TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sfm_ti_vis.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 
20 #ifndef TI_SFM_DRAW_VIS_H
21 #define TI_SFM_DRAW_VIS_H
22 
23 #pragma CHECK_MISRA ("none")
24 #include <stdio.h>
25 #include <stdlib.h>
26 #include <stdint.h>
27 #include <string.h>
28 #pragma RESET_MISRA ("required")
29 #include "sfm_ti_alg_int.h"
30 
31 //#define TIADALG_VIS_PROFILE
32 #ifndef __mmin
33 #define __mmin(x,y) ((x>y)?y:x)
34 #endif
35 void SFM_TI_drawSparse3DPoints(uint8_t* restrict imgPtr2, SFM_TI_output* restrict ptCld, int32_t imgWidth,
36  uint8_t* colorIdx, uint16_t* curBlkIndx,int32_t blockOffset,
37  int32_t curBlkNumPoints);
38 
39 int32_t SFM_TI_segregate3DPoints(SFM_TI_output* restrict ptCld, int32_t imgWidth,int32_t imgHeight,
40  float dMin, float dMax, int32_t numRowInBlk,
41  uint8_t* colorIndx, uint16_t* blkIndx,
42  int32_t outNumPoints);
43 
44 void SFM_TI_visPtCldOutput(SFM_TI_Handle intAlgHandle,
45  SFM_TI_CreateParams* createParams,
46  sSfm_TI_ExtMem* sfmPrm,
47  uint8_t* inImg, void * pointCld, uint8_t* outImg);
48 
49 void SFM_TI_visOgOutput(SFM_TI_Handle intAlgHandle,
50  SFM_TI_CreateParams* createParams,
51  sSfm_TI_ExtMem* sfmPrm,
52  uint8_t* outImg); /*Output image location in DDR*/
53 
54 void SFM_TI_visEgoVehicle(SFM_TI_Handle intAlgHandle,
55  SFM_TI_CreateParams* createParams,
56  sSfm_TI_ExtMem* sfmPrm,
57  int32_t isLocal,
58  uint8_t* outImg);
59 
60 #endif
This file defines the private functions for Feature Plane classification.
void SFM_TI_visOgOutput(SFM_TI_Handle intAlgHandle, SFM_TI_CreateParams *createParams, sSfm_TI_ExtMem *sfmPrm, uint8_t *outImg)
Definition: sfm_ti_alg_int.h:141
L1D scratch memory definition. Base address of ever element in below structure is double word aligned...
Definition: sfm_ti_alg_int.h:588
int32_t SFM_TI_segregate3DPoints(SFM_TI_output *restrict ptCld, int32_t imgWidth, int32_t imgHeight, float dMin, float dMax, int32_t numRowInBlk, uint8_t *colorIndx, uint16_t *blkIndx, int32_t outNumPoints)
void SFM_TI_visEgoVehicle(SFM_TI_Handle intAlgHandle, SFM_TI_CreateParams *createParams, sSfm_TI_ExtMem *sfmPrm, int32_t isLocal, uint8_t *outImg)
void SFM_TI_visPtCldOutput(SFM_TI_Handle intAlgHandle, SFM_TI_CreateParams *createParams, sSfm_TI_ExtMem *sfmPrm, uint8_t *inImg, void *pointCld, uint8_t *outImg)
void SFM_TI_drawSparse3DPoints(uint8_t *restrict imgPtr2, SFM_TI_output *restrict ptCld, int32_t imgWidth, uint8_t *colorIdx, uint16_t *curBlkIndx, int32_t blockOffset, int32_t curBlkNumPoints)
This structure contains all the parameters which controls SFM algorithm at create time...
Definition: tiadalg_structure_from_motion.h:202
This structure defines the format of output buffer given out from algorithm.
Definition: tiadalg_structure_from_motion.h:416

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