TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sfm_ti_3dPruning.h
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1 /*
2 * module name : Structure From Motion
3 *
4 * module descripton : Generates sparse 3D points from optical flow information in camera captured images
5 *
6 * Copyright (C) 2009-2017 Texas Instruments Incorporated - http://www.ti.com/
7 * ALL RIGHTS RESERVED
8 *
9 */
10 
19 #ifndef TI_SFM_3DPRUNING_H
20 #define TI_SFM_3DPRUNING_H
21 
53 void SFM_TI_reprojErrorCalc(float* camPrm,
54  float* inPoint3D,
55  float* track2DPoints,
56  uint8_t* curTrackLength,
57  float* reprojError);
82 uint16_t SFM_TI_subtendedAnglePrun(float* camPrm,
83  float* inPoint3D,
84  uint8_t* curTrackLength,
85  float* subAngle
86  );
113 void SFM_TI_chiralityPruning(float* camPrm,
114  float* inPoint3D,
115  uint8_t* isValid3DPoint,
116  int32_t num3DPoints);
117 
148 void SFM_TI_reprojErrorCalc_ci(float * restrict camPrm,
149  float * restrict inPoint3D,
150  float * restrict track2DPoints,
151  uint8_t * restrict curTrackLength,
152  float * restrict reprojError);
153 
181 void SFM_TI_chiralityPruning_ci(float * restrict camPrm,
182  float * restrict inPoint3D,
183  uint8_t * restrict isValid3DPoint,
184  int32_t num3DPoints
185  );
210 uint16_t SFM_TI_subtendedAnglePrun_ci(float * restrict camPrm,
211  float * restrict inPoint3D,
212  uint8_t * restrict curTrackLength,
213  float * restrict subAngle
214  );
215 
219 void SFM_TI_combinePrun(float* reprojErr,
220  float* subAngle,
221  float reprojErrTh,
222  float subAngleTh,
223  uint8_t* valid);
224 
225 float VLIB_FMAT_AR_mapPoints(float pts2r[restrict],
226  float pts1r[restrict],
227  int16_t numPoints,
228  float F[],
229  float distThreshold,
230  int16_t *numInliers,
231  uint8_t isInlier[]);
232 
233 float VXLIB_FMAT_mapPoints_ci(float inPts2[restrict],
234  float inPts1[restrict],
235  int16_t numPoints,
236  float f[restrict],
237  int32_t fMatPitch,
238  float distThreshold,
239  int16_t *outNumInliers,
240  uint8_t isInlier[restrict],
241  void *pBlock);
242 
243 #endif
244 
245 
246 
247 
248 
void SFM_TI_combinePrun(float *reprojErr, float *subAngle, float reprojErrTh, float subAngleTh, uint8_t *valid)
void SFM_TI_reprojErrorCalc(float *camPrm, float *inPoint3D, float *track2DPoints, uint8_t *curTrackLength, float *reprojError)
uint16_t SFM_TI_subtendedAnglePrun(float *camPrm, float *inPoint3D, uint8_t *curTrackLength, float *subAngle)
float VXLIB_FMAT_mapPoints_ci(float inPts2[restrict], float inPts1[restrict], int16_t numPoints, float f[restrict], int32_t fMatPitch, float distThreshold, int16_t *outNumInliers, uint8_t isInlier[restrict], void *pBlock)
void SFM_TI_reprojErrorCalc_ci(float *restrict camPrm, float *restrict inPoint3D, float *restrict track2DPoints, uint8_t *restrict curTrackLength, float *restrict reprojError)
uint16_t SFM_TI_subtendedAnglePrun_ci(float *restrict camPrm, float *restrict inPoint3D, uint8_t *restrict curTrackLength, float *restrict subAngle)
void SFM_TI_chiralityPruning(float *camPrm, float *inPoint3D, uint8_t *isValid3DPoint, int32_t num3DPoints)
void SFM_TI_chiralityPruning_ci(float *restrict camPrm, float *restrict inPoint3D, uint8_t *restrict isValid3DPoint, int32_t num3DPoints)
float VLIB_FMAT_AR_mapPoints(float pts2r[restrict], float pts1r[restrict], int16_t numPoints, float F[], float distThreshold, int16_t *numInliers, uint8_t isInlier[])

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