TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sSfm_TI_L1DMem Struct Reference

L1D scratch memory definition. Base address of ever element in below structure is double word aligned if base address of the structure is double word aligned. More...

#include <sfm_ti_alg_int.h>

Data Fields

float camExtPrm [CAM_EXT_PRM_BUF_DEPTH][VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float camInvExtPrm [CAM_EXT_PRM_BUF_DEPTH][VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float arrangedCamExtPrm [VLIB_TRIANG_MAX_POINTS_IN_TRACK][VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float camIntXExtPrm [VLIB_TRIANG_MAX_POINTS_IN_TRACK][VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float camIntPrm [VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]
 
float camInvIntPrm [VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]
 
float firstCamExtPrm [VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 

Detailed Description

L1D scratch memory definition. Base address of ever element in below structure is double word aligned if base address of the structure is double word aligned.

camExtPrm : Extrinsic Camera parameters, ordered form oldest to latest camInvExtPrm : Inverse of Extrinsic Camera parameters, ordered form oldest to latest

Parameters
camExtPrm: Normalized Extrinsic Camera parameters, ordered form oldest to latest
arrangedCamExtPrmL1: Re-ordered Extrinsic Camera parameters, ordered form oldest to latest
camIntXExtPrmL1: Normalized Extrinsic Camera parameters multiplied with intrinsic, ordered form oldest to latest
camIntPrm: Camera Intrinsic parameters
camInvIntPrm: Inverse of camera Intrinsic parameters
curTrack: Current track data after multiplying with intrinsic parameters. Two track data are clubbed together. x/y-coordinates of two tracks are placed together. Used in forming initial data matrices
curTrackRaw: Current track raw data. Two track data are clubbed together. x/y-coordinates of two tracks are placed together. Used in re projection error calculation. e.g. x1x0y1y0 so on for each feature point.
trackId: Original track Id of selected tracks in single call of each kernel
curFeatInTrack: number of feature points in selected tracks in single call of each kernel
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
matData: Other scratch area. Refer

Field Documentation

◆ camExtPrm

◆ camInvExtPrm

◆ arrangedCamExtPrm

◆ camIntXExtPrm

◆ camIntPrm

float sSfm_TI_L1DMem::camIntPrm[VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]

◆ camInvIntPrm

float sSfm_TI_L1DMem::camInvIntPrm[VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]

◆ firstCamExtPrm

float sSfm_TI_L1DMem::firstCamExtPrm[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

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

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