Surround view

The Surround view application demonstrates how InfoADAS takes image buffers (video stream) from four cameras to create a 3D rendition of the surroundings.

When you run the application, you must have four cameras which have four views (such as 90 degrees from each). The application combines the video to give a 3D rendition of what is around the vehicle. For the 3D rendition of the surroundings to work properly, it requires that you have cameras that are mounted in precise locations and the settings in the application are calibrated based on how the cameras are mounted. For more information, see the Release Notes for this product. You can also contact QNX Software Systems for more information about this application.

To run the Surround view application (infoadas-app-epsrc), use the following parameter:

--layout: The location of the XML file that specifies the location of where the image buffers (video streams) from the cameras and the combined image appears on the display.

To get more information and documentation about this application, you must contact Texas Instruments directly through their customer service.

Run the application

Ensure that you make your filesystem writable. For more information see “Make the filesystem writable”.
Connect to the target board using a serial connection, terminal via a network connection (telnet or ssh), or via a terminal in the QNX Momentics IDE.
If you had changed the default configuration on the reference image, run the following command to reset the SLM configuration to boot with four FPD-Link III cameras:
```
cp /etc/slm-config-platform-default.xml to /etc/slm-config-platform.xml
```
If you had to change the configuration in the previous step, restart the target board (reset the power or run the shutdown command) and then reconnect ot your target; otherwise proceed to the next step.

Restart the IPC and load additional firmware. To do this, run the ipc command as show here:

# slay ipc
# ipc IPU2 /lib/firmware/dra7xx-m4-ipu2.xem4 IPU1 /lib/firmware/dra7-ipu1-fw.xem4
  DSP1 /lib/firmware/dra7-dsp1-fw.xe66 DSP2 /lib/firmware/dra7-dsp2-fw.xe66

Start the mqueue service.
```
# mqueue 
```
Navigate to the /apps/infoadas-srv/ directory. You must be in this directory to run the infoadas-app-epsrc command.

Run the Surround view application (infoadas-app-epsrc) specifying --layout as the location of your surround view configuration file, layouts_epsrc.xml selecting the following options:

1 for a15source_surr_view
2 for a15source-srv-3d-880x1080
1 for Start Chain

To exit the application, press x. For example:

# infoadas-app-epsrc --layout ./layouts/layouts_epsrc.xml
==============================
 [Plugin] selection Menu
==============================

 Plugin [1]: a15source_surr_view
 Plugin [2]: a15source_preview

 [x]: Exit application


 Enter Choice: 1
==============================
[[Chain]] selection Menu
==============================

 chain [1]: a15source-srv-2d-880x1080

 chain [2]: a15source-srv-3d-880x1080


 [x]: Return to previous menu


 Enter Choice: 2

==============================
 Supported chain operations
==============================

 [1]: Start Chain

 [2]: Stop Chain

 [3]: Control Chain

 [4]: Print Statistics

 [x]: Return to previous menu

 Enter Choice: 1
INFO: Init chain a15source_surr_view:a15source-srv-3d-880x1080
INFO: Configuring source ep a15source_surr_view:a15source-srv-3d-880x1080
INFO: Creating chain a15source_surr_view:a15source-srv-3d-880x1080
INFO: Chain a15source_surr_view:a15source-srv-3d-880x1080 has 1 sink eplinks and 2 sin
k eplinks
INFO: Starting chain a15source_surr_view:a15source-srv-3d-880x1080
INFO: Using properties 586x720 @ 640,0 format-3 on HDMI for surface '3-D stitched surr
ound view'
INFO: Using properties 320x180 @ 10,0 format-1 on HDMI for surface 'Left Preview'
INFO: Using properties 320x180 @ 10,180 format-1 on HDMI for surface 'Right Preview'
INFO: Using properties 320x180 @ 10,360 format-1 on HDMI for surface 'Front Preview'
INFO: Using properties 320x180 @ 10,540 format-1 on HDMI for surface 'Rear Preview'
INFO: VIVI thread for chain a15source_surr_view:a15source-srv-3d-880x1080 started
INFO: sourcing thread for chain a15source_surr_view:a15source-srv-3d-880x1080 started
total cameras to start: 4
camera 0 child window created
start camera: 0
camera 1 child window created
start camera: 1
camera 2 child window created
start camera: 2
camera 3 child window created
start camera: 3

==============================
Supported chain operations
==============================

 [1]: Start Chain

 [2]: Stop Chain

 [3]: Control Chain

 [4]: Print Statistics

 [x]: Return to previous menu

 Enter Choice:

You should see boxes with video from each camera on the left of the display. After a momentary pause, the system combines the video and gives you a graphic representing your vehicle and a 3D rendition the surroundings based on the video from the four cameras.

Build the Surround view application

You can download the source code from the QNX website. It's available in a separate package. Instructions to build and deploy the application are in the Installation Notes for the package.