Introduction

Data Structures
struct	PTK_Alg_StereoOG_BoxProp
	Stereo OG Map creation process - 3D bounding box property. More...

struct	PTK_Alg_StereoOG_obs3DBox
	Stereo OG Map creation process - 3D bounding boxes. More...

struct	PTK_Alg_StereoOG_CreateOGConfigParams
	Stereo OG Map creation process - config Parameters. More...

struct	PTK_Alg_StereoOG_CreateOGCamParams
	Stereo algorithm - camera Parameters. More...

struct	PTK_Alg_StereoOG_CreateOGParams
	Stereo OG Map creation process - OG Parameters. More...

struct	PTK_Alg_StereoOG_CreateOGAllParams
	Stereo OG Map creation process - All algorithm Parameters. More...

struct	PTK_Alg_StereoOG_GridProp
	Stereo OG Map creation process - Grid Property struct. More...

struct	PTK_Alg_StereoOG_OccupancyGrid
	Stereo OG Map creation process - OG struct. More...

struct	PTK_Alg_StereoOG_Object
	Stereo OG Map creation process - Object struct. More...

struct	PTK_Alg_StereoOG_OGConn
	Stereo OG Map creation process - OGConn struct. More...

struct	PTK_Alg_StereoOG_CreateOGObj
	Stereo algorithm - OG Map creation context. More...

Functions
PTK_Alg_StereoOG_BoxProp *	PTK_Alg_StereOG_get3DBB (PTK_Alg_StereoOG_obs3DBox *obsBB)
	Get bounding box pointer. More...

void	PTK_Alg_StereoOG_CreateOGSetParams (PTK_Alg_StereoOG_CreateOGAllParams params, PTK_Alg_StereoOG_CreateOGObj cntxt)
	Initialize OG Map creation parameters. More...

int32_t	PTK_Alg_StereoOG_CreateOGConfig (PTK_Alg_StereoOG_CreateOGAllParams params, PTK_Api_MemoryReq memReq)
	Computes the memory requirements based on the given algorithm configuration parameters. More...

PTK_AlgHandle	PTK_Alg_StereoOG_CreateOGInit (PTK_Alg_StereoOG_CreateOGAllParams params, const PTK_Api_MemoryRsp memRsp)
	Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...

void	PTK_Alg_StereoOG_createOG (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_PointCloud pc, PTK_Alg_StereoOG_obs3DBox *obsBB)
	Root function to create OG map from point clouds. More...

int32_t	PTK_Alg_StereoOG_CreateOGGetMem (PTK_Alg_StereoOG_CreateOGObj cntxt, uint8_t memPtr)
	Get memory size. More...

int32_t	PTK_Alg_StereoOG_getGridPropMem (PTK_Alg_StereoOG_CreateOGObj cntxt, uint8_t memPtr)
	Get memory size for GridProp mem. More...

int32_t	PTK_Alg_StereoOG_getOGMem (PTK_Alg_StereoOG_CreateOGObj cntxt, uint8_t memPtr)
	Get memory size for OG map. More...

int32_t	PTK_Alg_StereoOG_getObjMem (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_Alg_StereoOG_Object obj, uint8_t *memPtr)
	Get memory size for OG objects. More...

int32_t	PTK_Alg_StereoOG_getOGConnMem (PTK_Alg_StereoOG_CreateOGObj cntxt, uint8_t memPtr)
	Get memory size for connected component analysis. More...

uint32_t	PTK_Alg_StereoOG_getObsBBSize (const PTK_Alg_StereoOG_CreateOGParams *ogParams)
	Get memory size for object 3D bounding box on image without allocating memory. More...

PTK_Alg_StereoOG_obs3DBox *	PTK_Alg_StereoOG_initObsBB (uint8_t *memPtr)
	Initialize bouning box structure using the given chunk of memory. More...

void	PTK_Alg_StereoOG_addPoints (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_Point points, int32_t numPoints)
	Add point clouds to OG map. More...

void	PTK_Alg_StereoOG_CCA (PTK_Alg_StereoOG_CreateOGObj *cntxt)
	Connected component analysis. More...

int16_t	getNeighbor8Idx (PTK_Alg_StereoOG_CreateOGParams ogParams, PTK_Alg_StereoOG_OGConn ogConn, int32_t idx, int32_t xIdx, int32_t yIdx)
	Find 8 neighboring grids. More...

int16_t	getNeighbor24Idx (PTK_Alg_StereoOG_CreateOGParams ogParams, PTK_Alg_StereoOG_OGConn ogConn, int32_t idx, int32_t xIdx, int32_t yIdx)
	Find 24 neighboring grids. More...

void	PTK_Alg_StereoOG_mergeObjects (PTK_Alg_StereoOG_CreateOGObj *cntxt)
	Merge neighboring objects. More...

bool	PTK_Alg_StereoOG_mergeTwoObjects (PTK_Alg_StereoOG_Object curObj, PTK_Alg_StereoOG_Object newObj, int32_t gridSize, int16_t index)
	Merge neighboring objects. More...

void	PTK_Alg_StereoOG_applyTemporalFilter (PTK_Alg_StereoOG_CreateOGObj *cntxt)
	Apply temporal filtering of objects. More...

void	PTK_Alg_StereoOG_findCorrespondence (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_Alg_StereoOG_Object srcObj, PTK_Alg_StereoOG_Object *refObj, uint8_t direction)
	Find corresponding objects in two frames. More...

void	PTK_Alg_StereoOG_associateCorrespondence (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_Alg_StereoOG_Object curObj, PTK_Alg_StereoOG_Object *prevObj)
	Associate the objects in the current frame to the previous frame's object. The assocaited objects shuold have the matched forward serach and backward search. More...

void	PTK_Alg_StereoOG_mergeObjectsTemporal (PTK_Alg_StereoOG_CreateOGObj *cntxt, int8_t direction)
	Merge the current (or previous) frame's object, which does not have correspondences in the prvious (or current ) frame, with a close object in the same frame. More...

float	PTK_Alg_StereoOG_computeDistanceObjects (uint8_t mode, PTK_Alg_StereoOG_Object obj1, PTK_Alg_StereoOG_Object obj2, int16_t idx1, int16_t idx2)
	Merge neighboring objects. More...

void	PTK_Alg_StereoOG_createBB (PTK_Alg_StereoOG_CreateOGObj cntxt, PTK_Alg_StereoOG_Object object, PTK_Alg_StereoOG_obs3DBox *obsBB)
	Create 3D bounding boxes for detected objects. More...

void	PTK_Alg_StereoOG_copyObjectInfo (PTK_Alg_StereoOG_Object srcObj, PTK_Alg_StereoOG_Object dstObj, int16_t srcIdx, int16_t dstIdx)
	Merge neighboring objects. More...

void	PTK_Alg_StereoOG_resetOG (PTK_Alg_StereoOG_CreateOGObj *cntxt)
	Reset OG. More...

void	PTK_Alg_StereoOG_resetTemporalReference (PTK_Alg_StereoOG_CreateOGObj *cntxt)
	Reset temporal object reference. More...

Function Documentation

◆ PTK_Alg_StereOG_get3DBB()

PTK_Alg_StereoOG_BoxProp* PTK_Alg_StereOG_get3DBB ( PTK_Alg_StereoOG_obs3DBox * obsBB )

Get bounding box pointer.

Parameters

[in,out] obsBB object bounding box

Returns: pointer to bounding boxes

◆ PTK_Alg_StereoOG_CreateOGSetParams()

void PTK_Alg_StereoOG_CreateOGSetParams	(	PTK_Alg_StereoOG_CreateOGAllParams *	params,
		PTK_Alg_StereoOG_CreateOGObj *	cntxt
	)

Initialize OG Map creation parameters.

Parameters

[in]	params	All algorithm configuration parameters for OG Map creation
[in]	cntxt	OG Map creation algorithm context

◆ PTK_Alg_StereoOG_CreateOGConfig()

int32_t PTK_Alg_StereoOG_CreateOGConfig	(	PTK_Alg_StereoOG_CreateOGAllParams *	params,
		PTK_Api_MemoryReq *	memReq
	)

Computes the memory requirements based on the given algorithm configuration parameters.

Parameters

[in]	cntxt	Algorithm configuration parameters.
[in]	memReq	Memory requirements as specified below entry [0]: Memory for internal context. Best allocated from the fastest memory. entry [1]: Memory for internal point cloud. Best allocated from the fastest memory. entry [2]: Memory for the output buffer. The output buffer is allocated by the Application so this entry is just to communicate the output buffer size. No need to pass the memory to the library in the init call PTK_Alg_SfmOgmapInit().

Returns

PTK_ALG_RET_SUCCESS, if successful
< error code, otherwise

◆ PTK_Alg_StereoOG_CreateOGInit()

PTK_AlgHandle PTK_Alg_StereoOG_CreateOGInit	(	PTK_Alg_StereoOG_CreateOGAllParams *	params,
		const PTK_Api_MemoryRsp *	memRsp
	)

Initializes the library based on the given algorithm configuration parameters and allocated memory blocks.

Parameters

[in]	params	All algorithm configuration parameters.
[in]	memRsp	Memory blocks as specified below

Returns

valid handle, if successful
NULL, otherwise

◆ PTK_Alg_StereoOG_createOG()

void PTK_Alg_StereoOG_createOG	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_PointCloud *	pc,
		PTK_Alg_StereoOG_obs3DBox *	obsBB
	)

Root function to create OG map from point clouds.

Parameters

[in]	cntxt	algorithm handle
[in]	pc	point cloud
[in]	obsBB	detected object's bounding box info

◆ PTK_Alg_StereoOG_CreateOGGetMem()

int32_t PTK_Alg_StereoOG_CreateOGGetMem	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		uint8_t *	memPtr
	)

Get memory size.

Parameters

[in,out]	cntxt	Algorithm handle.
[in]	memPtr	block pointer

Returns

required memory size

◆ PTK_Alg_StereoOG_getGridPropMem()

int32_t PTK_Alg_StereoOG_getGridPropMem	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		uint8_t *	memPtr
	)

Get memory size for GridProp mem.

Parameters

[in,out]	cntxt	Algorithm handle.
[in]	memPtr	block pointer

Returns

required memory size for OG map

◆ PTK_Alg_StereoOG_getOGMem()

int32_t PTK_Alg_StereoOG_getOGMem	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		uint8_t *	memPtr
	)

Get memory size for OG map.

Parameters

[in,out]	cntxt	Algorithm handle.
[in]	memPtr	block pointer

Returns

required memory size for OG map

◆ PTK_Alg_StereoOG_getObjMem()

int32_t PTK_Alg_StereoOG_getObjMem	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_Alg_StereoOG_Object *	obj,
		uint8_t *	memPtr
	)

Get memory size for OG objects.

Parameters

[in,out]	cntxt	Algorithm handle.
[in,out]	obj	Object structure
[in]	memPtr	block pointer

Returns

required memory size for OG map

◆ PTK_Alg_StereoOG_getOGConnMem()

int32_t PTK_Alg_StereoOG_getOGConnMem	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		uint8_t *	memPtr
	)

Get memory size for connected component analysis.

Parameters

[in,out]	cntxt	Algorithm handle.
[in]	memPtr	block pointer

Returns

required memory size for OG map

◆ PTK_Alg_StereoOG_getObsBBSize()

uint32_t PTK_Alg_StereoOG_getObsBBSize ( const PTK_Alg_StereoOG_CreateOGParams * ogParams )

Get memory size for object 3D bounding box on image without allocating memory.

Parameters

[in] ogParams OG params.

Returns

required memory size for OG map

◆ PTK_Alg_StereoOG_initObsBB()

PTK_Alg_StereoOG_obs3DBox* PTK_Alg_StereoOG_initObsBB ( uint8_t * memPtr )

Initialize bouning box structure using the given chunk of memory.

Parameters

[in] memPtr chunk of memory

Returns

pointer to object bounding box structure

◆ PTK_Alg_StereoOG_addPoints()

void PTK_Alg_StereoOG_addPoints	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_Point *	points,
		int32_t	numPoints
	)

Add point clouds to OG map.

Parameters

[in]	cntxt	algorithm handle
[in]	points	points
[in]	numPoints	number of points

◆ PTK_Alg_StereoOG_CCA()

void PTK_Alg_StereoOG_CCA ( PTK_Alg_StereoOG_CreateOGObj * cntxt )

Connected component analysis.

Parameters

[in] cntxt algorithm handle

◆ getNeighbor8Idx()

int16_t getNeighbor8Idx	(	PTK_Alg_StereoOG_CreateOGParams *	ogParams,
		PTK_Alg_StereoOG_OGConn *	ogConn,
		int32_t	idx,
		int32_t	xIdx,
		int32_t	yIdx
	)

Find 8 neighboring grids.

Parameters

[in]	ogParams	OG params
[in]	ogConn	OGConn struct
[in]	idx	2D grid index
[in]	xIdx	X grid index
[in]	yIdx	Y grid index

Returns: number of neighboring grids

◆ getNeighbor24Idx()

int16_t getNeighbor24Idx	(	PTK_Alg_StereoOG_CreateOGParams *	ogParams,
		PTK_Alg_StereoOG_OGConn *	ogConn,
		int32_t	idx,
		int32_t	xIdx,
		int32_t	yIdx
	)

Find 24 neighboring grids.

Parameters

[in]	ogParams	OG params
[in]	ogConn	OGConn struct
[in]	idx	2D grid index
[in]	xIdx	X grid index
[in]	yIdx	Y grid index

Returns: number of neighboring grids

◆ PTK_Alg_StereoOG_mergeObjects()

void PTK_Alg_StereoOG_mergeObjects ( PTK_Alg_StereoOG_CreateOGObj * cntxt )

Merge neighboring objects.

Parameters

[in,out] cntxt Algorithm handle.

◆ PTK_Alg_StereoOG_mergeTwoObjects()

bool PTK_Alg_StereoOG_mergeTwoObjects	(	PTK_Alg_StereoOG_Object *	curObj,
		PTK_Alg_StereoOG_Object *	newObj,
		int32_t	gridSize,
		int16_t	index
	)

Merge neighboring objects.

Parameters

[in] curObj input object [out] newObj output merged object [in] gridSize grid size [in] index input index to merge

Returns: true if any objects are merged, false otherwise

◆ PTK_Alg_StereoOG_applyTemporalFilter()

void PTK_Alg_StereoOG_applyTemporalFilter ( PTK_Alg_StereoOG_CreateOGObj * cntxt )

Apply temporal filtering of objects.

Parameters

[in,out] cntxt Algorithm handle.

◆ PTK_Alg_StereoOG_findCorrespondence()

void PTK_Alg_StereoOG_findCorrespondence	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_Alg_StereoOG_Object *	srcObj,
		PTK_Alg_StereoOG_Object *	refObj,
		uint8_t	direction
	)

Find corresponding objects in two frames.

Parameters

[in] cntxt Algorithm handle [in] srcObj source objects for which correspondences need to be found [in] refObj reference objects to be searched [in] direction search direction

◆ PTK_Alg_StereoOG_associateCorrespondence()

void PTK_Alg_StereoOG_associateCorrespondence	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_Alg_StereoOG_Object *	curObj,
		PTK_Alg_StereoOG_Object *	prevObj
	)

Associate the objects in the current frame to the previous frame's object. The assocaited objects shuold have the matched forward serach and backward search.

Parameters

[in] cntxt Algorithm handle [inout] curObj current frame objects [in] prevObj previous frame objects

◆ PTK_Alg_StereoOG_mergeObjectsTemporal()

void PTK_Alg_StereoOG_mergeObjectsTemporal	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		int8_t	direction
	)

Merge the current (or previous) frame's object, which does not have
correspondences in the prvious (or current ) frame, with a close object in the same frame.

Parameters

[in,out] cntxt Algorithm handle [in] direction 0: backward, 1: forward

◆ PTK_Alg_StereoOG_computeDistanceObjects()

float PTK_Alg_StereoOG_computeDistanceObjects	(	uint8_t	mode,
		PTK_Alg_StereoOG_Object *	obj1,
		PTK_Alg_StereoOG_Object *	obj2,
		int16_t	idx1,
		int16_t	idx2
	)

Merge neighboring objects.

Parameters

[in] mode distance compute mode [in] obj1 input object struct 1 [in] obj2 input object struct 2 [in] idx1 object index in obj1, with which distance is computed [in] idx2 object index in obj2, with which distance is computed

Returns: distance between two objects

◆ PTK_Alg_StereoOG_createBB()

void PTK_Alg_StereoOG_createBB	(	PTK_Alg_StereoOG_CreateOGObj *	cntxt,
		PTK_Alg_StereoOG_Object *	object,
		PTK_Alg_StereoOG_obs3DBox *	obsBB
	)

Create 3D bounding boxes for detected objects.

Parameters

[in,out] cntxt Algorithm handle. [in] object pointer to the detected objects. [out] obsBB pointer to objects' bounding boxes on image

◆ PTK_Alg_StereoOG_copyObjectInfo()

void PTK_Alg_StereoOG_copyObjectInfo	(	PTK_Alg_StereoOG_Object *	srcObj,
		PTK_Alg_StereoOG_Object *	dstObj,
		int16_t	srcIdx,
		int16_t	dstIdx
	)

Merge neighboring objects.

Parameters

[in] srcObj src object struct, from which an object is copied [in] dstObj dst object struct, to which an object is copied [in] srcIdx object index in srcObj that will be copied to dstObj [in] dstIdx object index in dstObj that an object will be copied to

Returns: distance between two objects

◆ PTK_Alg_StereoOG_resetOG()

void PTK_Alg_StereoOG_resetOG ( PTK_Alg_StereoOG_CreateOGObj * cntxt )

Reset OG.

Parameters

[in] cntxt Algorithm handle

◆ PTK_Alg_StereoOG_resetTemporalReference()

void PTK_Alg_StereoOG_resetTemporalReference ( PTK_Alg_StereoOG_CreateOGObj * cntxt )

Reset temporal object reference.

Parameters

[in] cntxt Algorithm handle

Introduction

Data Structures

Functions

Function Documentation

◆ PTK_Alg_StereOG_get3DBB()

◆ PTK_Alg_StereoOG_CreateOGSetParams()

◆ PTK_Alg_StereoOG_CreateOGConfig()

◆ PTK_Alg_StereoOG_CreateOGInit()

◆ PTK_Alg_StereoOG_createOG()

◆ PTK_Alg_StereoOG_CreateOGGetMem()

◆ PTK_Alg_StereoOG_getGridPropMem()

◆ PTK_Alg_StereoOG_getOGMem()

◆ PTK_Alg_StereoOG_getObjMem()

◆ PTK_Alg_StereoOG_getOGConnMem()

◆ PTK_Alg_StereoOG_getObsBBSize()

◆ PTK_Alg_StereoOG_initObsBB()

◆ PTK_Alg_StereoOG_addPoints()

◆ PTK_Alg_StereoOG_CCA()

◆ getNeighbor8Idx()

◆ getNeighbor24Idx()

◆ PTK_Alg_StereoOG_mergeObjects()

◆ PTK_Alg_StereoOG_mergeTwoObjects()

◆ PTK_Alg_StereoOG_applyTemporalFilter()

◆ PTK_Alg_StereoOG_findCorrespondence()

◆ PTK_Alg_StereoOG_associateCorrespondence()

◆ PTK_Alg_StereoOG_mergeObjectsTemporal()

◆ PTK_Alg_StereoOG_computeDistanceObjects()

◆ PTK_Alg_StereoOG_createBB()

◆ PTK_Alg_StereoOG_copyObjectInfo()

◆ PTK_Alg_StereoOG_resetOG()

◆ PTK_Alg_StereoOG_resetTemporalReference()