divided into
N - no. of View Points: total number of View Points.
The LUTs such as CARIMAGE, LDC and BlendTable are compressed to save space
on the non-volatile storage by using the LZ4 compression technique.
The sets are created in such a way as to optimize the Surround View and ensure
that the first view comes up as fast as possible.
So the sets are defined as:
Set 0 : contains the View Point 0, decompress just 1 view point for the first view
point to be displayed asap
Set 1 : contains the View Point 1 to S-1, decompress the data for the first
transition to happen asap
Set 2+: and henceforth all the sets contain one transition data
Page 14 of 43
3.7
Format of CARIMG_IDX.BIN and CARIMG_SETx.LZ4 files
CARIMG_SETx.LZ4 contains the compressed car image files.
Car Image Set 0
(1 View Point)
CARIMG_SET0.LZ4
Car Image 0
(Actual Car Size)
Car Image 1
Car Image 2
Car Image Set 1
(S-1 View Point)
(Actual Car Size)
Car Image 3
CARIMG_SET1.LZ4
…
Car Image S-1
Car Image S
Car Image S+1
Car Image Set 2
(S View Point)
(Actual Car Size)
Car Image S+2
CARIMG_SET2.LZ4
.
Car Image 2*S-1
.
.
.
Car Image Set M
Car Image (M-1)*S
(S View Point)
Car Image (M-1)*S+1
(Actual Car Size)
Car Image (M-1)*S+2
CARIMG_SETm.LZ4
.
Car Image N
CAR IMAGE
(uncompressed)
CAR IMAGE FILES
(compressed)
Page 15 of 43
The CARIMG_IDX.BIN file has the following format:
3.8
4 bytes
: No of view points
4 bytes
: Total Uncompressed CARIMG Size
4 bytes
: Number of sets
4*(M+1) bytes
: Per set uncompressed size
116–4*(M+1) bytes : Header (currently empty)
List of Offset (4 bytes) and Size (4 bytes) values of data sections into the
uncompressed Car Image for each view point.
Format of LUT_SETx.LZ4 and LUT_IDX.BIN files
The LUT_SETx.LZ4 file contains the following data sections for every view point:
1024 bytes header of the view point
4 LDC LUTs for each camera of size 80 KB (Max)
Blend Table of size (Surround View Width x Surround View Height) of the
view point
Page 16 of 43
LUT Set 0
(1 View Point)
LUT_SET0.LZ4
LUT 0
LUT 1
LUT 2
LUT Set 1
LUT_SET1.LZ4
LUT 3
(S-1 View Point)
…
LUT S-1
LUT S
LUT S+1
LUT Set 2
LUT S+2
LUT_SET2.LZ4
(S View Point)
.
LUT 2*S-1
.
.
.
.
.
.
LUT (M-1)*S
LUT Set M
LUT (M-1)*S+1
(S View Point)
LUT (M-1)*S+2
LUT_SETm.LZ4
.
LUT N
LUT FILES
(compressed)
LUTS
(uncompressed)
Each View Point LUT has the following structure:
Header: 1024 bytes
4 LDC LUT
camera:
for
each
89472 x 4 bytes (Max)
Page 17 of 43
Blend Table
(SRV_OUTPUT_WIDTH x
SRV_OUTPUT_HEIGHT)
bytes
LUT x
The header is of the same format as V2W.BIN file.
The LUT_IDX.BIN file has the following format:
4
4 bytes
: No of view points
4 bytes
: Total Uncompressed LUT Size
4 bytes
: Number of sets
4*(M+1) bytes
: Per set uncompressed size
116–4*(M+1) bytes : Header (currently empty)
List of Offset (4 bytes) and Size (4 bytes) values of data sections into the
uncompressed LUT for each view point.
3D SRV
This provides a brief overview of the sample application or use case present in the
SDK and procedure to run it.
4.1
Demo Application
The
3D
SRV
application
is
implemented
in
\vision_sdk\apps\src\rtos\usecases\iss_mult_capture_isp_dewarp_3dsv_t
da3xx
This demo application would read compressed LDC LUTs present in LUT_SETx.LZ4
(indexed by LUT_IDX.BIN), decompress them on the DSP, use DeWarp algorithm
to correct lens distortion and project to get individual images for a given view
point, use synthesis algorithm to stich individual images to get SRV. 3D SRV is
achieved by switching through multiple view-points at capture frame rate.
In the case that the output resolution was changed during the generation of the
V2W tables, the standalone surroundview use case will use the parsed information
from the V2W table to set the output resolution. If modifying the rearview + 3D
surroundview or the 2D + 3D surroundview use case, the SRV_UC_3D_
SYNTH_OUTPUT_WIDTH_MAX and SRV_UC_3D_SYNTH_OUTPUT_HEIGHT_MAX
values must be modified to correspond to the desired output resolution height.
Note: The output resolution for these additional use cases must not overlap with
the additional views (i.e., rearview and 2D surroundview).
Page 18 of 43
4.2
Execution of demo application
Follow the steps detailed in TDA3xx user guide to build, load binaries and required
connectivity with EVM (only serial terminal would be required).
Ensure mmc/sd card has folder named TDA3X and it contains valid
LUT_IDX.BIN & LUT_SETx.LZ4
Ensure mmc/sd is not hot swapped, i.e. while board is powered up and
running Vision SDK binary, DO NOT remove / insert mmc/sd card.
1. Depending on the sensor used in the setup, instruct demo app to use the
same
o
In Main Menu, select “s” settings
o
Choose “Capture Settings”
o
Choose either “OV10640 Sensor for SV – IMI (TDA3x ONLY)” OR
“AR0140 Sensor for SV – TIDA00262 (TDA3x ONLY)”
2. Choose to run ISS based demos
o
In Main Menu select “ISS Use-cases, (TDA3x ONLY)”
3. Choose to run 3D SRV “3D SRV 4CH ISS capture + ISS ISP + DeWarp +
Synthesis (DSP1) + Display”
5
o
Log should indicate the status of LDC LUTs read “SRV_MEDIA:
Reading LDC LUT for view point 0”
o
Once message “[IPU1-0]
Done !!!” is displayed
o
3D SRV should be visible on connected TV
140.434362 s: ISSCAPTURE: Start
Calibration
Position of camera has significant effect on SRV, if and when camera positions are
altered, calibration application could be used to fine tune camera positions.
Calibration
application
is
implemented
in
\vision_sdk\apps\src\rtos\usecases\srv_calibration
Before attempting calibration, please ensure all the software requirements
specified in section 2 is addressed and required LUTs are available in mmc/sd,
refer section 3.2
There are 2 options to caliber the 3D SRV on TDA3x, Automatic mode and manual
mode
5.1
Auto
Make sure the following files are already present in the MMC/SD card inside the
‘TDA3X’ directory:
CHARTPOS.BIN
V2W.LZ4
V2W_IDX.BIN
LENS.BIN
LENS_2D.BIN
The ‘\vision_sdk\apps\tools\Lens_params ’
parameters for the following lens modules:
directory
contains
the
lens
Page 19 of 43
1. Equisolid
: LENS_equisolid_455focallength.BIN
2. Imi
: LENS_imi.BIN
3. Sunex
: LENS_sunex_dsl218.BIN
4. 2D
: LENS_2D.BIN
5. DSL219 with IMX290 sensor: LENS_SunexDSL219_imx290.BIN
6. DSL267
with
OV10640
sensor
LENS_SunexDSL267_ov10640.BIN
(Newer
TDA3X
RVP
boards):
‘LENS_2D.BIN’ should be copied to TDA3X folder on MMC/SD card.
Based on the lens module used in the system the corresponding LENS_xxx.BIN
should be renamed to ‘LENS.BIN’ and copied to TDA3X folder on MMC/SD card.
Once the jeep/car is placed on the calibration chart, run this usecase. When the
mosaic display comes up, TWO bounding boxes in each of the four windows can
be seen as shown in the following Figure:
These boxes indicate the Region of Interest (ROI) within which the TWO squares
of the Calibration chart should be confined to. Now select option # 1 – “Auto
Calibration”, the Auto Calibration is done in 2 steps without user intervention:
1. Calibration Matrix (CalMat) Generation:
Input:
The YUV images from the FOUR cameras.
The Chart Position read from CHARTPOS.BIN file.
Output:
CalMat which is also dumped to CALMAT.BIN file.
2. LDC Look Up Table (LUT) Generation
Input:
CalMat generated in step # 1.
Page 20 of 43
View to World table for each view point read from the
V2W.LZ4 file after decompression.
Output:
LDC LUTs for each view point are compressed and
written into LUT_SETx.LZ4 and LUT_IDX.BIN files.
If the step # 1 is successful then the user can see the detected corner points
plotted on to the display as shown in the following Figure:
If the Step # 1 fails and if CALMAT.BIN file is present in the MMC/SD card then
calibration will resume with step # 2 by reading the CALMAT.BIN file, else it will
be aborted.
5.2
Manual
This is 3 step processes where in this usecase is used to dump frames into
mmc/sd, PC based tool is used to generate CALMAT.BIN and this usecase is used
to generate LUT_IDX.BIN & LUT_SETx.LZ4
1. Dump 1 frame from each camera into mmc/sd
2. Provide these dumped images to PC based tool and generate CALMAT.BIN
3. Generate LUT_IDX.BIN & LUT_SETx.LZ4
4. When 3SRV demo is run, these tables are read and 3D SRV is rendered
5.2.1
Steps to run Manual mode calibration
Once the “Manual Calibration” is chosen, manual mode menu is shown
Page 21 of 43
2. Select option “Save ISP output frames (Will be saved in MMC/SD : All
channels)”
o
This will dump FRONT_0.YUV, RIGHT_0.YUV, BACK_0.YUV &
LEFT_0.YUV into mmc/sd.
3. Choose to remove mmc/sd with option “Unmount File System before
removing MMC/SD card” remove the mmc/sd card after this option is used.
4. With the PC based tool and using FRONT_0.YUV, RIGHT_0.YUV,
BACK_0.YUV & LEFT_0.YUV as input, generate CALMAT.BIN. Refer
“manual_TI_3D_SurroundVision_CalibTool” under ../ 3d_calibration_tool
for detailed instructions.
5. Copy the CALMAT.BIN to mmc/sd in TDA3X folder
6. Insert the mmc/sd and remount the mmc/sd using option “Mount File
System after inserting MMC/SD card”
7. Generate LDC LUTs using option “Compute LDC LUTs for 3D SRV (All view
points)”
8. Re-Run 3D SRV demo.
6
Development Guide
6.1
Compression of LUTs
There is an additional support of LZ4 compression technique provided with the
usecase where the LUTs such as V2W, LDC, Blend Table can be compressed to
save the storage space on the non-volatile memory such as SD Card, Flash, etc.
Such compression and decompression happens on the DSP of choice.
6.1.1
Selection of DSP to run the decompression for SRV usecase
The DSP to run decompression algorithm can be selected by changing the value
of
the
macro
SYSTEM_LINK_ID_LZ4_DSP
to
SYSTEM_LINK_ID_DSP1
or
SYSTEM_LINK_ID_DSP2
depending
upon
the
need
in
the
vision_sdk/apps/src/include/chains_common_srv_calib.h file.
6.1.2
Compression Ratio vs Decompression Time
There is a choice depending upon the requirement of compression ratio vs the
time taken to decompress on the DSP. This can be tuned using the LZ4 memory
usage
tuning
parameter
in
the
file
vision_sdk/apps/src/rtos/modules/lz4CompDecomp/lz4.h by tuning the value
of the macro LZ4_MEMORY_USAGE which is briefly defined below:
LZ4_MEMORY_USAGE :
Memory usage formula : N->2^N Bytes (examples : 10 -> 1KB; 12 -> 4KB ; 16 -> 64KB; 20 -> 1MB; etc.)
Increasing memory usage improves compression ratio
Page 22 of 43
Reduced memory usage can improve speed, due to cache effect
Default value is 14, for 16KB, which nicely fits into Intel x86 L1 cache
6.2
Changing the seam angle and it’s limitation
The seam angles are defined in the following manner with respect to the car body
The bigger limitations on the seam angle are that all the seam angles
must lie between 0˚ and 90˚
There are also a few limitations where the output might have some
imperfections for some particular angles. This usually does not happen at
normal angles.
The seam angles can be changed from default angles in the file:
Page 23 of 43
vision_sdk/apps/src/rtos/alg_plugins/surroundview/svBlendTableGen_If.c
To change the seam angles, change this:
#if 0
seamAngle[0] = 45.0;
seamAngle[1] = 45.0;
seamAngle[2] = 45.0;
seamAngle[3] = 45.0;
#else
seamAngle[0] = seamAngle[1] = seamAngle[2] = seamAngle[3] =
(atanf((float)svSynthObj.SVOutDisplayHeight/(float)svSynthObj.SVOutDi
splayWidth) * 180.0f)/M_PI;
#endif
to
#if 1
seamAngle[0] = ;
seamAngle[1] = ;
seamAngle[2] = ;
seamAngle[3] = ;
#else
seamAngle[0] = seamAngle[1] = seamAngle[2] = seamAngle[3] =
(atanf((float)svSynthObj.SVOutDisplayHeight/(float)svSynthObj.SVOutDi
splayWidth) * 180.0f)/M_PI;
#endif
Doing this recompile the code and recreate the AppImage and rerun the
calibration usecase to generate new LUTs.
7
Sample LOGs
7.1
Select the camera used
[IPU1-0]
Vision SDK Usecases,
[IPU1-0]
--------------------
[IPU1-0]
1: Single Camera Usecases
[IPU1-0]
2: Multi-Camera LVDS Usecases
[IPU1-0]
3: AVB RX Usecases, (TDA2x & TDA2Ex ONLY)
[IPU1-0]
4: Dual Display Usecases, (TDA2x EVM ONLY)
[IPU1-0]
5: ISS Usecases, (TDA3x ONLY)
[IPU1-0]
6: xCAM Usecases
[IPU1-0]
a: Miscellaneous test’s
[IPU1-0]
[IPU1-0]
s: System Settings
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
s
[IPU1-0]
[IPU1-0]
16.691850 s:
[IPU1-0]
16.691911 s:
[IPU1-0]
[IPU1-0]
===============
[IPU1-0]
System Settings
[IPU1-0]
===============
[IPU1-0]
[IPU1-0]
1: Display Settings
Page 24 of 43
[IPU1-0]
2: Capture Settings
[IPU1-0]
3: ISS Settings (TDA3x ONLY)
[IPU1-0]
4: Enable Charging via USB2 Port (TDA2x EVM ONLY)
[IPU1-0]
5: Print PRCM Statistics
[IPU1-0]
6: Show Memory/CPU/DDR BW usage
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
2
[IPU1-0]
[IPU1-0]
16.692155 s:
[IPU1-0]
17.238638 s:
[IPU1-0]
[IPU1-0]
==============
[IPU1-0]
Capture Source
[IPU1-0]
==============
[IPU1-0]
[IPU1-0]
1: OV10635 Sensor 720P30
[IPU1-0]
2: HDMI Capture 1080P60 (Not Supported in TDA2x/TDA2Ex Multi-serdes board)
[IPU1-0]
3: OV10640 Sensor 720P30 – CSI2 (TDA3x ONLY)
[IPU1-0]
4: OV10640 Sensor 720P30 – Parallel (TDA3x ONLY)
[IPU1-0]
5: AR0132
Sensor 720P60 – Parallel (TDA3x ONLY)
[IPU1-0]
6: AR0140
Sensor 720P60 – Parallel (TDA3x ONLY)
[IPU1-0]
7: IMX224
Sensor 1280x960 – CSI2 (TDA3x ONLY)
[IPU1-0]
8: AR0132
Sensor 720P60 DM388 – Parallel (TDA2x MonsterCam ONLY)
[IPU1-0]
9: AR0140
Sensor for SV – TIDA00262 (TDA3x ONLY)
[IPU1-0]
a: OV10640 Sensor for SV – IMI (TDA3x ONLY)
[IPU1-0]
b: OV10635 Sensor for Mosaic Display – SAT0088/OV10635 (TDA2EX & TDA3x)
[IPU1-0]
c: Skip Sensor configuration
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
9 or a depending on the camera used
[IPU1-0]
[IPU1-0]
17.239095 s:
[IPU1-0]
17.962941 s:
[IPU1-0]
8.182760 s:
Current System Settings,
[IPU1-0]
8.182821 s:
========================
[IPU1-0]
8.182882 s:
Display Type
[IPU1-0]
8.182943 s:
(TDA3x EVM ONLY)
: HDMI 1920x1080 @ 60fps
Capture Source : Sensor OV10640 IMI 1280x720 @ 30fps – ISS CSI2, Bayer
[IPU1-0]
8.183035 s:
My IP address
: none
[IPU1-0]
8.183096 s:
ISS Settings
: LDC=[OFF] VTNF=[OFF] WDR=[OFF]
[IPU1-0]
8.183157 s:
[IPU1-0]
8.183187 s:
============
[IPU1-0]
8.183248 s:
Usecase Menu
[IPU1-0]
8.183279 s:
============
[IPU1-0]
17.963673 s:
[IPU1-0]
[IPU1-0]
Vision SDK Usecases,
[IPU1-0]
--------------------
[IPU1-0]
1: Single Camera Usecases
[IPU1-0]
2: Multi-Camera LVDS Usecases
[IPU1-0]
3: AVB RX Usecases, (TDA2x & TDA2Ex ONLY)
Page 25 of 43
[IPU1-0]
4: Dual Display Usecases, (TDA2x EVM ONLY)
[IPU1-0]
5: ISS Usecases, (TDA3x ONLY)
[IPU1-0]
6: xCAM Usecases
[IPU1-0]
a: Miscellaneous test’s
[IPU1-0]
[IPU1-0]
s: System Settings
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
7.2
Calibration Use case selection
[IPU1-0]
Vision SDK Usecases,
[IPU1-0]
--------------------
[IPU1-0]
1: Single Camera Usecases
[IPU1-0]
2: Multi-Camera LVDS Usecases
[IPU1-0]
3: AVB RX Usecases, (TDA2x & TDA2Ex ONLY)
[IPU1-0]
4: Dual Display Usecases, (TDA2x EVM ONLY)
[IPU1-0]
5: ISS Usecases, (TDA3x ONLY)
[IPU1-0]
6: xCAM Usecases
[IPU1-0]
a: Miscellaneous test’s
[IPU1-0]
[IPU1-0]
s: System Settings
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
5
[IPU1-0]
[IPU1-0]
19.977185 s:
[IPU1-0]
19.977307 s:
[IPU1-0]
[IPU1-0]
ISS Usecases (TDA3x ONLY)
[IPU1-0]
---------------------------
[IPU1-0]
1: 1CH ISS capture + ISS ISP + ISS LDC+VTNF + Display
[IPU1-0]
2: 4CH ISS capture + ISS ISP + Simcop + Surround View (DSP1) +
[IPU1-0]
3: 1CH ISS capture (AR0132) + ISS ISP Monochrome +
[IPU1-0]
4: 3D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + Display
[IPU1-0]
5: Surround View Calibration
[IPU1-0]
6: 3D + 2D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + Display
[IPU1-0]
7: 3D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + RearView + Display
Display
Display
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
5
[IPU1-0]
[IPU1-0]
20.593607 s:
[IPU1-0]
9.288324 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x40
[IPU1-0]
9.289544 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x42
[IPU1-0]
9.290733 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x44
[IPU1-0]
9.291923 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x46
[IPU1-0]
9.332824 s:
ISSCAPTURE: Create in progress !!!
[IPU1-0]
9.640730 s:
UTILS: DMA: Allocated CH (TCC) = 48 (48)
Page 26 of 43
[IPU1-0]
9.640852 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 48 (0x63304800)
[IPU1-0]
9.641066 s:
ISSCAPTURE: Create Done !!!
[IPU1-0]
9.641279 s:
ISSM2MISP: Create in progress !!!
[IPU1-0]
9.974043 s:
UTILS: DMA: Allocated CH (TCC) = 49 (49)
[IPU1-0]
9.974135 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 49 (0x63304820)
[IPU1-0]
9.986915 s:
ISSM2MISP: Create Done !!!
[IPU1-0]
9.987159 s:
ALGORITHM: Create in progress (algId = 3) !!!
[IPU1-0]
10.044653 s:
ALGORITHM: Create Done (algId = 3) !!!
[IPU1-0]
10.045598 s:
VPE: Create in progress !!!
[IPU1-0]
10.209632 s:
VPE: Create Done !!!
[IPU1-0]
10.210028 s:
ALGORITHM: Create in progress (algId = 0) !!!
[IPU1-0]
10.428201 s:
UTILS: DMA: Allocated CH (TCC) = 50 (50)
[IPU1-0]
10.428323 s:
UTILS: DMA: 0 of 8: Allocated PaRAM = 50 (0x63304840)
[IPU1-0]
10.428506 s:
UTILS: DMA: 1 of 8: Allocated PaRAM = 67 (0x63304860)
[IPU1-0]
10.428628 s:
UTILS: DMA: 2 of 8: Allocated PaRAM = 68 (0x63304880)
[IPU1-0]
10.428719 s:
UTILS: DMA: 3 of 8: Allocated PaRAM = 69 (0x633048A0)
[IPU1-0]
10.428841 s:
UTILS: DMA: 4 of 8: Allocated PaRAM = 70 (0x633048C0)
[IPU1-0]
10.428963 s:
UTILS: DMA: 5 of 8: Allocated PaRAM = 71 (0x633048E0)
[IPU1-0]
10.429085 s:
UTILS: DMA: 6 of 8: Allocated PaRAM = 72 (0x63304900)
[IPU1-0]
10.429207 s:
UTILS: DMA: 7 of 8: Allocated PaRAM = 73 (0x63304920)
[IPU1-0]
10.429451 s:
ALGORITHM: Create Done (algId = 0) !!!
[IPU1-0]
10.429573 s:
DISPLAY: Create in progress !!!
[IPU1-0]
10.430061 s:
DISPLAY: Create Done !!!
[IPU1-0]
10.430336 s:
GRPXSRC: Create in progress !!!
[IPU1-0]
11.827609 s:
GRPXSRC: Create Done !!!
[IPU1-0]
11.827914 s:
DISPLAY: Create in progress !!!
[IPU1-0]
11.828341 s:
DISPLAY: Create Done !!!
[IPU1-0]
12.328066 s:
UTILS: DMA: Allocated CH (TCC) = 51 (51)
[IPU1-0]
12.328188 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 51 (0x63304940)
[IPU1-0]
12.328676 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1022
[IPU1-0]
12.328798 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 156416 B (152 KB)
[IPU1-0]
12.328951 s: SYSTEM: Heap = SR_OCMC
KB), Free size = 0 B (0 KB)
@ 0x00000000, Total size = 262144 B
@ 0x00000000, Total size = 0 B (0
[IPU1-0]
12.329103 s: SYSTEM: Heap = SR_DDR_CACHED
B (350 MB), Free size = 244143104 B (232 MB)
@ 0x85483000, Total size = 367001600
[IPU1-0]
12.329256 s: SYSTEM: Heap = SR_DDR_NON_CACHED
(1 MB), Free size = 1041152 B (0 MB)
@ 0xbfe00000, Total size = 1048832 B
[IPU1-0]
12.333099 s:
*** UTILS: CPU KHz = 20000 Khz ***
[IPU1-1]
12.329957 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[IPU1-1]
12.330110 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 255424 B (249 KB)
[DSP1
]
12.330506 s:
@ 0x00000000, Total size = 262144 B
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP1 ]
12.330567 s: SYSTEM: Heap = LOCAL_L2
(221 KB), Free size = 227264 B (221 KB)
@ 0x00800000, Total size = 227264 B
[DSP1 ]
12.330628 s: SYSTEM: Heap = LOCAL_DDR
(512 KB), Free size = 519504 B (507 KB)
@ 0x00000000, Total size = 524288 B
[DSP2
]
12.330872 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP2 ]
12.330933 s: SYSTEM: Heap = LOCAL_L2
(221 KB), Free size = 227264 B (221 KB)
@ 0x00800000, Total size = 227264 B
[DSP2 ]
12.330994 s: SYSTEM: Heap = LOCAL_DDR
(512 KB), Free size = 519504 B (507 KB)
@ 0x00000000, Total size = 524288 B
[EVE1
]
12.331665 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[EVE1 ]
12.331940 s: SYSTEM: Heap = LOCAL_L2
(24 KB), Free size = 24576 B (24 KB)
[EVE1 ]
12.332489 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 257448 B (251 KB)
[IPU1-0]
12.873879 s:
@ 0x40020000, Total size = 24576 B
@ 0x00000000, Total size = 262144 B
ISS_SENSOR: VIP 42: DRV ID 120f (I2C ADDR 0x40): a640:00b4:0000
Page 27 of 43
[IPU1-0]
12.875800 s:
ISS_SENSOR: VIP 43: DRV ID 120f (I2C ADDR 0x42): a640:00b4:0000
[IPU1-0]
12.877722 s:
ISS_SENSOR: VIP 44: DRV ID 120f (I2C ADDR 0x44): a640:00b4:0000
[IPU1-0]
12.879704 s:
ISS_SENSOR: VIP 45: DRV ID 120f (I2C ADDR 0x46): a640:00b4:0000
[IPU1-0]
12.879826 s:
Sensor Config time = 547 msec
[IPU1-0]
12.879979 s:
QSPI Read Started, please wait!
[IPU1-0]
12.880131 s:
QSPI Read Completed Sucessfully
[IPU1-0]
12.880192 s:
CHAINS: DCC Tag ID check failed for QSPI
[IPU1-0]
12.880253 s:
CHAINS: Using DCC Profile from Driver
[IPU1-0]
12.902214 s:
HDMI_TX:
hdmiId.hdcpRevTpi = 0, hdmiId.tpiRevId = 3
[IPU1-0]
12.902641
hpdPrms.hpdStatus = 4
s:
HDMI_TX:
hdmiId.deviceId
=
hpdPrms.busError
[IPU1-0]
12.911181 s:
DISPLAY: Start in progress !!!
[IPU1-0]
12.911273 s:
DISPLAY: Start Done !!!
[IPU1-0]
12.916702 s:
DISPLAY: Start in progress !!!
[IPU1-0]
12.916763 s:
DISPLAY: Start Done !!!
[IPU1-0]
12.917037 s:
ISSCAPTURE: Start in progress !!!
[IPU1-0]
12.917281 s:
ISSCAPTURE: Start Done !!!
[IPU1-0]
25.251021 s:
176,hdmiId.deviceProdRevId
=
2,
hpdPrms.hpdEvtPending
=
2,
=
0,
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Chains Run-time Menu
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Stop Chain
[IPU1-0]
1: Auto Calibration
[IPU1-0]
2: Manual Calibration
[IPU1-0]
[IPU1-0]
[IPU1-0]
p: Print Performance Statistics
[IPU1-0]
[IPU1-0]
Enter Choice:
[IPU1-0]
7.3
Auto Calibration Selection
[IPU1-0]
====================
[IPU1-0]
Chains Run-time Menu
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Stop Chain
[IPU1-0]
[IPU1-0]
1: Auto Calibration
[IPU1-0]
2: Manual Calibration
[IPU1-0]
3: Default Calibration (Using Default Cal Mat)
[IPU1-0]
[IPU1-0]
4: Save Capture Frames for all channels to MMC/SD card
[IPU1-0]
5: Unmount File System before removing MMC/SD card
[IPU1-0]
6: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
7: Update 2D Pers Mat (after auto/manual calibration if required)
[IPU1-0]
[IPU1-0]
d: Save Display Frame to MMC/SD card
[IPU1-0]
[IPU1-0]
[IPU1-0]
p: Print Performance Statistics
Page 28 of 43
[IPU1-0]
[IPU1-0]
Enter Choice:
1
[IPU1-0]
[IPU1-0]
23.119532 s: SRV_CALIB_UC: 1.Generating the calibration Matrix …
[IPU1-0]
23.119624 s: SRV_CALIB_UC: => Dumping YUV frames …
[IPU1-0]
23.395351 s: SRV_CALIB_UC: => Reading file CHARTPOS.BIN …
[IPU1-0]
23.409168 s: SRV_CALIB_UC: => Cal Mat Generation on DSP …
[IPU1-0]
23.409534 s:
gLensPrm = 0x8C9ADC00
[IPU1-0]
23.438205 s:
Lens parameters read
[IPU1-0]
23.438479 s:
gLensPrm2D = 0x8C9AFE00
[IPU1-0]
23.444671 s:
Lens parameters read for 2D
[DSP1
]
23.444915 s: CAL_MAT: Generating Calibration Matrix …
[DSP1
]
23.444946 s:
Auto Detect Chart Persistemt Mem Size = 6472288
[DSP1
]
23.444976 s:
Auto Detect Chart Scratch Mem Size
[DSP1
]
38.228359 s: Corners detected for camera 0
[DSP1
]
38.228390 s: Chart number 0
[DSP1
]
38.228420 s: [265 769; 278 959; 428 1140; 474 935]
[DSP1
]
38.228451 s: Chart number 1
[DSP1
]
38.228481 s: [288 340; 271 527; 497 368; 440 164]
[DSP1
]
54.850179 s: Corners detected for camera 1
[DSP1
]
54.850240 s: Chart number 0
[DSP1
]
54.850240 s: [331 250; 335 377; 543 223; 474 126]
[DSP1
]
54.850271 s: Chart number 1
[DSP1
]
54.850301 s: [364 865; 373 991; 522 1102; 580 995]
[DSP1
]
75.578234 s: Corners detected for camera 2
[DSP1
]
75.578265 s: Chart number 0
[DSP1
]
75.578295 s: [352 758; 353 933; 518 1066; 582 851]
[DSP1
]
75.578326 s: Chart number 1
[DSP1
]
75.578356 s: [356 384; 355 551; 584 466; 522 251]
[DSP1
]
90.290276 s: Corners detected for camera 3
[DSP1
]
90.290337 s: Chart number 0
[DSP1
]
90.290337 s: [378 309; 362 429; 575 317; 529 207]
[DSP1
]
90.290367 s: Chart number 1
[DSP1
]
90.290398 s: [306 916; 298 1043; 437 1171; 506 1078]
[DSP1
]
90.290459 s:
Pose Estimate Chart Persistemt Mem Size = 4896
[DSP1
]
90.290489 s:
Pose Estimate Chart Scratch Mem Size
[DSP1
]
90.290520 s:
Chart Size
[DSP1
]
90.290520 s:
Chart Pos 1 = 0,0
[DSP1
]
90.290550 s:
Chart Pos 2 = 0,828
[DSP1
]
90.290581 s:
Chart Pos 3 = 495,828
[DSP1
]
90.290611 s:
Chart Pos 4 = 495,0
[DSP1
]
90.290642 s: 0) normCP.x:-1.177745, normCP.y:-0.283072
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
= 6984
= 18504
= 247
90.290703 s: 1) normCP.x:-0.375296, normCP.y:-0.294950
90.290733 s: 2) normCP.x:-1.059602, normCP.y:0.536881
90.290764 s: 3) normCP.x:-3.160389, normCP.y:0.534063
90.290794 s: 4) normCP.x:0.436740, normCP.y:-0.316311
90.290825 s: 5) normCP.x:1.300612, normCP.y:-0.330759
90.290855 s: 6) normCP.x:3.813203, normCP.y:0.524203
Page 29 of 43
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
90.299548 s: CAL_MAT: Generating Calibration Matrix …
[DSP1
]
90.299609 s:
Chart Size
[DSP1
]
90.299609 s:
Chart Pos 1 = 0,0
90.290886 s: 7) normCP.x:1.180084, normCP.y:0.457217
90.292868 s: 0) normCP.x:-1.816426, normCP.y:-0.132183
90.292929 s: 1) normCP.x:-0.968192, normCP.y:-0.091099
90.292960 s: 2) normCP.x:-2.421653, normCP.y:1.064060
90.292990 s: 3) normCP.x:-4.617182, normCP.y:1.027226
90.293021 s: 4) normCP.x:0.796116, normCP.y:0.017465
90.293051 s: 5) normCP.x:1.500645, normCP.y:0.058384
90.293082 s: 6) normCP.x:3.200070, normCP.y:1.121322
90.293112 s: 7) normCP.x:1.799239, normCP.y:1.115382
90.295095 s: 0) normCP.x:-0.931655, normCP.y:-0.011643
90.295125 s: 1) normCP.x:-0.289242, normCP.y:-0.015673
90.295156 s: 2) normCP.x:-0.655878, normCP.y:0.848784
90.295186 s: 3) normCP.x:-1.983040, normCP.y:0.828795
90.295217 s: 4) normCP.x:0.391598, normCP.y:-0.023253
90.295247 s: 5) normCP.x:1.126470, normCP.y:-0.025934
90.295278 s: 6) normCP.x:2.473815, normCP.y:0.922329
90.295308 s: 7) normCP.x:0.829003, normCP.y:0.872402
90.297261 s: 0) normCP.x:-1.352079, normCP.y:0.073638
90.297352 s: 1) normCP.x:-0.736425, normCP.y:0.008292
90.297383 s: 2) normCP.x:-1.499998, normCP.y:1.002806
90.297413 s: 3) normCP.x:-2.614180, normCP.y:1.025932
90.297444 s: 4) normCP.x:1.045540, normCP.y:-0.203628
90.297474 s: 5) normCP.x:1.978413, normCP.y:-0.303097
90.297505 s: 6) normCP.x:5.266674, normCP.y:0.768057
90.297535 s: 7) normCP.x:2.623557, normCP.y:0.879011
= 247
Page 30 of 43
[DSP1
]
90.299640 s:
[DSP1
]
90.299670 s:
Chart Pos 3 = 495,828
[DSP1
]
90.299701 s:
Chart Pos 4 = 495,0
[DSP1
]
90.299731 s: 0) normCP.x:-0.803761, normCP.y:-0.193184
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
Chart Pos 2 = 0,828
90.299762 s: 1) normCP.x:-0.257341, normCP.y:-0.202247
90.299792 s: 2) normCP.x:-0.723446, normCP.y:0.366557
90.299823 s: 3) normCP.x:-2.028604, normCP.y:0.342806
90.299853 s: 4) normCP.x:0.299579, normCP.y:-0.216971
90.299884 s: 5) normCP.x:0.885274, normCP.y:-0.225134
90.299914 s: 6) normCP.x:2.386390, normCP.y:0.328058
90.299945 s: 7) normCP.x:0.804513, normCP.y:0.311704
90.301927 s: 0) normCP.x:-1.221433, normCP.y:-0.088885
90.301958 s: 1) normCP.x:-0.663175, normCP.y:-0.062400
90.301988 s: 2) normCP.x:-1.586373, normCP.y:0.697043
90.302019 s: 3) normCP.x:-2.784438, normCP.y:0.619479
90.302049 s: 4) normCP.x:0.546110, normCP.y:0.011981
90.302080 s: 5) normCP.x:1.017671, normCP.y:0.039593
90.302110 s: 6) normCP.x:2.039511, normCP.y:0.714656
90.302141 s: 7) normCP.x:1.199295, normCP.y:0.743466
90.304123 s: 0) normCP.x:-0.638431, normCP.y:-0.007978
90.304184 s: 1) normCP.x:-0.198042, normCP.y:-0.010731
90.304215 s: 2) normCP.x:-0.448656, normCP.y:0.580613
90.304245 s: 3) normCP.x:-1.320480, normCP.y:0.551884
90.304276 s: 4) normCP.x:0.268351, normCP.y:-0.015935
90.304306 s: 5) normCP.x:0.769912, normCP.y:-0.017726
90.304337 s: 6) normCP.x:1.620820, normCP.y:0.604301
90.304367 s: 7) normCP.x:0.565842, normCP.y:0.595464
90.306289 s: 0) normCP.x:-0.920063, normCP.y:0.050109
90.306350 s: 1) normCP.x:-0.505275, normCP.y:0.005689
Page 31 of 43
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
[DSP1
]
90.306380 s: 2) normCP.x:-1.009136, normCP.y:0.674646
90.306411 s: 3) normCP.x:-1.702692, normCP.y:0.668220
90.306441 s: 4) normCP.x:0.715284, normCP.y:-0.139308
90.306472 s: 5) normCP.x:1.323375, normCP.y:-0.202744
90.306502 s: 6) normCP.x:3.094995, normCP.y:0.451354
90.306533 s: 7) normCP.x:1.711315, normCP.y:0.573369
90.312602 s: CAL_MAT: Generating Perspective Matrix …
[IPU1-0]
90.312755 s: SRV_CALIB_UC: Writing Cal Mat to the file …
[IPU1-0]
90.414536 s: SRV_CALIB_UC: Writing Cal Mat to the file DONE
[IPU1-0]
90.414658 s: SRV_CALIB_UC: Writing Pers Mat to the file …
[IPU1-0]
90.427926 s: SRV_CALIB_UC: Writing Pers Mat to the file DONE
[IPU1-0]
90.430336 s: SRV_CALIB_UC: 2.Generating the LDC LUTs …
[IPU1-0]
91.634722 s: SRV_CALIB_UC: Reading V2W Mesh for view point 0 …
[IPU1-0]
91.721008 s: SRV_CALIB_UC: Generating LDC LUT for view point 0 …
[DSP1
]
91.727078 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
91.873970 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
91.874367 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
91.874428 s: CarBoxCenter_x = 376, CarBoxCenter_y = 509
[DSP1
]
91.874428 s: rotAngle = 0.000,rotAngleMod = 0.000,rotAngleRem = 0
[DSP1
]
91.874489 s: seamAngle = 53.276
[DSP1
]
91.874519 s: slopeAngle[0] = 53.276, slopeAngle[1] = 53.276
[DSP1
]
91.874550 s: slopeAngle[2] = 53.276, slopeAngle[3] = 53.276
[DSP1
]
91.874580 s: slope[0]
= 1.340, slope[1]
[DSP1
]
91.874611 s: slope[2]
= 1.340, slope[3]
[DSP1
]
91.874641 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
91.874641 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
91.874672 s: sv->seamMarkPts[0] = 6, sv->seamMarkPts[1] = 751
[DSP1
]
91.874733 s: sv->seamMarkPts[2] = 1007, sv->seamMarkPts[3] = 747
[DSP1
]
91.874763 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 5
[DSP1
]
91.874794 s: sv->seamMarkPts[6] = 5, sv->seamMarkPts[7] = 0
[DSP1
]
91.885194 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 752,H = 528
[DSP1
]
91.885255 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 288,Y = 272,W = 176,H = 32
[DSP1
]
91.885286 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 368,Y = 0,W = 384,H = 1008
[DSP1
]
91.885316 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 0,Y = 496,W = 752,H = 512
[DSP1
]
91.885377 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 384,H = 1008
= 1.340
= 1.340
[IPU1-0]
92.801195 s: SRV_CALIB_UC: Writing LDC LUT for view point 0 …
[DSP1
92.800951 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
94.823034 s: SRV_CALIB_UC: Reading V2W Mesh for view point 1 …
[IPU1-0]
94.912981 s: SRV_CALIB_UC: Generating LDC LUT for view point 1 …
[DSP1
]
94.919203 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
95.066064 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
95.066461 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
95.066491 s: CarBoxCenter_x = 375, CarBoxCenter_y = 507
[DSP1
]
95.066522 s: rotAngle = 6.002,rotAngleMod = 6.002,rotAngleRem = 0
[DSP1
]
95.066552 s: seamAngle = 53.276
[DSP1
]
95.066583 s: slopeAngle[0] = 59.278, slopeAngle[1] = 47.274
[DSP1
]
95.066613 s: slopeAngle[2] = 59.278, slopeAngle[3] = 47.274
Page 32 of 43
[DSP1
]
95.066644 s: slope[0]
= 1.683, slope[1]
[DSP1
]
95.066674 s: slope[2]
= 1.683, slope[3]
= 1.083
[DSP1
]
95.066705 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
95.066735 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
95.066766 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 676
[DSP1
]
95.066796 s: sv->seamMarkPts[2] = 914, sv->seamMarkPts[3] = 751
[DSP1
]
95.066857 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 78
[DSP1
]
95.066888 s: sv->seamMarkPts[6] = 100, sv->seamMarkPts[7] = 0
[DSP1
]
95.076587 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 688,H = 528
[DSP1
]
95.076648 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 256,Y = 272,W = 176,H = 48
[DSP1
]
95.076709 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 928
[DSP1
]
95.076740 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 64,Y = 496,W = 688,H = 512
[DSP1
]
95.076770 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 80,W = 384,H = 928
= 1.083
[IPU1-0]
95.991703 s: SRV_CALIB_UC: Writing LDC LUT for view point 1 …
[DSP1
95.991490 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
97.839108 s: SRV_CALIB_UC: Reading V2W Mesh for view point 2 …
[IPU1-0]
97.932928 s: SRV_CALIB_UC: Generating LDC LUT for view point 2 …
[DSP1
]
97.939150 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
98.085951 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
98.086347 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
98.086378 s: CarBoxCenter_x = 374, CarBoxCenter_y = 506
[DSP1
]
98.086408 s: rotAngle = 12.005,rotAngleMod = 12.005,rotAngleRem = 0
[DSP1
]
98.086469 s: seamAngle = 53.276
[DSP1
]
98.086469 s: slopeAngle[0] = 65.280, slopeAngle[1] = 41.271
[DSP1
]
98.086500 s: slopeAngle[2] = 65.280, slopeAngle[3] = 41.271
[DSP1
]
98.086530 s: slope[0]
= 2.172, slope[1]
= 0.878
[DSP1
]
98.086561 s: slope[2]
= 2.172, slope[3]
= 0.878
[DSP1
]
98.086591 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
98.086622 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
98.086652 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 606
[DSP1
]
98.086683 s: sv->seamMarkPts[2] = 836, sv->seamMarkPts[3] = 751
[DSP1
]
98.086713 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 144
[DSP1
]
98.086744 s: sv->seamMarkPts[6] = 177, sv->seamMarkPts[7] = 0
[DSP1
]
98.095650 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 624,H = 528
[DSP1
]
98.095711 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 240,Y = 272,W = 128,H = 64
[DSP1
]
98.095742 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 848
[DSP1
]
98.095772 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 128,Y = 496,W = 624,H = 512
[DSP1
]
98.095833 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 160,W = 384,H = 848
[IPU1-0]
99.009424 s: SRV_CALIB_UC: Writing LDC LUT for view point 2 …
[DSP1
99.009241 s: BLEND_TABLE: Generating Blend Table DONE
]
:
:
[IPU1-0]
300.481302 s: SRV_CALIB_UC: Reading V2W Mesh for view point 89 …
[IPU1-0]
300.575062 s: SRV_CALIB_UC: Generating LDC LUT for view point 89 …
[DSP1
]
300.581010 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
300.727871 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
300.728268 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
300.728298 s: CarBoxCenter_x = 375, CarBoxCenter_y = 508
[DSP1
]
300.728329 s: rotAngle = 6.002,rotAngleMod = 6.002,rotAngleRem = 0
[DSP1
]
300.728390 s: seamAngle = 53.276
[DSP1
]
300.728420 s: slopeAngle[0] = 59.278, slopeAngle[1] = 47.274
[DSP1
]
300.728451 s: slopeAngle[2] = 59.278, slopeAngle[3] = 47.274
[DSP1
]
300.728481 s: slope[0]
= 1.683, slope[1]
= 1.083
[DSP1
]
300.728512 s: slope[2]
= 1.683, slope[3]
= 1.083
Page 33 of 43
[DSP1
]
300.728542 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
300.728573 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
300.728603 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 676
[DSP1
]
300.728634 s: sv->seamMarkPts[2] = 915, sv->seamMarkPts[3] = 751
[DSP1
]
300.728664 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 79
[DSP1
]
300.728695 s: sv->seamMarkPts[6] = 101, sv->seamMarkPts[7] = 0
[DSP1
]
300.738455 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 688,H = 528
[DSP1
]
300.738485 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 256,Y = 272,W = 176,H = 48
[DSP1
]
300.738546 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 928
[DSP1
]
300.738577 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 64,Y = 496,W = 688,H = 512
[DSP1
]
300.738638 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 80,W = 384,H = 928
[IPU1-0]
301.653510 s: SRV_CALIB_UC: Writing LDC LUT for view point 89 …
[DSP1
301.653297 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
302.716189 s: SRV_CALIB_UC: Time taken to write 90 view point data = 211075 msec
[IPU1-0]
302.736472 s: SRV_CALIB_UC: => Dumping YUV frames …
[DSP1
]
302.898523 s:
2D Pers Mat Update Persistemt Mem Size = 3616
[DSP1
]
302.898554 s:
2D Pers Mat Update Scratch Mem Size
[DSP1
]
302.939547 s: 2D_PERSMATUPDATE: Pers Mat Update for 2D started ..
[DSP1
]
302.940675 s:
Camera 0 Perspective Parameters at beginning of process call:
[DSP1
]
302.940736 s:
1314852 -32788
[DSP1
]
302.940736 s:
-16021 2063375 9386401
[DSP1
]
302.940767 s:
-5263
[DSP1
]
302.940797 s:
Camera 1 Perspective Parameters at beginning of process call:
[DSP1
]
302.940828 s:
1503554 -31885
[DSP1
]
302.940858 s:
-85141 1019840 -77705260
[DSP1
]
302.940889 s:
197
[DSP1
]
302.940919 s:
Camera 2 Perspective Parameters at beginning of process call:
[DSP1
]
302.940950 s:
1000866 -14245
[DSP1
]
302.940950 s:
-35992 1572343 -17862044
[DSP1
]
302.940980 s:
4009
[DSP1
]
302.941011 s:
Camera 3 Perspective Parameters at beginning of process call:
[DSP1
]
302.941041 s:
1469887 -6595
[DSP1
]
302.941072 s:
156147 1027641 53409666
[DSP1
]
302.941102 s:
335
[DSP1
]
304.788537 s: Number of features:
[DSP1
]
304.788568 s: Reg0:11 8
[DSP1
]
304.788598 s: Reg1:14 12
[DSP1
]
304.788598 s: Reg2:8
12
[DSP1
]
304.788629 s: Reg3:8
10
[DSP1
]
304.788659 s: Number of matches:
[DSP1
]
304.788659 s: Reg0:6
[DSP1
]
304.795705 s: #### SRV 2D PERS MAT UPDATE SUCCESSFUL ####
[DSP1
]
304.795735 s:
[DSP1
] Camera 0 calibration matrix mat used:
[DSP1
]
304.795735 s:
1431514 -33120
[DSP1
]
304.795766 s:
-89666 2079993 6585728
[DSP1
]
304.795796 s:
-5614
[DSP1
]
304.795827 s:
1710108 10829
[DSP1
]
304.795857 s:
[DSP1
] Camera 1 calibration matrix mat used:
[DSP1
]
304.795888 s:
1710108 10829
[DSP1
]
304.795888 s:
-95481 1059113 -90463985
[DSP1
]
304.795918 s:
288
[DSP1
]
304.795949 s:
1086304 -12891
-125
3502
207
-3346
Reg1:7
-145
3800
= 13336872
2557763
1048576
-21686232
1048576
-119653678
1048576
-45250582
1048576
Reg2:6
Reg3:7
5072565
1048576
-19993359
-19993359
1048576
-122144901
Page 34 of 43
[DSP1
]
[DSP1
] Camera 2 calibration matrix mat used:
304.795979 s:
[DSP1
]
304.796010 s:
1086304 -12891
[DSP1
]
304.796010 s:
-70231 1582107 -19620212
[DSP1
]
304.796040 s:
4170
[DSP1
]
304.796071 s:
1677858 -7992
[DSP1
]
304.796101 s:
[DSP1
] Camera 3 calibration matrix mat used:
[DSP1
]
304.796132 s:
1677858 -7992
[DSP1
]
304.796132 s:
165689 1056614 65072062
[DSP1
]
304.796162 s:
346
[DSP1
]
304.796193 s:
2113929100
[DSP1
]
304.796223 s: 2D_PERSMATUPDATE: Pers Mat Update for 2D Done
169
-3492
-122144901
1048576
-50651477
-50651477
1048576
-101975747
-249587762
[IPU1-0]
304.850881 s:
[IPU1-0]
304.850972 s: SRV_CALIB_UC: *************************************
2D Pers Mat Update Success
[IPU1-0]
304.851033 s: SRV_CALIB_UC: 3.Auto Calibration is completed
[IPU1-0]
304.851125 s: SRV_CALIB_UC: *************************************
[IPU1-0]
229.233392 s:
…
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Chains Run-time Menu
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Stop Chain
[IPU1-0]
[IPU1-0]
1: Auto Calibration
[IPU1-0]
2: Manual Calibration
[IPU1-0]
3: Default Calibration (Using Default Cal Mat)
[IPU1-0]
[IPU1-0]
4: Save Capture Frames for all channels to MMC/SD card
[IPU1-0]
5: Unmount File System before removing MMC/SD card
[IPU1-0]
6: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
7: Update 2D Pers Mat (after auto/manual calibration if required)
[IPU1-0]
[IPU1-0]
d: Save Display Frame to MMC/SD card
[IPU1-0]
[IPU1-0]
[IPU1-0]
7.4
p: Print Performance Statistics
Manual Calibration Selection
[IPU1-0]
====================
[IPU1-0]
Chains Run-time Menu
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Stop Chain
[IPU1-0]
[IPU1-0]
1: Auto Calibration
[IPU1-0]
2: Manual Calibration
[IPU1-0]
3: Default Calibration (Using Default Cal Mat)
[IPU1-0]
[IPU1-0]
4: Save Capture Frames for all channels to MMC/SD card
[IPU1-0]
5: Unmount File System before removing MMC/SD card
Page 35 of 43
[IPU1-0]
6: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
7: Update 2D Pers Mat (after auto/manual calibration if required)
[IPU1-0]
[IPU1-0]
d: Save Display Frame to MMC/SD card
[IPU1-0]
[IPU1-0]
[IPU1-0]
p: Print Performance Statistics
[IPU1-0]
[IPU1-0]
Enter Choice:
2
[IPU1-0]
[IPU1-0]
31.869212 s:
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Manual Calibration
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Exit
[IPU1-0]
1: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
2: Read the Calibration Matrix (CAL MAT) from file
[IPU1-0]
3: Compute LDC LUTs for 3D SRV (All view points)
[IPU1-0]
4: Unmount File System before removing MMC/SD card
[IPU1-0]
5: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
Enter Choice:
1
[IPU1-0]
[IPU1-0]
34.354663 s: SRV_CALIB_UC: Writing YUV image 0 to the file FRONT_0.YUV …
[IPU1-0]
41.008448 s: SRV_CALIB_UC: Writing YUV image 0 to the file FRONT_0.YUV DONE
[IPU1-0]
41.077228 s: SRV_CALIB_UC: Writing YUV image 1 to the file RIGHT_0.YUV …
[IPU1-0]
47.660281 s: SRV_CALIB_UC: Writing YUV image 1 to the file RIGHT_0.YUV DONE
[IPU1-0]
47.741322 s: SRV_CALIB_UC: Writing YUV image 2 to the file BACK_0.YUV …
[IPU1-0]
54.297505 s: SRV_CALIB_UC: Writing YUV image 2 to the file BACK_0.YUV DONE
[IPU1-0]
54.367046 s: SRV_CALIB_UC: Writing YUV image 3 to the file LEFT_0.YUV …
[IPU1-0]
60.970749 s: SRV_CALIB_UC: Writing YUV image 3 to the file LEFT_0.YUV DONE
[IPU1-0]
60.970932 s: SRV_CALIB_UC: Writing YUV image is completed
[IPU1-0]
60.971054 s:
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Manual Calibration
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Exit
[IPU1-0]
1: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
2: Read the Calibration Matrix (CAL MAT) from file
[IPU1-0]
3: Compute LDC LUTs for 3D SRV (All view points)
[IPU1-0]
4: Unmount File System before removing MMC/SD card
[IPU1-0]
5: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
Enter Choice:
4
[IPU1-0]
[IPU1-0]
65.601933 s: SRV_CALIB_UC: File system Unmounted
[IPU1-0]
65.602025 s:
[IPU1-0]
Page 36 of 43
[IPU1-0]
====================
[IPU1-0]
Manual Calibration
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Exit
[IPU1-0]
1: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
2: Read the Calibration Matrix (CAL MAT) from file
[IPU1-0]
3: Compute LDC LUTs for 3D SRV (All view points)
[IPU1-0]
4: Unmount File System before removing MMC/SD card
[IPU1-0]
5: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
Enter Choice:
5
[IPU1-0]
[IPU1-0]
76.110504 s: SRV_CALIB_UC: File System Mounted
[IPU1-0]
76.239461 s:
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Manual Calibration
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Exit
[IPU1-0]
1: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
2: Read the Calibration Matrix (CAL MAT) from file
[IPU1-0]
3: Compute LDC LUTs for 3D SRV (All view points)
[IPU1-0]
4: Unmount File System before removing MMC/SD card
[IPU1-0]
5: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
Enter Choice:
2
[IPU1-0]
[IPU1-0]
79.326511 s: SRV_CALIB_UC: => Reading Cal Mat from CALMAT.BIN file …
[IPU1-0]
79.329195 s:
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Manual Calibration
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Exit
[IPU1-0]
1: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
2: Read the Calibration Matrix (CAL MAT) from file
[IPU1-0]
3: Compute LDC LUTs for 3D SRV (All view points)
[IPU1-0]
4: Unmount File System before removing MMC/SD card
[IPU1-0]
5: Mount File System after inserting MMC/SD card
[IPU1-0]
[IPU1-0]
Enter Choice:
3
[IPU1-0]
[IPU1-0]
91.634722 s: SRV_CALIB_UC: Reading V2W Mesh for view point 0 …
[IPU1-0]
91.721008 s: SRV_CALIB_UC: Generating LDC LUT for view point 0 …
[DSP1
]
91.727078 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
91.873970 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
91.874367 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
91.874428 s: CarBoxCenter_x = 376, CarBoxCenter_y = 509
[DSP1
]
91.874428 s: rotAngle = 0.000,rotAngleMod = 0.000,rotAngleRem = 0
[DSP1
]
91.874489 s: seamAngle = 53.276
Page 37 of 43
[DSP1
]
[DSP1
]
91.874519 s: slopeAngle[0] = 53.276, slopeAngle[1] = 53.276
91.874550 s: slopeAngle[2] = 53.276, slopeAngle[3] = 53.276
[DSP1
]
91.874580 s: slope[0]
= 1.340, slope[1]
[DSP1
]
91.874611 s: slope[2]
= 1.340, slope[3]
[DSP1
]
91.874641 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
91.874641 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
91.874672 s: sv->seamMarkPts[0] = 6, sv->seamMarkPts[1] = 751
[DSP1
]
91.874733 s: sv->seamMarkPts[2] = 1007, sv->seamMarkPts[3] = 747
[DSP1
]
91.874763 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 5
[DSP1
]
91.874794 s: sv->seamMarkPts[6] = 5, sv->seamMarkPts[7] = 0
[DSP1
]
91.885194 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 752,H = 528
[DSP1
]
91.885255 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 288,Y = 272,W = 176,H = 32
[DSP1
]
91.885286 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 368,Y = 0,W = 384,H = 1008
[DSP1
]
91.885316 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 0,Y = 496,W = 752,H = 512
[DSP1
]
91.885377 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 384,H = 1008
= 1.340
= 1.340
[IPU1-0]
92.801195 s: SRV_CALIB_UC: Writing LDC LUT for view point 0 …
[DSP1
92.800951 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
94.823034 s: SRV_CALIB_UC: Reading V2W Mesh for view point 1 …
[IPU1-0]
94.912981 s: SRV_CALIB_UC: Generating LDC LUT for view point 1 …
[DSP1
]
94.919203 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
95.066064 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
95.066461 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
95.066491 s: CarBoxCenter_x = 375, CarBoxCenter_y = 507
[DSP1
]
95.066522 s: rotAngle = 6.002,rotAngleMod = 6.002,rotAngleRem = 0
[DSP1
]
95.066552 s: seamAngle = 53.276
[DSP1
]
95.066583 s: slopeAngle[0] = 59.278, slopeAngle[1] = 47.274
[DSP1
]
95.066613 s: slopeAngle[2] = 59.278, slopeAngle[3] = 47.274
[DSP1
]
95.066644 s: slope[0]
= 1.683, slope[1]
[DSP1
]
95.066674 s: slope[2]
= 1.683, slope[3]
[DSP1
]
95.066705 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
95.066735 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
95.066766 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 676
[DSP1
]
95.066796 s: sv->seamMarkPts[2] = 914, sv->seamMarkPts[3] = 751
[DSP1
]
95.066857 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 78
[DSP1
]
95.066888 s: sv->seamMarkPts[6] = 100, sv->seamMarkPts[7] = 0
[DSP1
]
95.076587 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 688,H = 528
[DSP1
]
95.076648 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 256,Y = 272,W = 176,H = 48
[DSP1
]
95.076709 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 928
[DSP1
]
95.076740 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 64,Y = 496,W = 688,H = 512
[DSP1
]
95.076770 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 80,W = 384,H = 928
= 1.083
= 1.083
[IPU1-0]
95.991703 s: SRV_CALIB_UC: Writing LDC LUT for view point 1 …
[DSP1
95.991490 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
97.839108 s: SRV_CALIB_UC: Reading V2W Mesh for view point 2 …
[IPU1-0]
97.932928 s: SRV_CALIB_UC: Generating LDC LUT for view point 2 …
[DSP1
]
97.939150 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
98.085951 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
98.086347 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
98.086378 s: CarBoxCenter_x = 374, CarBoxCenter_y = 506
[DSP1
]
98.086408 s: rotAngle = 12.005,rotAngleMod = 12.005,rotAngleRem = 0
[DSP1
]
98.086469 s: seamAngle = 53.276
[DSP1
]
98.086469 s: slopeAngle[0] = 65.280, slopeAngle[1] = 41.271
[DSP1
]
98.086500 s: slopeAngle[2] = 65.280, slopeAngle[3] = 41.271
[DSP1
]
98.086530 s: slope[0]
= 2.172, slope[1]
= 0.878
[DSP1
]
98.086561 s: slope[2]
= 2.172, slope[3]
= 0.878
Page 38 of 43
[DSP1
]
98.086591 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
98.086622 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
98.086652 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 606
[DSP1
]
98.086683 s: sv->seamMarkPts[2] = 836, sv->seamMarkPts[3] = 751
[DSP1
]
98.086713 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 144
[DSP1
]
98.086744 s: sv->seamMarkPts[6] = 177, sv->seamMarkPts[7] = 0
[DSP1
]
98.095650 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 624,H = 528
[DSP1
]
98.095711 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 240,Y = 272,W = 128,H = 64
[DSP1
]
98.095742 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 848
[DSP1
]
98.095772 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 128,Y = 496,W = 624,H = 512
[DSP1
]
98.095833 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 160,W = 384,H = 848
[IPU1-0]
99.009424 s: SRV_CALIB_UC: Writing LDC LUT for view point 2 …
[DSP1
99.009241 s: BLEND_TABLE: Generating Blend Table DONE
]
.
.
.
[IPU1-0]
300.575062 s: SRV_CALIB_UC: Generating LDC LUT for view point 89 …
[DSP1
]
300.581010 s: LDC_LUT: Generating LDC LUT …
[DSP1
]
300.727871 s: LDC_LUT: Generating LDC LUT DONE
[DSP1
]
300.728268 s: BLEND_TABLE: Generating Blend table …
[DSP1
]
300.728298 s: CarBoxCenter_x = 375, CarBoxCenter_y = 508
[DSP1
]
300.728329 s: rotAngle = 6.002,rotAngleMod = 6.002,rotAngleRem = 0
[DSP1
]
300.728390 s: seamAngle = 53.276
[DSP1
]
300.728420 s: slopeAngle[0] = 59.278, slopeAngle[1] = 47.274
[DSP1
]
300.728451 s: slopeAngle[2] = 59.278, slopeAngle[3] = 47.274
[DSP1
]
300.728481 s: slope[0]
= 1.683, slope[1]
= 1.083
[DSP1
]
300.728512 s: slope[2]
= 1.683, slope[3]
= 1.083
[DSP1
]
300.728542 s: chMap[0]
= 0, chMap[1]
= 1
[DSP1
]
300.728573 s: chMap[2]
= 2, chMap[3]
= 3
[DSP1
]
300.728603 s: sv->seamMarkPts[0] = 0, sv->seamMarkPts[1] = 676
[DSP1
]
300.728634 s: sv->seamMarkPts[2] = 915, sv->seamMarkPts[3] = 751
[DSP1
]
300.728664 s: sv->seamMarkPts[4] = 1007, sv->seamMarkPts[5] = 79
[DSP1
]
300.728695 s: sv->seamMarkPts[6] = 101, sv->seamMarkPts[7] = 0
[DSP1
]
300.738455 s: Cam 0: Slice 0: BW = 16, BH = 16, X = 0,Y = 0,W = 688,H = 528
[DSP1
]
300.738485 s: Cam 0: Slice 1: BW = 16, BH = 8, X = 256,Y = 272,W = 176,H = 48
[DSP1
]
300.738546 s: Cam 1: Slice 0: BW = 16, BH = 16, X = 352,Y = 0,W = 400,H = 928
[DSP1
]
300.738577 s: Cam 2: Slice 0: BW = 16, BH = 16, X = 64,Y = 496,W = 688,H = 512
[DSP1
]
300.738638 s: Cam 3: Slice 0: BW = 16, BH = 16, X = 0,Y = 80,W = 384,H = 928
[IPU1-0]
301.653510 s: SRV_CALIB_UC: Writing LDC LUT for view point 89 …
[DSP1
301.653297 s: BLEND_TABLE: Generating Blend Table DONE
]
[IPU1-0]
7.5
300.481302 s: SRV_CALIB_UC: Reading V2W Mesh for view point 89 …
[IPU1-0]
302.716189 s: SRV_CALIB_UC: Time taken to write 90 view point data = 211075 msec
Surround View Use Case selection
Ensure to re-select the camera, refer section 7.1
[IPU1-0]
Vision SDK Usecases,
[IPU1-0]
--------------------
Page 39 of 43
[IPU1-0]
1: Single Camera Usecases
[IPU1-0]
2: Multi-Camera LVDS Usecases
[IPU1-0]
3: AVB RX Usecases, (TDA2x & TDA2Ex ONLY)
[IPU1-0]
4: Dual Display Usecases, (TDA2x EVM ONLY)
[IPU1-0]
5: ISS Usecases, (TDA3x ONLY)
[IPU1-0]
6: xCAM Usecases
[IPU1-0]
a: Miscellaneous test’s
[IPU1-0]
[IPU1-0]
s: System Settings
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
5
[IPU1-0]
[IPU1-0]
11.511773 s:
[IPU1-0]
11.511864 s:
[IPU1-0]
[IPU1-0]
ISS Usecases (TDA3x ONLY)
[IPU1-0]
---------------------------
[IPU1-0]
1: 1CH ISS capture + ISS ISP + ISS LDC+VTNF + Display
[IPU1-0]
2: 4CH ISS capture + ISS ISP + Simcop + Surround View (DSP1) +
[IPU1-0]
3: 1CH ISS capture (AR0132) + ISS ISP Monochrome +
[IPU1-0]
4: 3D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + Display
[IPU1-0]
5: Surround View Calibration
[IPU1-0]
6: 3D + 2D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + Display
[IPU1-0]
7: 3D SRV 4CH ISS capture + ISS ISP + DeWarp + Synthesis (DSP1) + RearView + Display
Display
Display
[IPU1-0]
[IPU1-0]
x: Exit
[IPU1-0]
[IPU1-0]
Enter Choice:
4
[IPU1-0]
[IPU1-0]
12.073506 s:
[IPU1-0]
10.284847 s:
CHAINS: Initiating read of LDC Look Up Tables from MMC/SD
[IPU1-0]
10.301897 s:
*** UTILS: CPU KHz = 20000 Khz ***
[IPU1-0]
10.302019 s:
SRV_MEDIA: Reading LDC LUT for view point 0 …
[IPU1-0]
10.672787 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x40
[IPU1-0]
10.674159 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x42
[IPU1-0]
10.675349 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x44
[IPU1-0]
10.676538 s:
ISS_SENSOR: INST0 : I2C1 : I2C Addr = 0x46
[IPU1-0]
10.717531 s:
ISSCAPTURE: Create in progress !!!
[IPU1-0]
11.025803 s:
UTILS: DMA: Allocated CH (TCC) = 48 (48)
[IPU1-0]
11.025925 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 48 (0x63304800)
[IPU1-0]
11.026200 s:
ISSCAPTURE: Create Done !!!
[IPU1-0]
11.026413 s:
ISSM2MISP: Create in progress !!!
[IPU1-0]
11.663392 s:
UTILS: DMA: Allocated CH (TCC) = 49 (49)
[IPU1-0]
11.663484 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 49 (0x63304820)
[IPU1-0]
11.675593 s:
ISSM2MISP: Create Done !!!
[IPU1-0]
11.675928 s:
ALGORITHM: Create in progress (algId = 3) !!!
[IPU1-0]
11.733666 s:
ALGORITHM: Create Done (algId = 3) !!!
[IPU1-0]
11.734124 s:
ALGORITHM: Create in progress (algId = 7) !!!
[IPU1-0]
11.973738 s:
UTILS: DMA: Allocated CH (TCC) = 50 (50)
[IPU1-0]
11.973860 s:
UTILS: DMA: 0 of 1: Allocated PaRAM = 50 (0x63304840)
[IPU1-0]
11.977612 s:
ALGORITHM: Create Done (algId = 7) !!!
[IPU1-0]
11.977764 s:
IPC_OUT_0
: Create in progress !!!
Page 40 of 43
[IPU1-0]
11.978069 s:
IPC_OUT_0
: Create Done !!!
[IPU1-0]
11.979472 s:
IPC_OUT_1
: Create in progress !!!
[IPU1-0]
11.979747 s:
IPC_OUT_1
[IPU1-0]
11.980997 s:
IPC_IN_0
: Create in progress !!!
[IPU1-0]
11.981852 s:
IPC_IN_0
: Create Done !!!
[IPU1-0]
11.981974 s:
DISPLAY: Create in progress !!!
[IPU1-0]
11.982553 s:
DISPLAY: Create Done !!!
[IPU1-0]
11.984627 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
: Create Done !!!
[IPU1-0]
11.984780 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 151392 B (147 KB)
@ 0x00000000, Total size = 262144 B
[IPU1-0]
11.984932 s: SYSTEM: Heap = SR_OCMC
KB), Free size = 0 B (0 KB)
@ 0x00000000, Total size = 0 B (0
[IPU1-0]
11.985207 s: SYSTEM: Heap = SR_DDR_CACHED
B (350 MB), Free size = 295244288 B (281 MB)
@ 0x85483000, Total size = 367001600
[IPU1-0]
11.985390 s: SYSTEM: Heap = SR_DDR_NON_CACHED
(1 MB), Free size = 1041152 B (0 MB)
@ 0xbfe00000, Total size = 1048832 B
[IPU1-0]
11.997803 s:
DSP Create done
[IPU1-0]
12.000549 s:
QSPI Read Started, please wait!
[IPU1-0]
12.000732 s:
QSPI Read Completed Sucessfully
[IPU1-0]
12.000793 s:
CHAINS: DCC Tag ID check failed for QSPI
[IPU1-0]
12.000854 s:
CHAINS: Using DCC Profile from Driver
[IPU1-0]
12.017354 s:
********** LDC Optimization **************
[IPU1-0]
12.017446 s:
gLdcRdMaxTagCnt
[IPU1-0]
12.017507 s:
gLdcTrafficOnNrt1 = 0
[IPU1-0]
12.017568 s:
gIspTrafficOnNrt2 = 1
[IPU1-0]
12.017629 s:
gUseOcmcLdcLut
= 1
[IPU1-0]
12.017659 s:
gLdcSlicePrmNo
= 6
[IPU1-0]
12.017720 s:
gLdcPixelPad
= 2
[IPU1-0]
12.017781 s:
lumeIntrType(0:bicubic,1:bilinear) = 1
[IPU1-0]
12.017842 s:
******************************************
[IPU1-0]
12.018330 s:
Dewarp Task Priority = 2
[IPU1-1]
11.997986 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
= 15
[IPU1-1]
11.998139 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 255424 B (249 KB)
@ 0x00000000, Total size = 262144 B
[DSP1
]
11.978283 s:
IPC_IN_0
: Create in progress !!!
[DSP1
]
11.978649 s:
IPC_IN_0
: Create Done !!!
[DSP1
]
11.979899 s:
IPC_IN_1
: Create in progress !!!
[DSP1
]
11.980296 s:
IPC_IN_1
: Create Done !!!
[DSP1
]
11.980448 s:
ALGORITHM: Create in progress (algId = 3) !!!
[DSP1
]
11.980692 s:
ALGORITHM: Create Done (algId = 3) !!!
[DSP1
]
11.980845 s:
IPC_OUT_0
: Create in progress !!!
[DSP1
]
11.980906 s:
IPC_OUT_0
: Create Done !!!
[DSP1
]
11.982736 s:
ALGORITHM: Create in progress (algId = 6) !!!
[DSP1
]
11.984475 s:
ALGORITHM: Create Done (algId = 6) !!!
[DSP1
]
11.998444 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP1 ]
11.998505 s: SYSTEM: Heap = LOCAL_L2
(221 KB), Free size = 96192 B (93 KB)
@ 0x00800000, Total size = 227264 B
[DSP1 ]
11.998566 s: SYSTEM: Heap = LOCAL_DDR
(512 KB), Free size = 519504 B (507 KB)
@ 0x00000000, Total size = 524288 B
[DSP2
]
11.998688 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[DSP2 ]
11.998749 s: SYSTEM: Heap = LOCAL_L2
(221 KB), Free size = 227264 B (221 KB)
@ 0x00800000, Total size = 227264 B
[DSP2 ]
11.998810 s: SYSTEM: Heap = LOCAL_DDR
(512 KB), Free size = 519504 B (507 KB)
@ 0x00000000, Total size = 524288 B
[EVE1
]
11.999054 s:
SYSTEM: SW Message Box Msg Pool, Free Msg Count = 1023
[EVE1 ]
11.999359 s: SYSTEM: Heap = LOCAL_L2
(24 KB), Free size = 24576 B (24 KB)
@ 0x40020000, Total size = 24576 B
Page 41 of 43
[EVE1 ]
11.999877 s: SYSTEM: Heap = LOCAL_DDR
(256 KB), Free size = 257448 B (251 KB)
@ 0x00000000, Total size = 262144 B
[IPU1-0]
12.557158 s:
[IPU1-0]
12.559080 s:
ISS_SENSOR: VIP 42: DRV ID 120f (I2C ADDR 0x40): a640:00b4:0000
ISS_SENSOR: VIP 43: DRV ID 120f (I2C ADDR 0x42): a640:00b4:0000
[IPU1-0]
12.561062 s:
ISS_SENSOR: VIP 44: DRV ID 120f (I2C ADDR 0x44): a640:00b4:0000
[IPU1-0]
12.563045 s:
ISS_SENSOR: VIP 45: DRV ID 120f (I2C ADDR 0x46): a640:00b4:0000
[IPU1-0]
12.563197 s:
Sensor Config time = 545 msec
[IPU1-0]
12.568535 s:
HDMI_TX:
hdmiId.hdcpRevTpi = 0, hdmiId.tpiRevId = 3
[IPU1-0]
12.568870
hpdPrms.hpdStatus = 4
s:
HDMI_TX:
hdmiId.deviceId
hpdPrms.busError
=
176,hdmiId.deviceProdRevId
=
2,
hpdPrms.hpdEvtP ending
[IPU1-0]
12.577868 s:
DISPLAY: Start in progress !!!
[IPU1-0]
12.577960 s:
DISPLAY: Start Done !!!
[IPU1-0]
12.578570 s:
ISSCAPTURE: Start in progress !!!
[IPU1-0]
12.578783 s:
ISSCAPTURE: Start Done !!!
[IPU1-0]
12.596626 s:
GRPXSRC: Create in progress !!!
[IPU1-0]
14.332458 s:
SRV_MEDIA: Reading LDC LUT for view point 5 …
[IPU1-0]
16.551546 s:
SRV_MEDIA: Reading LDC LUT for view point 10 …
[IPU1-0]
18.717226 s:
SRV_MEDIA: Reading LDC LUT for view point 15 …
[IPU1-0]
20.844628 s:
SRV_MEDIA: Reading LDC LUT for view point 20 …
[IPU1-0]
22.586469 s:
GRPXSRC: Create Done !!!
[IPU1-0]
22.586805 s:
DISPLAY: Create in progress !!!
[IPU1-0]
22.587964 s:
DISPLAY: Create Done !!!
[IPU1-0]
22.588391 s:
DISPLAY: Start in progress !!!
[IPU1-0]
22.588482 s:
DISPLAY: Start Done !!!
[IPU1-0]
20.481455 s:
=
2,
=
0,
[IPU1-0]
[IPU1-0]
====================
[IPU1-0]
Chains Run-time Menu
[IPU1-0]
====================
[IPU1-0]
[IPU1-0]
0: Stop Chain
[IPU1-0]
1: Save a Captured RAW frame from channel 0 (Will be saved in DDR)
[IPU1-0]
2: Save a DeWarp Output Frame (Will be saved in DDR)
[IPU1-0]
3: Save ISP output frames (Will be saved in MMC/SD : All channels)
[IPU1-0]
s: Stop / Start Transitions
[IPU1-0]
n: Change to Next View Point, after transitions are stopped
[IPU1-0]
r: Change to Previous View Point, after transitions are stopped
[IPU1-0]
[IPU1-0]
d: Save Display Frame to MMC/SD card
[IPU1-0]
[IPU1-0]
[IPU1-0]
p: Print Performance Statistics
[IPU1-0]
[IPU1-0]
Enter Choice:
[IPU1-0]
[IPU1-0]
23.054230 s:
SRV_MEDIA: Reading LDC LUT for view point 25 …
[IPU1-0]
25.245440 s:
SRV_MEDIA: Reading LDC LUT for view point 30 …
[IPU1-0]
27.407246 s:
SRV_MEDIA: Reading LDC LUT for view point 35 …
[IPU1-0]
29.563838 s:
SRV_MEDIA: Reading LDC LUT for view point 40 …
[IPU1-0]
31.700878 s:
SRV_MEDIA: Reading LDC LUT for view point 45 …
[IPU1-0]
33.848868 s:
SRV_MEDIA: Reading LDC LUT for view point 50 …
[IPU1-0]
35.972640 s:
SRV_MEDIA: Reading LDC LUT for view point 55 …
[IPU1-0]
38.078997 s:
SRV_MEDIA: Reading LDC LUT for view point 60 …
[IPU1-0]
40.224425 s:
SRV_MEDIA: Reading LDC LUT for view point 65 …
Page 42 of 43
8
[IPU1-0]
42.458549 s:
SRV_MEDIA: Reading LDC LUT for view point 70 …
[IPU1-0]
44.657689 s:
SRV_MEDIA: Reading LDC LUT for view point 75 …
[IPU1-0]
46.836637 s:
SRV_MEDIA: Reading LDC LUT for view point 80 …
[IPU1-0]
49.049289 s:
SRV_MEDIA: Reading LDC LUT for view point 85 …
[IPU1-0]
51.223205 s:
SRV_MEDIA: Time taken to read 90 view point data = 40921 msec
Revision History
Version
Date
Revision History
st
0.1
1 March 2016
0.2
11 March 2016
0.3
6 July 2016
0.4
27 January 2017
0.5
29 June 2017
0.6
16 October 2017
0.7
28 November 2017
th
th
th
th
th
th
Draft
Updated for 2.9 Release
Updated for 2.10
Release
Updated for 2.12
Release
Updated for 3.0 Release
Updated for 3.1 Release
Updated for 3.2 Release
««« § »»»
Page 43 of 43
Source Exif Data:
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