TI Autonomous Driving Algorithms (TIADALG) Library User Guide
VLIB_triangulatePoints_types.h
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/*
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* module name : Structure From Motion
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*
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* module descripton : Generates sparse 3D points from optical flow information in camera captured images
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*
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* Copyright (C) 2007-2017 Texas Instruments Incorporated - http://www.ti.com/
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* ALL RIGHTS RESERVED
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*
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*/
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#ifndef VLIB_TRIANGULATEPOINT_TYPES_H_
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#define VLIB_TRIANGULATEPOINT_TYPES_H_ 1
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#define VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE (12)
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#define VXLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE)
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#define VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE (9)
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#define VXLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE)
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/*
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* To make double word alignment and also to take account of last row
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* which is 0 0 0 1
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*/
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#define VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_SIZE + 8)
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#define VXLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE)
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/* To make double word aligned.
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*/
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#define VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_SIZE + 1)
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#define VXLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE (VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE)
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/*
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* Maximum number track length which is considered for triangulation
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*/
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#define VLIB_TRIANG_MAX_POINTS_IN_TRACK (MAX_NUM_FRAMES_TO_TRACK)
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#define VXLIB_TRIANG_MAX_POINTS_IN_TRACK (VLIB_TRIANG_MAX_POINTS_IN_TRACK)
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/*
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* Maximum number of tracks worked together, called as vector. This is controlled SIMD length of processor for floating point data
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*/
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#define VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR (SIMD_WIDTH)
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#define VXLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR (VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR)
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/*
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* Total number of unique element in matrix At*A used in triangulation
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*/
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#define VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA (6)
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#define VXLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA (VLIB_TRIANG_NUM_UNIQUE_ELEMENTS_IN_ATA)
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/* Number of rows in triangulation matrix
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*/
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#define VLIB_TRIANG_MAT_ROW (3)
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#define VXLIB_TRIANG_MAT_ROW (VLIB_TRIANG_MAT_ROW)
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/* Number of columns in triangulation matrix
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*/
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#define VLIB_TRIANG_MAT_COL (VLIB_TRIANG_MAX_POINTS_IN_TRACK * 2)
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#define VXLIB_TRIANG_MAT_COL (VLIB_TRIANG_MAT_COL)
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/* Aligned number of rows for triangulation matrix, to have data double word aligned.
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*/
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#define VLIB_TRIANG_MAT_AROW ((VLIB_TRIANG_MAT_ROW + 1) & 0xFFFFFFFE)
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#define VXLIB_TRIANG_MAT_AROW (VLIB_TRIANG_MAT_AROW)
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#endif
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/* ======================================================================== */
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/* End of file: VLIB_triangulatePoints_types.h */
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/* ======================================================================== */
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