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TI Autonomous Driving Algorithms (TIADALG) Library User Guide
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Functions | |
VXLIB_STATUS | VXLIB_triangulatePoints_i32f_o32f_init (VXLIB_F32 curTrack[], VXLIB_F32 camExtPrm[], uint8_t curTrackLength[], int32_t maxIter, VXLIB_F32 scratch[], int32_t totalTracks, int32_t precisionFlag, VXLIB_F32 outXcam[], uint8_t outValid[], void *pBlock) |
VXLIB_STATUS | VXLIB_triangulatePoints_i32f_o32f_checkParams (VXLIB_F32 curTrack[], VXLIB_F32 camExtPrm[], uint8_t curTrackLength[], int32_t maxIter, VXLIB_F32 scratch[], int32_t totalTracks, int32_t precisionFlag, VXLIB_F32 outXcam[], uint8_t outValid[]) |
VXLIB_STATUS | VXLIB_triangulatePoints_i32f_o32f_kernel (VXLIB_F32 curTrack[], VXLIB_F32 camExtPrm[], uint8_t curTrackLength[], int32_t maxIter, VXLIB_F32 scratch[], int32_t totalTracks, int32_t precisionFlag, VXLIB_F32 outXcam[], uint8_t outValid[], void *pBlock) |
VXLIB_STATUS VXLIB_triangulatePoints_i32f_o32f_init | ( | VXLIB_F32 | curTrack[], |
VXLIB_F32 | camExtPrm[], | ||
uint8_t | curTrackLength[], | ||
int32_t | maxIter, | ||
VXLIB_F32 | scratch[], | ||
int32_t | totalTracks, | ||
int32_t | precisionFlag, | ||
VXLIB_F32 | outXcam[], | ||
uint8_t | outValid[], | ||
void * | pBlock | ||
) |
[in] | curTrack[] | : Current track data after multiplying with intrinsic parameters. i.e. [x,y,1] = K * [x',y',1]; Two track data are clubbed together. x/y-coordinates of two tracks are placed together. Lets assume two tracks are {(x0,y0),(x1,y1),(x2,y2),(x3,y3),(x4,y4),(x5,y5)} & {(u0,v0),(u1,v1),(u2,v2),(u3,v3),(u4,v4),(u5,v5)}. (xi,yi) is the feature point location in ith frame for particular track. (ui,vi) is the feature point location in ith frame for another track. Expected format for curTrack is curTrack[] = {x0, u0, y0, v0, x1, u1, y1, v1, .. so on}. Here (x0,y0) or (u0,v0) is latest location from current frame, whereas (x1,y1) or (u1,v1) is previous frame location, and so on. If any frame location is not available for a track then its corresponding place in /c curTrack is dont care. |
[in] | camExtPrm | : Camera extrensic parameters. 0th index should hold latest frame camera extrinsic parameter. |
[in] | curTrackLength | : Array of values for each track lengths. |
[in] | maxIter | : Maximum iteration of triangulation. |
[out] | Xcam | : 3-D output generated after triangulation API. Two 3D outputs are clubbed together. X(or Y or Z) co-ordinates are clubbed together. e.g X1X0Y1Y0Z1Z0X3X2Y3Y2Z3Z2....so on. Here [X0, Y0, Z0] is one 3D point form one track, whereas [X1, Y1, Z1] is another 3D point output from another track. |
[in] | scratch | : Scratch area to be used, size of this scratch area is N*1540, where 'N' is the total number of input track pair. If total input track is 5, then 'N' should be assumed as 3. |
[in] | totalTracks | : Total number of tracks to be processed. |
[out] | validOut | : Output flag for each track, wheather a solution was found or not. '1' indicates a solution was found, whereas '0' indicates solution could not be found. |
[in] | flag | : Flag to enable or disable high precision triangulation. '1' will enable high precision triangulation. |
maxIter
is 10. However lower value of it will reduce the cycle consumption without affecting the quality of output much.camExtPrm
are expected in specific format. Original camera extrensic ('P')parameter is of size [3x4]. Eexpected camera extrensic parameter here is of size [20]. Format for this is as {P(8),P(0),P(4),P(9),P(1),P(5),P(10),P(11),P(2),P(6),P(3),P(7),P(8),P(8),P(9),P(9),P(10),P(10),P(11),P(11)}. Some of the data elements in array is replicated to avaoid few overheads inside kernel.VXLIB_STATUS VXLIB_triangulatePoints_i32f_o32f_checkParams | ( | VXLIB_F32 | curTrack[], |
VXLIB_F32 | camExtPrm[], | ||
uint8_t | curTrackLength[], | ||
int32_t | maxIter, | ||
VXLIB_F32 | scratch[], | ||
int32_t | totalTracks, | ||
int32_t | precisionFlag, | ||
VXLIB_F32 | outXcam[], | ||
uint8_t | outValid[] | ||
) |
VXLIB_STATUS VXLIB_triangulatePoints_i32f_o32f_kernel | ( | VXLIB_F32 | curTrack[], |
VXLIB_F32 | camExtPrm[], | ||
uint8_t | curTrackLength[], | ||
int32_t | maxIter, | ||
VXLIB_F32 | scratch[], | ||
int32_t | totalTracks, | ||
int32_t | precisionFlag, | ||
VXLIB_F32 | outXcam[], | ||
uint8_t | outValid[], | ||
void * | pBlock | ||
) |
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