TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sSFM_TI_EqSolvePrm Struct Reference

Buffers required for equation solving (AtA * x = Atb) in triangulation Since total NUM_TRACKS_TOGATHER number of tracks are worked together hence for all the tracks these matrix are formed before calling the equation solve kernel. More...

#include <sfm_ti_alg_int.h>

Data Fields

float matrixAtA [VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA][NUM_TRACKS_TOGATHER]
 
float matrixAtb [VLIB_TRIANG_MAT_AROW][NUM_TRACKS_TOGATHER]
 
float weights [VLIB_TRIANG_MAX_POINTS_IN_TRACK][NUM_TRACKS_TOGATHER]
 

Detailed Description

Buffers required for equation solving (AtA * x = Atb) in triangulation Since total NUM_TRACKS_TOGATHER number of tracks are worked together hence for all the tracks these matrix are formed before calling the equation solve kernel.

matrixAtA : Data matrix multiplied with its transpose, each matrix of size 3x3. matrixAtb : Right Column matrix multiplied by transpose of A, Size of each matrix is 3x1 weights : Weights for each point of a track from which matrix A is formed. Before forming matrix A, matrix A is weighted with corresponding weights.

Field Documentation

◆ matrixAtA

float sSFM_TI_EqSolvePrm::matrixAtA[VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA][NUM_TRACKS_TOGATHER]

◆ matrixAtb

float sSFM_TI_EqSolvePrm::matrixAtb[VLIB_TRIANG_MAT_AROW][NUM_TRACKS_TOGATHER]

◆ weights

float sSFM_TI_EqSolvePrm::weights[VLIB_TRIANG_MAX_POINTS_IN_TRACK][NUM_TRACKS_TOGATHER]

The documentation for this struct was generated from the following file:

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