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

This structure contains all the parameters which are given as an input to OD algorithm at frame level. More...

#include <tiadalg_structure_from_motion.h>

Data Fields

IVISION_InArgs iVisionInArgs
 
int32_t flowConfThr
 
int32_t flowInvalidPadX
 
int32_t flowInvalidPadY
 
float camExtPrm [SFM_TI_CAMERA_EXTRENSIC_PARAM_SIZE]
 
uint32_t fMatrixCalcMethod
 
uint32_t fMatrixPrunEn
 
uint32_t fMatrixInTh
 
uint32_t maxRansacItr
 
uint32_t maxTriangItr
 
float pointPruneAngle
 
float staticFrmTh
 
int32_t reset
 
uint32_t reserved0
 
uint32_t reserved1
 

Detailed Description

This structure contains all the parameters which are given as an input to OD algorithm at frame level.

Parameters
iVisionInArgsCommon InArgs for all ivison based modules
flowConfThrOptical flow confidence threshold
flowInvalidPadXNumber of pixels to be ignored in optical buffer in x direction
flowInvalidPadYNumber of pixels to be ignored in optical buffer in y direction
camExtPrm: Camera Extrinsic Parameters. Format of camera extrinsic parameters is [ r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2], where rij are the rotation parameter, and ti are the translation parameter. If this pointer is provided as NULL, then these parameters are computed internally.
fMatCalcMethodThis controls how Fundamental Matrix is estimated/calculated. There is possibility of estimating Fundamental matrix using feature point correspondence between two frames, whereas there could be another method to calculate using rotation and translation parameters provided. Refer for various supported values and default values.
fMatrixPrunEnControl to enable or disable Fundamental matrix based pruning of the input tracks. User should set this as '1' to enable this pruning.
fMatrixInThInlier threshold used in Fundamental matrix based pruning.
maxRansacItrMaximum number of RANSAC iteration in F matrix iteration. Its Supported value is [0, 200]. User should set default value for this as 90. When value zero is set then algorithm does optimal number of iterations.
maxTriangItrMaximum number of iteration in triangulation. Supported value for this is [1,10]. User should set default value which is 4.
pointPruneAngleAngle threshold used for angle based pruning. Supported Values is [0.0 10.0]
staticFrmThThreshold to determine wheather current frame is static or not. Norm of the current frame camera translation with respect to previous frame should be less than this threshold to flag current frame as static frame. Not used in current version.
resetresets the algorithm from this frame onward. Past tracks are ignored and it will get built up again from this frame onward.
reserved0Reserved 32-bit field. Must be set to 0 for normal operation.
reserved1Reserved 32-bit field. Must be set to 0 for normal operation.

Field Documentation

◆ iVisionInArgs

IVISION_InArgs SFM_TI_InArgs::iVisionInArgs

◆ flowConfThr

int32_t SFM_TI_InArgs::flowConfThr

◆ flowInvalidPadX

int32_t SFM_TI_InArgs::flowInvalidPadX

◆ flowInvalidPadY

int32_t SFM_TI_InArgs::flowInvalidPadY

◆ camExtPrm

float SFM_TI_InArgs::camExtPrm[SFM_TI_CAMERA_EXTRENSIC_PARAM_SIZE]

◆ fMatrixCalcMethod

uint32_t SFM_TI_InArgs::fMatrixCalcMethod

◆ fMatrixPrunEn

uint32_t SFM_TI_InArgs::fMatrixPrunEn

◆ fMatrixInTh

uint32_t SFM_TI_InArgs::fMatrixInTh

◆ maxRansacItr

uint32_t SFM_TI_InArgs::maxRansacItr

◆ maxTriangItr

uint32_t SFM_TI_InArgs::maxTriangItr

◆ pointPruneAngle

float SFM_TI_InArgs::pointPruneAngle

◆ staticFrmTh

float SFM_TI_InArgs::staticFrmTh

◆ reset

int32_t SFM_TI_InArgs::reset

◆ reserved0

uint32_t SFM_TI_InArgs::reserved0

◆ reserved1

uint32_t SFM_TI_InArgs::reserved1

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

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