NXP i.MX 8M Plus Evaluation Kit User Guide

AN14104
i.MX 8M Plus Stereo Vision
Rev. 1.0 — 8 December 2023
Application note

i.MX 8M Plus Evaluation Kit

Document information

map, calibration
Abstract| This document describes how to synchronize two Basler cameras on i.MX 8M Plus and compute a depth map using OpenCV and Python.

Introduction

Stereo vision is an extraction of 3D information from two images captured by two synchronized cameras that can be compared with the human vision.
This document provides detailed information about a proof of concept for i.MX 8M Plus stereo vision and includes the following sections:

• Hardware and software requirements
• Camera synchronization
• Build the image
• Calibration
• Depth map computation
• Results

Hardware and software requirements

Table 1 provides details of the hardware and software used.

Table 1. Hardware and software used

Camera kit: 2 x Basler cameras daA3840-30mc
Micro SD card:
• SanDisk Ultra 32-GB micro SDHC
• Class 10 is used for the current experiment
USB: Micro-USB cable for the debug port
Software| Host PC running a recent version of Ubuntu 20.10 Linux 5.15.71_2.2.0
The source code mentioned in this document is available at: MICRSE-1784 -8mplus-stereo-vision- release.

Build the image

For information on building Yocto, refer to i.MX Yocto Project User’s Guide (document IMXLXYOCTOUG).
To download the i.MX Yocto Project community BSP recipe layers, perform the following steps:

1. Create a directory for the project. In the directory, use the following command:
   

2. To use the Basler kit and the Pylon Viewer application, integrate the support given by Basler in the BSP provided by the i.MX Yocto Project. The two layers meta-basler-imx8 and meta-basler-tools are cloned and added to the project sources, as follows:
   

3. After cloning the two layers, read the license files.

4. For accepting the licenses and installing the required packages, append the following command lines in build/conf/local.conf:
   

5. Follow the format and add the two layers in build/conf/bblayers.conf:
   

6. To build the image, run the following command:
   Note: The full image is required.
   

Camera synchronization

Ensure that the captured frames are synchronous. In the BSP, it is not a default functionality, which means it must be added as explained in the following sections.
Note: For the final application, the GPIO hardware trigger has been used.

Two different ways to trigger the synchronous capture are as follows:

• PWM trigger
• GPIO hardware trigger

4.1 PWM trigger
The output of the PWM is a toggling signal whose frequency and duty cycle can be modulated by programming the appropriate registers, as follows:

1. Rebuild the imx8mp-evk-dual-basler.dts after adding the following command lines:
   

2. Deploy the image and dtb on the SD card.

3. Stop in the U-Boot and change dtb.
   

4. After booting, open a wayland terminal using a mouse and a keyboard, which are connected to the platform.
   Run the pylon application as follows:
   Turn on both the cameras that appear in the device window at “Basler BCON GenTL Producer > Basler BCON GenTL Interface Module”.

5. Select the following configurations on each of the video cameras:
   a. In the features window, go to Acquisition Control and select the following parameters:
   • Trigger Sector = Frame start
   • Trigger Mode = On
   • Trigger Activation = Raising Edge
   b. Click “Camera > Save Features” and generate the pylon feature stream (pfs) for each camera.
   These two pfs files are used by the GStreamer command. Close the pylon application.

6. On the i.MX 8M Plus terminal, perform the following steps:
   a. Disable the clock as follows:
   b. Set a period of 33 ms and a duty cycle of 50 %.
   c. Place a display with a timer in front of each camera, run the GStreamer pipeline, and wait for the cameras to configure.
   d. After the configuration is completed, enable the clock to trigger the cameras.
   e. Once the cameras are triggered, two synchronous frames are saved. The format shown in Figure 1 is h:m:s:ms.
   

4.2 GPIO hardware trigger
General-purpose input/output (GPIO) is a module that controls the IOMUX on the chip. Therefore, configure the GPIO before using it.
Figure 2 shows the two BCON to MIPI adapters along with pin 5 and pin 6, which are connected to a jumper. A connection is established between the SYNC_I(C) signal and the MCLK signal on the adapter.

Table 2. Signals accessible on the Basler adapter

Platform| Function| Signal name| GPIO SoC| Signal name on the adapter
---|---|---|---|---
i.MX 8M Plus
EVK| Trigger CAM0| CSI_MCLK
CSI1_SYNC| GPIO1_IO15
GPIO1_IO5| CSI_MCLK
CSI_SYNC
Trigger CAM1| CSI_MCLK
CSI2_SYNC| GPIO1_IO15
GPIO1_IO7| CSI_MCLK
CSI_SYNC

GPIO1_IO15 is a pin dedicated for general use that can be configured using GPIO peripherals as follows:

To configure GPIO1_IO15, modify the device tree, as shown above, considering the following facts:

• printctrl_hog is used for GPIO pinmuxes that are not explicitly used in other modules in the device tree.
• It is set by default when testing the IOMUXC module.

Then rebuild imx8mp-evk-dual-basler.dts and deploy it on the SD card.
To toggle the configured GPIO, use an application that uses libgpiod, which is a Linux library that allows the interfacing with GPIO. One way to add the library in the image is to build and install it manually or add it to the Yocto Project as  follows:

The application is built with the help of the following command:

![Acura 2019 TLX Car

• command 4](https://manuals.plus/wp-content/uploads/2024/02/Acura-2019-TLX- Car-command-4.png)

Here is an example of how to toggle the GPIO with the help of the application built previously:

To manage the frames captured by the two synchronized Basler cameras, use the libraries found in the downloaded packages. The two libraries, genicam and pylon, facilitate communication with the cameras so that the ImageEventHandler class is used to capture the frames where the OnImageGrabbed() function is found. When an image is captured, each camera calls this function as shown in Figure 3.

At the end, each camera generates two frames that can be used further.

Calibration

This section describes how to calibrate the two cameras using a chessboard pattern shown in Figure 4. The chessboard used consists of 11 columns, 8 rows, and the side of the square is 2.5 cm. This information is important to compute the  parameters.

Using the pattern for each camera, take several synchronous photographs as shown in Figure 5. For the results presented in this document, at least 130 photographs have been taken. These photographs are calibrated with the help of the  OpenCV function cv2.cornerSubPix().
If the chessboard is detected, this function finds corners. The corners are used to compute camera calibration parameters using a cv2.calibrateCamera() function.
The parameters obtain for each camera are used for stereo calibration made with the help of the cv2.stereoCalibrate() and cv2.stereoRectify().
The cv2.stereoCalibrate() returns the root mean square (RMS) implying that it has to be as small as possible.

The description provided above can be performed with the help of the calibration.py script. This script uses the photographs for both cameras and saves the parameters in the directory. The script is as follows:

For the results obtained using this Python script, 127 photographs have been captured for each camera. 15 photographs with the best value for RMS are used for computing the parameters in the calibration step, as shown in Figure 6.

Depth map computation

After establishing the synchronous capture, calibrate the two cameras. The parameters obtained are used for rectification. After rectifying the two images, the depth map is calculated.

To compute the depth map in real time, a stero.py script has been created, which can be used in three different modes described as follows:

The same script can be used for capturing the frames for the calibration by setting the property mode.
For more efficient use of the application, a shell script has been created. This script creates the directories as required and uses them by running the base script stereo.py. For the shell script, the mode must be specified. For example, for  the first mode, run the below command line:

In the stereo.py script, the steps described in the second synchronization mode are performed, obtaining the left and right frames. Then, the frames are rectified using the parameters obtained in the calibration step. The rectified images  are used by the StereoSGBM_create object. This object calculates the disparity by setting the required parameters according to the desired results.
For example, the max_disp parameter refers to the disparate search range. The algorithm searches for all disparities between 0 and the set value. The blockSize parameter sets the size of the blocks that the algorithm compares. A small  value provides maps with more finely calculated disparities and if the value is higher, the algorithm can result in wrong comparisons.

To obtain better results, filter these results using a weighted least squares (WLS) filter. This filter is used for the following options:

• Maps based on WLS
• Optional use of previously found left-right consistent parameters to refine the results in a uniform area

Results

The image processing and algorithm runs on the CPU implying that it is a CPU intensive example. This example can result in 1 to 2 disparity maps per second.
For the first example, a white box has been used and three pictures have been captured. The box is brought closer to the camera lens. Here, the closer the box is to the camera, the darker the pixels get, as shown in Figure 8.

For the second example, two objects with different colors are placed at the same distance from the cameras.
Here, the pixel color intensity is the same for both the objects, as shown in Figure 9.

If the objects have several types of colors, writing, or relief, mismatches can be observed in the depth map.
However, the presented solution is only a proof of concept. To obtain better results for the calibration and the calculation of the depth map, improvements must be added.

Note about the source code in the document

Example code shown in this document has the following copyright and BSD-3-Clause license:

Copyright 2023 NXP Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE

Revision history

Table 3 summarizes the revisions made to this document.

Table 3. Revision history

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Date of release: 8 December 2023
Document identifier: AN14104

References

• GitHub - nxp-imx/imx-manifest: i.MX Release Manifest
• GitHub - basler/meta-basler-imx8: OpenEmbedded/Yocto layer for Basler Mipi Cameras on the i.MX8 platform
• GitHub - basler/meta-basler-tools: OpenEmbedded/Yocto layer for Basler tools
• Our Terms And Conditions Of Commercial Sale | NXP Semiconductors

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