Input image

[Naveen2195]

Hello, Where can i get some sample test images in nv12 format for surround view and stiching? I converted one mp4 video to yuv format and then renamed .yuv with .nv12 extension. But it's throwing up this error

./test-surround-view --module gles --input /home/aiiec/naveen/opengl/libxcam-master/images/indoor.nv12 --output out.nv12 input0 file: /home/aiiec/naveen/opengl/libxcam-master/images/indoor.nv12 output file: out.nv12 input width: 1280 input height: 800 output width: 1920 output height: 640 topview width: 1280 topview height: 720 fisheye number: 4 resolution mode: 1080p4cams blend pyr levels: 2 dewarp mode: bowl scopic mode: mono scaling mode: singleconst feature match: none frame mode: multiframe save output: true save topview: false loop count: 1 XCAM INFO egl/egl_base.cpp:59: EGL version: 1.4 terminate called after throwing an instance of 'std::logic_error' what(): basic_string::_M_construct null not valid Aborted (core dumped)

Kindly help.

[liuyinhangx]

hi, How many inputs do you use, if 4, the test cmdline should be like this: $ test-surround-view --module gles --output output.nv12 --input input0.nv12 --input input1.nv12 --input input2.nv12 --input input3.nv12 --fisheye-num 4 --res-mode 1080p4cams ......

[Naveen2195]

Hello Liu, I think my input images are causing the problem(i am using 4 random images). With those images, I tried what u said, this is what i got: ./test-surround-view --module gles --output output.nv12 --input 1.yuv --input 2.yuv --input 3.yuv --input 4.yuv --fisheye-num 4 --res-mode 1080p4cams input0 file: 1.yuv input1 file: 2.yuv input2 file: 3.yuv input3 file: 4.yuv output file: output.nv12 input width: 1280 input height: 800 output width: 1920 output height: 640 topview width: 1280 topview height: 720 fisheye number: 4 resolution mode: 1080p4cams blend pyr levels: 2 dewarp mode: bowl scopic mode: mono scaling mode: singleconst feature match: none frame mode: multiframe save output: true save topview: false loop count: 1 XCAM INFO egl/egl_base.cpp:59: EGL version: 1.4 free(): invalid pointer Aborted (core dumped)

tried .yuv with .nv12 by just renaming it. Still same error

If i can get some sample fisheye images for surround view, it could help me( if the images are causing the problem here). I am trying with normal images now, But it should still run right?

[liuyinhangx]

@Naveen2195 , if the NV12 inputs are right, you can refer to the detailed test cmdline https://github.com/intel/libxcam/wiki/Tests#1-test-surround-view

[Naveen2195]

@liuyinhangx : Thanks for the prompt response. Could please provide NV12 inputs, i feel the my inputs are wrong.

Actually I have taken fisheyes images of PNG format, with help of FFMPEG tool I converted to .yuv extension...Then I renamed .yuv to .nv12 file extension names.

Kindly correct my above mentioned procedure...

Looking for your prompt reply.

[liuyinhangx]

hi, @Naveen2195

1. You can use yuv viewer or player to verify the xxx.nv12 files.
2. For one frame(x4 inputs), you can try the two options on test-surround-view: --frame-mode single and --loop 100

[Naveen2195]

Hello @liuyinhangx I have tried that also. I cannot identify the problem from the error message on terminal, about whether it is caused by the images i gave or some other library/installation errors.

After reinstalling , I am getting a new error ./test-surround-view --input 1.nv12 --input 2.nv12 --input 3.nv12 --input 4.nv12 --output 5.nv12 --in-w 512 --in-h 512 --out-w 2048 --out-h 512 --frame-mode single --loop 100 input0 file: 1.nv12 input1 file: 2.nv12 input2 file: 3.nv12 input3 file: 4.nv12 output file: 5.nv12 input width: 512 input height: 512 output width: 2048 output height: 512 topview width: 1280 topview height: 720 fisheye number: 4 resolution mode: 1080p4cams blend pyr levels: 2 dewarp mode: bowl scopic mode: mono scaling mode: singleconst feature match: none frame mode: singleframe save output: true save topview: false loop count: 100 test-surround-view: test-surround-view.cpp:77: void SVStream::set_module(SVModule): Assertion `module != SVModuleNone' failed. Aborted (core dumped)

I am new to image stiching and camera concepts. No idea about this error.

[liuyinhangx]

hi @Naveen2195 some information that may be helpful:

1. you lost some options, the cmdline should be like this: $ test-surround-view --module gles --output output.nv12 --input input0.nv12 --input input1.nv12 --input input2.nv12 --input input3.nv12 --in-w 1280 --in-h 800 --out-w 1920 --out-h 640 --topview-w 1280 --topview-h 720 --fisheye-num 4 --res-mode 1080p4cams --dewarp-mode bowl --scale-mode dualconst --frame-mode single --fm-mode cluster --save true --save-topview false --loop 100
2. for detailed test, you can refer to test-surround-view
3. you can use the follow cmdline to get help information: $ test-surround-view --help
4. if --dewarp-mode is bowl, you shoud do the fisheye calibration first, you can refer to https://github.com/intel/libxcam/issues/497

[Naveen2195]

Hello Liu, I tried running with above parameters except --fm-mode cluster ( shows error: XCAM ERROR test-surround-view.cpp:655: surround view unsupported feature match mode: cluster ) Please note i used custom resolutions for -w and -h as per my image. After running i got this error msg;

XCAM INFO egl/egl_base.cpp:59: EGL version: 1.4 terminate called after throwing an instance of 'std::logic_error' what(): basic_string::_M_construct null not valid Aborted (core dumped)

The images are calibrated I believe (Will try again).

I don't have xcam folder in my etc or anywhere. So I am afraid
_export FISHEYE_CONFIGPATH=/etc/xcam/calibration is causing problem? No idea why it's not created after building everything.

[liuyinhangx]

Some dependent libraries may not be installed, please refer to Build, and verify OpenCV and Mesa3D are installed correctly.

[Naveen2195]

Hello Liu, For calibration, in what format we should give the intrinsic parameters? Currently it's in text format. Also Can you please suggest how to give intrinsic and extrinsic parameter values?

[liuyinhangx]

hi @Naveen2195 Text format(xxxx.txt) is ok, you can refer to https://github.com/intel/libxcam/issues/497 From test-surround-view: The calibration files(intrinsic paramters and extrinsic parameters) should be stored in "FISHEYE_CONFIG_PATH" directory, and then export the path:

        export FISHEYE_CONFIG_PATH=/etc/xcam/calibration

You only need to export the path of calibration files(xxxx.txt).

[jeongseokhwan]

hi~i have a question.. i downloaded the libxcam_app and libxcam-master two tar files and i tested. i used the 4 cameras(of course i got the intrinsic parameter from ocam calibration and extrinsic parameter from opencv), but result is very strange.. i connected camera front,right,rear,left output image is very not good. i think even if intrinsic, extrinsic parameter is wrong, in the output image, 4 cameras input are displayed regular..but it is not.. anyone know why? or reason? please help me.. thanks

[liuyinhangx]

hi @jeongseokhwan You can refer to https://github.com/intel/libxcam/issues/497, https://github.com/intel/libxcam/issues/616 and https://github.com/intel/libxcam/issues/650

[jeongseokhwan]

hi~i have a question.. when i tested with 960 x 540 size image...it works..but i tested with 1280 x 720 size image.(because i have intrinsic parameters of HD camera) it doesn't work..i also modified input, output, topview size in .cpp file(960 x 540 -> 1280 x 720) free(): invalid pointer : 0x0000000000462900 aborted(core dumped) anyone know??