TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sfm_ti_track.h
Go to the documentation of this file.
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 
21 #ifndef TI_SFM_TRACK_H
22 #define TI_SFM_TRACK_H
23 
24 //#define TIADALG_TRACK_DEBUG
25 //#define TIADALG_UPDATE_TARCK_DEBUG
26 //#define TIADALG_TRACK_KP_INSERTION_DEBUG
27 //#define TIADALG_TRACK_DUMP
28 //#define TIADALG_TRACK_PROFILE
29 
30 void SFM_TI_getCurTrack(SFM_TI_trackInfo* baseTrackInfo,
31  float* camInvIntPrm,
32  uint16_t* trackId,
33  float* curTrack,
34  float* curTrackRaw,
35  uint8_t* curFeatInTrack);
36 
37 void SFM_TI_getCurTrack_ci(SFM_TI_trackInfo* restrict baseTrackInfo,
38  float* restrict camInvIntPrm,
39  uint16_t* restrict trackId,
40  float* restrict curTrack,
41  float* restrict curTrackRaw,
42  uint8_t* restrict curFeatInTrack);
43 
44 void SFM_TI_updateTrackRef(SFM_TI_trackInfo *track, int32_t* dofPlane, uint16_t* ageZeroTrackIdx, uint8_t* keyPointBitMap,
45  int32_t imgWidth, int32_t imgHeight, int32_t kpStep, int32_t maxNumTracks,
46  int32_t flowInvalidPadX, int32_t flowInvalidPadY, int32_t curFrameNum,
47  int32_t flowConfThr, TI_DSP_PrfInfo* prfInfo);
48 
49 void SFM_TI_updateTrack(SFM_TI_trackInfo * restrict track, int32_t* restrict dofPlane, uint16_t* restrict curInTrackIdx,
50  uint16_t* restrict curOutTrackIdx, int32_t* restrict dofBufInt, uint8_t* restrict keyPointBitMap,
51  int32_t imgWidth, int32_t imgHeight, int32_t kpStep,
52  int32_t maxNumTracks, int32_t flowInvalidPadX, int32_t flowInvalidPadY,
53  int32_t curFrameNum,int32_t flowConfThr, int32_t keyPointBitMapSize,
54  int32_t dofBlockBufSize, int32_t numDofBlocks, int32_t numRowInDofBlk,
55  uint8_t* restrict inTrMem, void * dmaUtilsContext, TI_DSP_PrfInfo* restrict prfInfo);
56 
57 #ifdef TIADALG_TRACK_DUMP
58 void SFM_TI_dumpTrackData(SFM_TI_trackInfo *trackL,int32_t maxNumTracks);
59 #endif
60 
61 #endif
void SFM_TI_updateTrackRef(SFM_TI_trackInfo *track, int32_t *dofPlane, uint16_t *ageZeroTrackIdx, uint8_t *keyPointBitMap, int32_t imgWidth, int32_t imgHeight, int32_t kpStep, int32_t maxNumTracks, int32_t flowInvalidPadX, int32_t flowInvalidPadY, int32_t curFrameNum, int32_t flowConfThr, TI_DSP_PrfInfo *prfInfo)
Definition: profile.h:125
void SFM_TI_updateTrack(SFM_TI_trackInfo *restrict track, int32_t *restrict dofPlane, uint16_t *restrict curInTrackIdx, uint16_t *restrict curOutTrackIdx, int32_t *restrict dofBufInt, uint8_t *restrict keyPointBitMap, int32_t imgWidth, int32_t imgHeight, int32_t kpStep, int32_t maxNumTracks, int32_t flowInvalidPadX, int32_t flowInvalidPadY, int32_t curFrameNum, int32_t flowConfThr, int32_t keyPointBitMapSize, int32_t dofBlockBufSize, int32_t numDofBlocks, int32_t numRowInDofBlk, uint8_t *restrict inTrMem, void *dmaUtilsContext, TI_DSP_PrfInfo *restrict prfInfo)
TI_DSP_PrfInfo * prfInfo
This structure defines the format in which SFM module expects a particular feature point's tracked lo...
Definition: sfm_ti_alg_int.h:358
void SFM_TI_getCurTrack(SFM_TI_trackInfo *baseTrackInfo, float *camInvIntPrm, uint16_t *trackId, float *curTrack, float *curTrackRaw, uint8_t *curFeatInTrack)
void SFM_TI_getCurTrack_ci(SFM_TI_trackInfo *restrict baseTrackInfo, float *restrict camInvIntPrm, uint16_t *restrict trackId, float *restrict curTrack, float *restrict curTrackRaw, uint8_t *restrict curFeatInTrack)

© Copyright 2018 Texas Instruments Incorporated. All rights reserved.
Document generated by doxygen 1.8.6