TI Autonomous Driving Algorithms (TIADALG) Library User Guide
TIADALG : Top Level Deign

Requirements Addressed

Introduction

Purpose

Dense Optical Flow application is used show the capabilities of DOF HWA.

Short Application Description

  • Process a sequence of frames via the DOF HWA
  • Output the DOF flow vector and confidence measure in a format which can be viewed by the user

Input and Output format

  • This application reads input as a sequence of .png files and feeds as grayscale 8b images to DOF TIOVX node
  • Gaussian pyramid TIOVX kernel is used to generate image pyramid of DOF
  • This application outputs flow vector as a RGB image and confidence measure as a grayscale image using DofVisualize TIOVX node
  • PNG Rd/Wr utility is from TIOVX is used to read/write files
  • The input file sequence, output file sequence, input width, height and other properties are specified in a configuration file

Directory Structure

DOF application is at below path in vision apps::

├── apps                              # Applications
│   ├── basic_demos                   # Application Group
│   │   ├── app_dof                   # DOF application
│   │   │   └── config                # Default configuration file

Diagrams

Sequence Diagram

Component Interaction

OpenVX Graph

Below graph is generated after running the DOF app. Design document is updated after application was tested to include this.

Resource usage

  1. DOF node will run on DOF HWA target
  2. DOF visualization will run on either OpenVX HOST
  3. Guassiun Pyramid will run using scalar HWA

Error handling

  1. Input parameters specified in configuration file are validated by the application. In case of any error application either exits or uses a default
  2. If input or output files are not present application will exit or continue gracefully, i.e it will not crash and lock up the system

Interface

Following configuration options will be supported in the configuration file::

# location of input *.png files
input_file_path   /ti/j7presi//test_data/database/sequence0001/camera002/data

# filename prefix, input file name is constructed as <filename prefix>ddddd.png,
# e.g. tidof_00000.png, tidof_00001.png, ...
input_file_prefix 00000

# location of output *.png files
output_file_path  ./dof_out/

# filename prefix, output file name is constructed as
# <filename prefix>_flov_ddddd.png, <filename prefix>_conf_ddddd.png, <filename prefix>_raw_ddddd.png
# e.g. tidof_flov_00000.png, tidof_conf_00000.png, ...
out_file_prefix   00000

# first file number to pick as input
start_seq         1

# last file number to pick as input
end_seq           10

# input data width in pixels
width             1280

# input data height in lines
height            720

# dof levels, valid range: 2..5
dof_levels        5

# enable saving of intermediate outputs to file
#save_intermediate_output

# enable temporal predicton flow vector, valid values are 0 or 1
enable_temporal_predicton_flow_vector 1

Design Analysis and Resolution (DAR)

Design Decision : none

na

Design Criteria: none

na

Design Alternative: none

na

Design Alternative: none

na

Final Decision

na


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