Document Number: SVAUG NXP Semiconductors User s Guide Rev. 1, 07/2018 Surround View Application 1. Introduction Contents This document describes how to properly set up the 1. Introduction ........................................................................ 1 2. Hardware setup ................................................................... 2 360-degree Surround View application on the 3. Application tools overview ................................................. 5 i.MX 8QM device. The Surround View 3D (SV3D) 4. System settings ................................................................... 7 project is divided into two separate parts: the calibration 5. Lens calibration .................................................................. 7 5.1. Image capturing ....................................................... 7 section and the rendering application. The whole 5.2. Camera intrinsic parameters estimation tool ............ 8 calibration section is divided into these separate parts: 6. System calibration ............................................................ 12 6.1. Arrangement .......................................................... 12 Lens camera calibration (including the image 6.2. Calibration process ................................................ 13 capturing and the omnidirectional camera 7. Real-Time Rendering application ..................................... 18 calibration), which is the intrinsic camera 8. References ........................................................................ 19 9. Revision history ................................................................ 20 calibration. System calibration, which executes the whole preprocessing calculation and generates the files for texture mapping (rendering). The calibration can be done only once, because the camera system is fixed and the cameras do not move relatively to each other. Otherwise, the calibration process must be repeated. The proper order of these calibrations is also important. The intrinsic (lens) calibration must be performed first. The rendering application maps the cameras frames on a prepared 3D mash and blends the frames. For details about the applications software theory, see 1 the Surround View Application Reference Manual . 2018 NXP B.V. Hardware setup 2. Hardware setup The Surround View development platform consists of the parts listed in Table 1 (see also Figure 1). It is assumed that you can built the demo kit yourself using all released hardware and software sources. Table 1. Surround view kit Bill of Material (BOM) Item Pcs. Description P/N 1 1 i.MX 8QM-MEK MCIMX8QM-CPU 2 1 MAX9286 deserializer with miniSAS cable MX8XMIPI4CAM2 3 4 Camera with coaxial cable MCIMXCAMERA1MP 4 1 i.MX 8QM-MEK base board (optional only) MCIM8-8X-BB 5 1 Display converter with miniSAS cable IMX-DLVDS-HDMI 6 1 Mini-tripod CL-TPPRE150 7 4 Camera enclosure 3D-printed 8 1 Camera stand 3D-printed 9 1 SDHC 32 (16) GB, UHS-I Class 10 SDSDUNC-032G-GN6IN 10 1 System (extrinsic camera) calibration pattern 530x530 mm 11 1 Lens (intrinsic camera) calibration pattern 297x297 mm The below components are not a part of the development platform, but they are needed to run the whole camera system. It is assumed that you have all the remaining components and tools (see Table 2). Table 2. Surround view additional components Item Description 12 USB keyboard 13 USB mouse 14 USB-C (male) to USB 3.0 (female) adapter cable + USB hub 15 HDMI monitor with HDMI cable 16 64-bit Windows OS PC with Matlab or Matlab Runtime installed 17 Ethernet cable If you have all hardware components delivered, perform these steps before running the applications (calibration, rendering): Connect all boards as shown in Figure 1. Connect the deserializer to the MIPI-CSI0 connector and the display converter to the LVDS0-CH0 connector on the CPU board. Interconnect these boards using miniSAS cables. Print the camera stand and the camera enclosure using a 3D printer. Use the sources available on 3 the NXP webpage , located in the /Tools/CamStand folder. Place the camera module to the bigger camera enclosure part with clips, plug in the smaller enclosure part, and click both camera covers (left + right). Finally, plug each camera module to the camera stand. See Figure 2. Screw the tripod to the camera stand using the built-in tripod screw (see Figure 3). Interconnect all cameras with the deserializer using the coaxial cables. Keep the right camera order (see Figure 1). Keep the clockwise camera connection on the camera stand. That means Surround View Application, Users Guide, Rev. 1, 07/2018 2 NXP Semiconductors