75 #ifndef _TIADALG_EL_ALG_INT_H_ 76 #define _TIADALG_EL_ALG_INT_H_ 91 #include <./../common/tiadalg_alg_int_interface.h> 137 #define KF_MAXIMUM_MEASUREMENT (3) 140 #define KF_MAXIMUM_STATE (9) 278 struct IALG_Fxns **parentFxns, IALG_MemRec *memRec);
279 int32_t
EL_TI_init(IALG_Handle handle,
const IALG_MemRec *memRec,
280 IALG_Handle parent,
const IALG_Params *params);
283 int32_t
EL_TI_free(IALG_Handle handle, IALG_MemRec *memRec);
285 const IALG_Params *inParams, IALG_Params *outParams);
286 int32_t
EL_TI_process(IVISION_Handle handle, IVISION_InBufs *inBufs,
287 IVISION_OutBufs *outBufs, IVISION_InArgs *inArgs,
288 IVISION_OutArgs *outArgs);
290 int32_t
EL_TI_pose_filtering(
float in_rot[3][3],
float in_t[3],
float out_rot_mat[3][3],
float out_rot_angle[3],
float out_t[3],
304 for(i =0 ;i < num; i++){
EL_TI_Pose iir_filt_pose
Definition: tiadalg_vl_alg_int.h:235
float * map_3d_points
Definition: tiadalg_vl_alg_int.h:218
static void memset_float(float *dst, float val, int32_t num)
Definition: tiadalg_vl_alg_int.h:301
VL_DESC_DATA_TYPE * ext_desc
Definition: tiadalg_vl_alg_int.h:227
Definition: tiadalg_vl_alg_int.h:107
EL_TI_Obj * EL_TI_Handle
Definition: tiadalg_vl_alg_int.h:269
eMemrecs
Definition: tiadalg_vl_alg_int.h:105
#define KF_MAXIMUM_STATE
Definition: tiadalg_vl_alg_int.h:140
uint32_t numMemRecs
Definition: tiadalg_vl_alg_int.h:262
EL_TI_Prms ti_prms
Definition: tiadalg_vl_alg_int.h:265
tiadalg_ext_feat * ext_feat
Definition: tiadalg_vl_alg_int.h:226
uint8_t algState
Definition: tiadalg_vl_alg_int.h:261
int32_t frame_idx
Definition: tiadalg_vl_alg_int.h:220
void TIADALG_KF_Init(EL_TI_Kalaman_filter *KF, int32_t num_meas, int32_t num_state, float *tansition_matrix)
int32_t num_measurement
Definition: tiadalg_vl_alg_int.h:207
int32_t width
Definition: tiadalg_vl_alg_int.h:223
Definition: tiadalg_vl_alg_int.h:212
int32_t height
Definition: tiadalg_vl_alg_int.h:224
uint8_t * l2_scratch
Definition: tiadalg_vl_alg_int.h:215
Definition: tiadalg_vl_alg_int.h:192
Definition: tiadalg_vl_alg_int.h:126
int32_t EL_TI_process(IVISION_Handle handle, IVISION_InBufs *inBufs, IVISION_OutBufs *outBufs, IVISION_InArgs *inArgs, IVISION_OutArgs *outArgs)
void TIADALG_KF_Predict_F32(EL_TI_Kalaman_filter *KF)
int32_t EL_TI_free(IALG_Handle handle, IALG_MemRec *memRec)
int32_t EL_TI_init(IALG_Handle handle, const IALG_MemRec *memRec, IALG_Handle parent, const IALG_Params *params)
int32_t EL_TI_alloc(const IALG_Params *params, struct IALG_Fxns **parentFxns, IALG_MemRec *memRec)
uint8_t * in_img
Definition: tiadalg_vl_alg_int.h:225
Definition: tiadalg_vl_alg_int.h:116
This defines the property of one voxel List of tiadalg_voxel_info objects are passed through buffer T...
Definition: tiadalg_visual_localization.h:111
Definition: tiadalg_vl_alg_int.h:129
void getOrientationFromRotationMat(float rotationMat[3][3], float orientation[3])
EL_TI_Pose cur_filt_pose
Definition: tiadalg_vl_alg_int.h:234
EL_TI_Pose prev_filt_pose
Definition: tiadalg_vl_alg_int.h:233
Algorithm create time parameters.
Definition: tiadalg_visual_localization.h:199
uint8_t VL_DESC_DATA_TYPE
Image feature Descriptor data type. Prebuilt binaries are for unsigned 8b, 64 element feature descrip...
Definition: tiadalg_visual_localization.h:88
EL_TI_Pose prev_est_pose
Definition: tiadalg_vl_alg_int.h:232
uint8_t * ext_scratch
Definition: tiadalg_vl_alg_int.h:216
This structure is the main handle of EL Module.
Definition: tiadalg_vl_alg_int.h:258
Definition: tiadalg_vl_alg_int.h:113
void EL_TI_deactivate(IALG_Handle handle)
void TIADALG_KF_Correct_F32(EL_TI_Kalaman_filter *KF, const float *Z, float *Residual)
Information of one externally computed image feature point.
Definition: tiadalg_visual_localization.h:137
int32_t num_state
Definition: tiadalg_vl_alg_int.h:208
#define KF_MAXIMUM_MEASUREMENT
Definition: tiadalg_vl_alg_int.h:137
tiadalg_voxel_info * voxel_info
Definition: tiadalg_vl_alg_int.h:217
Definition: tiadalg_vl_alg_int.h:114
Definition: tiadalg_vl_alg_int.h:115
int32_t EL_TI_pose_filtering(float in_rot[3][3], float in_t[3], float out_rot_mat[3][3], float out_rot_angle[3], float out_t[3], int32_t is_first_frame, int32_t solve_pnp_status, EL_TI_Kalaman_filter *kf, EL_TI_Pose *prev_est_pose, EL_TI_Pose *prev_filt_pose, EL_TI_Pose *cur_filt_pose, EL_TI_Pose *iir_filt_pose)
TIADALG_el_create_params algCreatePrms
Definition: tiadalg_vl_alg_int.h:264
void EL_TI_activate(IALG_Handle handle)
Definition: tiadalg_vl_alg_int.h:125
int32_t TIADALG_gaussJordanElimination_cn(float *a, int32_t n, float *b, int32_t aMatPitch, uint8_t *scratch)
Definition: tiadalg_vl_alg_int.h:111
VL_DESC_DATA_TYPE * map_desc
Definition: tiadalg_vl_alg_int.h:219
eAlgState
Definition: tiadalg_vl_alg_int.h:123
Definition: tiadalg_vl_alg_int.h:109
int32_t EL_TI_control(IVISION_Handle handle, IALG_Cmd cmd, const IALG_Params *inParams, IALG_Params *outParams)
const IVISION_Fxns * ivision
Definition: tiadalg_vl_alg_int.h:260
float scaleFactor
Definition: tiadalg_vl_alg_int.h:206
Definition: tiadalg_vl_alg_int.h:110
int32_t EL_TI_numAlloc(void)