19 #ifndef TI_SFM_3DPRUNING_H 20 #define TI_SFM_3DPRUNING_H 56 uint8_t* curTrackLength,
84 uint8_t* curTrackLength,
115 uint8_t* isValid3DPoint,
116 int32_t num3DPoints);
149 float * restrict inPoint3D,
150 float * restrict track2DPoints,
151 uint8_t * restrict curTrackLength,
152 float * restrict reprojError);
182 float * restrict inPoint3D,
183 uint8_t * restrict isValid3DPoint,
211 float * restrict inPoint3D,
212 uint8_t * restrict curTrackLength,
213 float * restrict subAngle
226 float pts1r[restrict],
234 float inPts1[restrict],
239 int16_t *outNumInliers,
240 uint8_t isInlier[restrict],
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[])