tiadalg_structure_from_motion.h File Reference

This file defines ivision interface for Structure From Motion (SFM) Algorithm. This module expects optical flow information along with camera pose to generates sparse 3D points. Input image data is needed for visualization purpose only. More...

#include <ivision.h>

Go to the source code of this file.

Data Structures
struct	SFM_TI_CreateParams
	This structure contains all the parameters which controls SFM algorithm at create time. More...
struct	SFM_TI_InArgs
	This structure contains all the parameters which are given as an input to OD algorithm at frame level. More...
struct	SFM_TI_Stats
	This structure reports statistics of running SFM. More...
struct	SFM_TI_OutArgs
	This structure contains all the parameters which are given as output. More...
struct	SFM_TI_output
	This structure defines the format of output buffer given out from algorithm. More...
#define	SFM_TI_CAMERA_EXTRENSIC_PARAM_SIZE   (12)
#define	SFM_TI_CAMERA_INTRINSIC_PARAM_SIZE   (9)
#define	MAX_NUM_FRAMES_TO_TRACK   (6)
enum	SFM_TI_InBufOrder { SFM_TI_IN_BUFDESC_IN_DOF_BUFFER = 0, SFM_TI_IN_BUFDESC_IN_LUMA_IMG_BUFFER = 1, SFM_TI_IN_BUFDESC_TOTAL }
	User provides most of the information through IVISION buffers during process call. Below enums define the purpose of each input buffers. More...
enum	SFM_TI_OutBufOrder {   SFM_TI_OUT_BUFDESC_FEATURE_PLANES = 0, SFM_TI_OUT_BUFDESC_LUMA_PTCLD_BUFFER = 1, SFM_TI_OUT_BUFDESC_CHROMA_PTCLD_BUFFER = 2, SFM_TI_OUT_BUFDESC_LUMA_OCPGD_BUFFER = 3,   SFM_TI_OUT_BUFDESC_CHROMA_OCPGD_BUFFER = 4, SFM_TI_OUT_BUFDESC_TOTAL }
	Process call provides most of the information through IVISION buffers during process call. Below enums define the purpose of each out buffer. More...
enum	SFM_TI_FmatrixCalcType { SFM_TI_FMAT_8POINT_RANSAC = 0, SFM_TI_FMAT_FROM_RT_PARAMS = 1, SFM_TI_FMAT_EXT_PRM_NORM_DEFAULT = SFM_TI_FMAT_FROM_RT_PARAMS }
	Defines the method to calculate/estimate Fundamental Matrix. It is recommended to use SFM_TI_FMAT_FROM_RT_PARAMS to save computation cycle. More...
const IVISION_Fxns	SFM_TI_VISION_FXNS
	The unique constant function table for SFM. More...

Detailed Description

This file defines ivision interface for Structure From Motion (SFM) Algorithm. This module expects optical flow information along with camera pose to generates sparse 3D points. Input image data is needed for visualization purpose only.

Version

1.0 (April 2021) : Base version.

Macro Definition Documentation

SFM_TI_CAMERA_EXTRENSIC_PARAM_SIZE

#define SFM_TI_CAMERA_EXTRENSIC_PARAM_SIZE   (12)

SFM_TI_CAMERA_INTRINSIC_PARAM_SIZE

#define SFM_TI_CAMERA_INTRINSIC_PARAM_SIZE   (9)

MAX_NUM_FRAMES_TO_TRACK

#define MAX_NUM_FRAMES_TO_TRACK   (6)

Enumeration Type Documentation

SFM_TI_InBufOrder

enum SFM_TI_InBufOrder

User provides most of the information through IVISION buffers during process call. Below enums define the purpose of each input buffers.

Parameters

SFM_TI_IN_BUFDESC_IN_DOF_BUFFER	Input optical flow gnerated from DOF accelerator
SFM_TI_IN_BUFDESC_IN_LUMA_IMG_BUFFER	Input image buffer

Enumerator
SFM_TI_IN_BUFDESC_IN_DOF_BUFFER
SFM_TI_IN_BUFDESC_IN_LUMA_IMG_BUFFER
SFM_TI_IN_BUFDESC_TOTAL

SFM_TI_OutBufOrder

enum SFM_TI_OutBufOrder

Process call provides most of the information through IVISION buffers during process call. Below enums define the purpose of each out buffer.

Parameters

SFM_TI_OUT_BUFDESC_FEATURE_PLANES	This buffer is filled up by SFM algorithm with a list of estimated 3D points location and their corresponding image pixel location. Output buffer is treated as continuous array of objects of the structure /c SFM_TI_output. Where each object corresponds to information related one reconstructed 3-D point from one track information /c SFM_TI_trackInfo. Output buffer is not image buffer, it is set of objects of 'SFM_TI_output' placed in linear memory. Since number of output buffer is not known at the time of process call, hence out buf should be allocated assuming maximum possible number of 3D output points. Maximum number of out 3D points can be equal to maxNumTracks*6. Hence user should set outBufs :: bufDesc[SFM_TI_OUT_BUFDESC_FEATURE_PLANES] :: bufPlanes[0] ::width greater than or equal to (maxNumTracks*6). maxNumTracks has to be set at the time of create API call.
SFM_TI_OUT_BUFDESC_LUMA_PTCLD_BUFFER	Luma output buffer with point cloud visualization
SFM_TI_OUT_BUFDESC_CHROMA_PTCLD_BUFFER	Chroma output buffer with point cloud visualization
SFM_TI_OUT_BUFDESC_LUMA_OCPGD_BUFFER	Luma output buffer for occupancy grid visualization
SFM_TI_OUT_BUFDESC_CHROMA_OCPGD_BUFFER	Chroma output buffer for occupancy grid visualization

Enumerator
SFM_TI_OUT_BUFDESC_FEATURE_PLANES
SFM_TI_OUT_BUFDESC_LUMA_PTCLD_BUFFER
SFM_TI_OUT_BUFDESC_CHROMA_PTCLD_BUFFER
SFM_TI_OUT_BUFDESC_LUMA_OCPGD_BUFFER
SFM_TI_OUT_BUFDESC_CHROMA_OCPGD_BUFFER
SFM_TI_OUT_BUFDESC_TOTAL

SFM_TI_FmatrixCalcType

enum SFM_TI_FmatrixCalcType

Defines the method to calculate/estimate Fundamental Matrix. It is recommended to use SFM_TI_FMAT_FROM_RT_PARAMS to save computation cycle.

SFM_TI_FMAT_8POINT_RANSAC : Estimate using 8 point algorithm with RANSAC iteration. Not varified in this version.

SFM_TI_FMAT_FROM_RT_PARAMS : Calculate it using available rotation and translation parameters provided through extrinsic parameters SFM_TI_InArgs :: camExtPrm

Enumerator
SFM_TI_FMAT_8POINT_RANSAC
SFM_TI_FMAT_FROM_RT_PARAMS
SFM_TI_FMAT_EXT_PRM_NORM_DEFAULT

Variable Documentation

SFM_TI_VISION_FXNS

const IVISION_Fxns SFM_TI_VISION_FXNS

The unique constant function table for SFM.