TI Autonomous Driving Algorithms (TIADALG) Library User Guide
VLIB_triangulatePoints_types.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) 2007-2017 Texas Instruments Incorporated - http://www.ti.com/
7 * ALL RIGHTS RESERVED
8 *
9 */
10 #ifndef VLIB_TRIANGULATEPOINT_TYPES_H_
11 #define VLIB_TRIANGULATEPOINT_TYPES_H_ 1
12 
13 #define VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE (12)
14 #define VXLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE)
15 
16 #define VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE (9)
17 #define VXLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE)
18 /*
19 * To make double word alignment and also to take account of last row
20 * which is 0 0 0 1
21 */
22 #define VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE + 8)
23 #define VXLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE)
24 /* To make double word aligned.
25 */
26 #define VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE + 1)
27 #define VXLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE)
28 /*
29 * Maximum number track length which is considered for triangulation
30 */
31 #define VLIB_TRIANG_MAX_POINTS_IN_TRACK (MAX_NUM_FRAMES_TO_TRACK)
32 
33 #define VXLIB_TRIANG_MAX_POINTS_IN_TRACK (VLIB_TRIANG_MAX_POINTS_IN_TRACK)
34 /*
35 * Maximum number of tracks worked together, called as vector. This is controlled SIMD length of processor for floating point data
36 */
37 #define VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR (SIMD_WIDTH)
38 
39 #define VXLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR (VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR)
40 
41 /*
42 * Total number of unique element in matrix At*A used in triangulation
43 */
44 #define VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA (6)
45 #define VXLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA (VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA)
46 /* Number of rows in triangulation matrix
47 */
48 #define VLIB_TRIANG_MAT_ROW (3)
49 #define VXLIB_TRIANG_MAT_ROW (VLIB_TRIANG_MAT_ROW)
50 /* Number of columns in triangulation matrix
51 */
52 #define VLIB_TRIANG_MAT_COL (VLIB_TRIANG_MAX_POINTS_IN_TRACK * 2)
53 #define VXLIB_TRIANG_MAT_COL (VLIB_TRIANG_MAT_COL)
54 
55 /* Aligned number of rows for triangulation matrix, to have data double word aligned.
56 */
57 #define VLIB_TRIANG_MAT_AROW ((VLIB_TRIANG_MAT_ROW + 1) & 0xFFFFFFFE)
58 #define VXLIB_TRIANG_MAT_AROW (VLIB_TRIANG_MAT_AROW)
59 
60 #endif
61 /* ======================================================================== */
62 /* End of file: VLIB_triangulatePoints_types.h */
63 /* ======================================================================== */

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