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

This structure contains all the parameters which controls SFM algorithm at create time. More...

#include <tiadalg_structure_from_motion.h>

Data Fields

IVISION_Params visionParams
 
uint16_t imgWidth
 
uint16_t imgHeight
 
uint16_t keyPointStep
 
uint16_t maxNumKeyPoints
 
uint16_t maxNumTracks
 
float camIntPrm [SFM_TI_CAMERA_INTRINSIC_PARAM_SIZE]
 
void * udmaDrvObj
 
int32_t flowCtrl
 
int32_t enAlgPtCldVis
 
int32_t ocpGrdSizeInPixels
 
int32_t enAlgOcpGrdVis
 
int32_t imgColorFmt
 
uint16_t rsvd1
 
uint16_t rsvd2
 

Detailed Description

This structure contains all the parameters which controls SFM algorithm at create time.

Parameters
visionParamsCommon parameters for all ivison based modules.
imgWidthImage width in pixels. Should be inlined with input and output buffers.
imgHeightImage height in pixels. Should be inlined with input and output buffers.
maxNumTracksMaximum Number of tracks allowed.
cameraIntParamsCamera Intrinsic Parameters. Format of intrinsic parameter is [ax 0.0 x0 0 ay y0 0 0 1.0]. Where ax and ay are standard scaling parameter in x and y direction. Whereas (x0, y0) is the principal point , where optic axis intersects the image plane.
udmaDrvObjUdma driver handle. All the addresses given to algorithms are assumed to be virtual addresses. If udma driver is initialized with virtual to physical function pointer initPrms.virtToPhyFxn then the same function will be used for this conversion in algorithm whereever it is needed.
flowCtrlControl for selecting different flows. Applicable only for advanced user. 0–> enables optimized flow, 1 enabled natural c flow.
enAlgPtCldVisEnables point cloud visualization.
ocpGrdSizeInPixelsOccupancy grid size in pixels.
enAlgOcpGrdVisEnables occupancy grid visualization.
imgColorFmtInput image format. Not used in current version, all input and output images are assumed in YUV 420 nv12 format.
rsvd1For future expansion. Should be set as zero
rsvd2For future expansion. Should be set as zero

Field Documentation

◆ visionParams

IVISION_Params SFM_TI_CreateParams::visionParams

◆ imgWidth

uint16_t SFM_TI_CreateParams::imgWidth

◆ imgHeight

uint16_t SFM_TI_CreateParams::imgHeight

◆ keyPointStep

uint16_t SFM_TI_CreateParams::keyPointStep

◆ maxNumKeyPoints

uint16_t SFM_TI_CreateParams::maxNumKeyPoints

◆ maxNumTracks

uint16_t SFM_TI_CreateParams::maxNumTracks

◆ camIntPrm

float SFM_TI_CreateParams::camIntPrm[SFM_TI_CAMERA_INTRINSIC_PARAM_SIZE]

◆ udmaDrvObj

void* SFM_TI_CreateParams::udmaDrvObj

◆ flowCtrl

int32_t SFM_TI_CreateParams::flowCtrl

◆ enAlgPtCldVis

int32_t SFM_TI_CreateParams::enAlgPtCldVis

◆ ocpGrdSizeInPixels

int32_t SFM_TI_CreateParams::ocpGrdSizeInPixels

◆ enAlgOcpGrdVis

int32_t SFM_TI_CreateParams::enAlgOcpGrdVis

◆ imgColorFmt

int32_t SFM_TI_CreateParams::imgColorFmt

◆ rsvd1

uint16_t SFM_TI_CreateParams::rsvd1

◆ rsvd2

uint16_t SFM_TI_CreateParams::rsvd2

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

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