Detailed Description

Stereo algorithm - obstacle detection algorithm context.

Collaboration diagram for PTK_Alg_StereoAlgo_ObjectDetectObj:

Data Fields
PTK_Alg_StereoAlgo_ObjectDetect_allParams	allParams

PTK_Alg_StereoAlgo_obstacleDetetionMems	algoMemData

PTK_Alg_StereoAlgo_groundModelParams_Array *	gmParamsArr

PTK_Alg_StereoAlgo_obsDetectionArray *	oda1

PTK_Alg_StereoAlgo_obsDetectionArray *	oda2

uint8_t *	inputImage

uint8_t *	dispConfidence

int16_t *	disparity

float *	closestDisparity

int32_t *	closestHeightPrior

int32_t *	closestHeightComputed

float *	sortedDisparity

float *	dataBuffer [2]

float *	A

float *	At

float *	b

int16_t *	inlierIdx

int16_t *	bestInlierIdx

int16_t *	freeDriveSpace

Field Documentation

◆ allParams

PTK_Alg_StereoAlgo_ObjectDetect_allParams PTK_Alg_StereoAlgo_ObjectDetectObj::allParams

All configuation parameter for obstacle detection

◆ algoMemData

PTK_Alg_StereoAlgo_obstacleDetetionMems PTK_Alg_StereoAlgo_ObjectDetectObj::algoMemData

Data mems needed for obstacle detection

◆ gmParamsArr

PTK_Alg_StereoAlgo_groundModelParams_Array* PTK_Alg_StereoAlgo_ObjectDetectObj::gmParamsArr

Pointer to ground model parameters array

◆ oda1

PTK_Alg_StereoAlgo_obsDetectionArray* PTK_Alg_StereoAlgo_ObjectDetectObj::oda1

Pointer to obstacle detection array

◆ oda2

PTK_Alg_StereoAlgo_obsDetectionArray* PTK_Alg_StereoAlgo_ObjectDetectObj::oda2

Pointer to obstacle detection array

◆ inputImage

uint8_t* PTK_Alg_StereoAlgo_ObjectDetectObj::inputImage

Pointer to input image

◆ dispConfidence

uint8_t* PTK_Alg_StereoAlgo_ObjectDetectObj::dispConfidence

Pointer to disparity confidence map

◆ disparity

int16_t* PTK_Alg_StereoAlgo_ObjectDetectObj::disparity

Pointer to disparity map.

◆ closestDisparity

float* PTK_Alg_StereoAlgo_ObjectDetectObj::closestDisparity

Pointer to closest obstalce disparity in each column of an image

◆ closestHeightPrior

int32_t* PTK_Alg_StereoAlgo_ObjectDetectObj::closestHeightPrior

Initial guess of detected obtacle's height

◆ closestHeightComputed

int32_t* PTK_Alg_StereoAlgo_ObjectDetectObj::closestHeightComputed

Refined detected obtacle's height

◆ sortedDisparity

float* PTK_Alg_StereoAlgo_ObjectDetectObj::sortedDisparity

Sorted disparit to find closest obstacle disparity

◆ dataBuffer

float* PTK_Alg_StereoAlgo_ObjectDetectObj::dataBuffer[2]

Data buffer to solve linear equation Ax + b

◆ A

float* PTK_Alg_StereoAlgo_ObjectDetectObj::A

A matrix of linear equation Ax + b

◆ At

float* PTK_Alg_StereoAlgo_ObjectDetectObj::At

A transpose matrix

◆ b

float* PTK_Alg_StereoAlgo_ObjectDetectObj::b

b vector of linear equation Ax + b

◆ inlierIdx

int16_t* PTK_Alg_StereoAlgo_ObjectDetectObj::inlierIdx

Pointer to inlier index

◆ bestInlierIdx

int16_t* PTK_Alg_StereoAlgo_ObjectDetectObj::bestInlierIdx

Pointer to best inlier index

◆ freeDriveSpace

int16_t* PTK_Alg_StereoAlgo_ObjectDetectObj::freeDriveSpace

Free space for each row of an image