TI Autonomous Driving Algorithms (TIADALG) Library User Guide
sSfm_TI_ExtMem 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

SFM_TI_trackInfotrack
 
SFM_TI_trackInfotrackInt
 
int8_t * ogBuf
 
int8_t * ogBufInt
 
uint8_t * constYBuf
 
uint8_t * constCbCrBuf
 
int32_t isLocalOg
 
uint8_t * keyPointBitMap
 
uint16_t * curInTrackIdx
 
uint16_t * curOutTrackIdx
 
uint8_t * dofBufInt
 
uint8_t * isInlier
 
uint16_t * indexMap
 
float * curPoints
 
float * prevPoints
 
SFM_TI_outputsfmOutputL2
 
uint8_t * tempImgPtCldL2
 
uint8_t * tempImgOgL2
 
uint8_t * colorIndx
 
uint16_t * blkIndx
 
uint16_t * curBlkIndx
 
float(* curTrack )[VLIB_TRIANG_MAX_POINTS_IN_TRACK][2][VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR]
 
float(* curTrackRaw )[VLIB_TRIANG_MAX_POINTS_IN_TRACK][2][VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR]
 
uint16_t * trackId
 
uint8_t * curFeatInTrack
 
float(* Xcam )[3]
 
uSFM_TI_MatDatamatData
 
uint32_t(* pBlock )[SE_PARAM_WORDS]
 
float(* camExtPrmL1 )[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float(* camInvExtPrmL1 )[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float(* arrangedCamExtPrmL1 )[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float(* camIntXExtPrmL1 )[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
float * camIntPrmL1
 
float * camInvIntPrmL1
 
float * firstCamExtPrmL1
 
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 camIntPrm [VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]
 
float camInvIntPrm [VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]
 
float firstCamExtPrm [VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]
 
uint8_t scratchBuf [DDR_SCRATCH_BUF_SIZE]
 
uint16_t num3DPoints
 
uint32_t curFrameNum
 
uint8_t curLargeBufIndx
 
int32_t maxNumTracks
 
void * fMatParams
 
uint16_t profileEn
 
int32_t trackIndxBufSize
 
int32_t keyPointBitMapSize
 
int32_t dofBlockBufSize
 
int32_t numRowsInDofBlock
 
int32_t numDofBlocks
 
int32_t numRowInPtCldVisBuf
 
int32_t numRowInOgVisBuf
 
TI_DSP_PrfInfo prfInfo
 
sSfm_TI_L1DMemsfmL1Prm
 
sSfm_TI_L2DMemsfmL2Prm
 
uint8_t * sfmL3Scratch
 

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.

curPoints3D : Place holder of all the 3D points generated from current frame and also from previous frames. If there are no previous points to be preserved then this area is not used, and L2 area is used. isValid3DPoint : To indicate a point in /c curPoints3D is valid or not. If there are no previous points to be preserved then this area is not used, and L2 are is used. origFrmId : For each point in /c curPoints3D, this field tells the origin frame in which it got generated. Here inBufId provided through process call is used. origTrackId : For each point in /c curPoints3D, this field tells the original track id from which it got generated. Here track id is the memory location of trackInfo in full track buffer. If there are no previous points to be preserved then this area is not used, and L2 are is used. point3Dindex : Hold the indexes of valid 3D points in /c curPoints3D camExtPrm : Extrinsic camera parameters placed as circular buffer camInvExtPrm : Inverse extrinsic camera parameters placed as circular buffer camIntPrm : Intrinsic camera parameters camInvIntPrm : Inverse of intrinsic camera parameters localTrkOrg : Local origin maintained for each track. scratchBuf : scratch buffer num3DPoints : Total valid current points in /c curPoints3D curFrameNum : Current frame number. Just incremented till VLIB_TRIANG_MAX_POINTS_IN_TRACK curBufIndx : Circular buffer index, with max value as (VLIB_TRIANG_MAX_POINTS_IN_TRACK-1) cur3DPointBufIndx : Current buffer index in curPoints3D[0 .. (VLIB_TRIANG_MAX_POINTS_IN_TRACK-1)] curLargeBufIndx : Circular buffer index with max value as (CAM_EXT_PRM_BUF_DEPTH - 1) maxNumTracks : Maximum number of tracks possible for current instance fMatParams : F-matrix related scratch buffer profileEn : Flag to indicate profile is enabled or not prfInfo : Profile related information

Field Documentation

◆ track

SFM_TI_trackInfo* sSfm_TI_ExtMem::track

◆ trackInt

SFM_TI_trackInfo* sSfm_TI_ExtMem::trackInt

◆ ogBuf

int8_t* sSfm_TI_ExtMem::ogBuf

◆ ogBufInt

int8_t* sSfm_TI_ExtMem::ogBufInt

◆ constYBuf

uint8_t* sSfm_TI_ExtMem::constYBuf

◆ constCbCrBuf

uint8_t* sSfm_TI_ExtMem::constCbCrBuf

◆ isLocalOg

int32_t sSfm_TI_ExtMem::isLocalOg

◆ keyPointBitMap

uint8_t* sSfm_TI_ExtMem::keyPointBitMap

◆ curInTrackIdx

uint16_t* sSfm_TI_ExtMem::curInTrackIdx

◆ curOutTrackIdx

uint16_t* sSfm_TI_ExtMem::curOutTrackIdx

◆ dofBufInt

uint8_t* sSfm_TI_ExtMem::dofBufInt

◆ isInlier

uint8_t* sSfm_TI_ExtMem::isInlier

◆ indexMap

uint16_t* sSfm_TI_ExtMem::indexMap

◆ curPoints

float* sSfm_TI_ExtMem::curPoints

◆ prevPoints

float* sSfm_TI_ExtMem::prevPoints

◆ sfmOutputL2

SFM_TI_output* sSfm_TI_ExtMem::sfmOutputL2

◆ tempImgPtCldL2

uint8_t* sSfm_TI_ExtMem::tempImgPtCldL2

◆ tempImgOgL2

uint8_t* sSfm_TI_ExtMem::tempImgOgL2

◆ colorIndx

uint8_t* sSfm_TI_ExtMem::colorIndx

◆ blkIndx

uint16_t* sSfm_TI_ExtMem::blkIndx

◆ curBlkIndx

uint16_t* sSfm_TI_ExtMem::curBlkIndx

◆ curTrack

◆ curTrackRaw

float(* sSfm_TI_ExtMem::curTrackRaw)[VLIB_TRIANG_MAX_POINTS_IN_TRACK][2][VLIB_TRIANG_NUM_TRACKS_IN_ONE_VECTOR]

◆ trackId

uint16_t* sSfm_TI_ExtMem::trackId

◆ curFeatInTrack

uint8_t* sSfm_TI_ExtMem::curFeatInTrack

◆ Xcam

float(* sSfm_TI_ExtMem::Xcam)[3]

◆ matData

uSFM_TI_MatData* sSfm_TI_ExtMem::matData

◆ pBlock

uint32_t(* sSfm_TI_ExtMem::pBlock)[SE_PARAM_WORDS]

◆ camExtPrmL1

float(* sSfm_TI_ExtMem::camExtPrmL1)[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

◆ camInvExtPrmL1

float(* sSfm_TI_ExtMem::camInvExtPrmL1)[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

◆ arrangedCamExtPrmL1

float(* sSfm_TI_ExtMem::arrangedCamExtPrmL1)[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

◆ camIntXExtPrmL1

float(* sSfm_TI_ExtMem::camIntXExtPrmL1)[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

◆ camIntPrmL1

float* sSfm_TI_ExtMem::camIntPrmL1

◆ camInvIntPrmL1

float* sSfm_TI_ExtMem::camInvIntPrmL1

◆ firstCamExtPrmL1

float* sSfm_TI_ExtMem::firstCamExtPrmL1

◆ camExtPrm

◆ camInvExtPrm

◆ camIntPrm

float sSfm_TI_ExtMem::camIntPrm[VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]

◆ camInvIntPrm

float sSfm_TI_ExtMem::camInvIntPrm[VLIB_TRIANG_CAMERA_INTRINSIC_PARAM_ASIZE]

◆ firstCamExtPrm

float sSfm_TI_ExtMem::firstCamExtPrm[VLIB_TRIANG_CAMERA_EXTRENSIC_PARAM_ASIZE]

◆ scratchBuf

uint8_t sSfm_TI_ExtMem::scratchBuf[DDR_SCRATCH_BUF_SIZE]

◆ num3DPoints

uint16_t sSfm_TI_ExtMem::num3DPoints

◆ curFrameNum

uint32_t sSfm_TI_ExtMem::curFrameNum

◆ curLargeBufIndx

uint8_t sSfm_TI_ExtMem::curLargeBufIndx

◆ maxNumTracks

int32_t sSfm_TI_ExtMem::maxNumTracks

◆ fMatParams

void* sSfm_TI_ExtMem::fMatParams

◆ profileEn

uint16_t sSfm_TI_ExtMem::profileEn

◆ trackIndxBufSize

int32_t sSfm_TI_ExtMem::trackIndxBufSize

◆ keyPointBitMapSize

int32_t sSfm_TI_ExtMem::keyPointBitMapSize

◆ dofBlockBufSize

int32_t sSfm_TI_ExtMem::dofBlockBufSize

◆ numRowsInDofBlock

int32_t sSfm_TI_ExtMem::numRowsInDofBlock

◆ numDofBlocks

int32_t sSfm_TI_ExtMem::numDofBlocks

◆ numRowInPtCldVisBuf

int32_t sSfm_TI_ExtMem::numRowInPtCldVisBuf

◆ numRowInOgVisBuf

int32_t sSfm_TI_ExtMem::numRowInOgVisBuf

◆ prfInfo

TI_DSP_PrfInfo sSfm_TI_ExtMem::prfInfo

◆ sfmL1Prm

sSfm_TI_L1DMem* sSfm_TI_ExtMem::sfmL1Prm

◆ sfmL2Prm

sSfm_TI_L2DMem* sSfm_TI_ExtMem::sfmL2Prm

◆ sfmL3Scratch

uint8_t* sSfm_TI_ExtMem::sfmL3Scratch

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

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