This file defines the interface for TIADALG Visual localization algorithm. This algorithm takes externally computed image features along with pre generated map information to estimate the current location. Externally computed features could be AKAZE features or it could be any other as well. More...

#include <stdint.h>
#include <ivision.h>

Data Structures
struct	tiadalg_voxel_info
	This defines the property of one voxel List of tiadalg_voxel_info objects are passed through buffer TIADALG_EL_IN_BUFDESC_VOXEL_INFO memTab. More...

struct	tiadalg_ext_feat
	Information of one externally computed image feature point. More...

struct	tiadalg_map_feat
	Information of one map feature point. More...

struct	tiadalg_feat_desc
	Feature point descriptor format Currently only 64 uint16/uint8 values are supported for descriptor. Pre-built binaries are for 64 elemnts of unsigned 8b descriptors. More...

struct	tiadalg_map_info
	Information corresponding to overall map, passed to algorithm though create params. More...

struct	TIADALG_el_create_params
	Algorithm create time parameters. More...

struct	TIADALG_el_in_args
	InArgs parameters. More...

struct	TIADALG_el_out_args
	outArgs parmaeters More...

enum	tiadalg_el_inbuf_order { TIADALG_EL_IN_BUFDESC_EXTERNAL_FEAT = 0, TIADALG_EL_IN_BUFDESC_EXTERNAL_DESC = 1, TIADALG_EL_IN_BUFDESC_TOTAL }
	Input buffer ids for the buffers to be given in visual localization process call. More...

typedef uint8_t	VL_DESC_DATA_TYPE
	Image feature Descriptor data type. Prebuilt binaries are for unsigned 8b, 64 element feature descriptor. More...

const IVISION_Fxns	VL_VISION_FXNS
	List of exposed APIs for the algorithm. More...

Detailed Description

This file defines the interface for TIADALG Visual localization algorithm. This algorithm takes externally computed image features along with pre generated map information to estimate the current location. Externally computed features could be AKAZE features or it could be any other as well.

Version: 0.1 Feb 2019 : First version

Typedef Documentation

◆ VL_DESC_DATA_TYPE

typedef uint8_t VL_DESC_DATA_TYPE

Image feature Descriptor data type. Prebuilt binaries are for unsigned 8b, 64 element feature descriptor.

Enumeration Type Documentation

◆ tiadalg_el_inbuf_order

enum tiadalg_el_inbuf_order

Input buffer ids for the buffers to be given in visual localization process call.

Enumerator
TIADALG_EL_IN_BUFDESC_EXTERNAL_FEAT	Buffer for external key point (x,y) features
TIADALG_EL_IN_BUFDESC_EXTERNAL_DESC	Buffer for descriptors for each external key point (x,y)
TIADALG_EL_IN_BUFDESC_TOTAL

Variable Documentation

◆ VL_VISION_FXNS

const IVISION_Fxns VL_VISION_FXNS

List of exposed APIs for the algorithm.