Perception Tool Kit (PTK) API Guide

Detailed Description

Map definition.

The PTK_Map structure serves to aggregate multiple PTK_Grid structures that describe the same real-world region using the same quantization of space. Each constituent PTK_Grid may have a different data type stored in it, but they are required to use identical coordinate systems. The cell indexing schemes are therefore identical as well. The advantage of using a PTK_Map container is that it provides a single, flexible handle for manipulating multiple PTK_Grids at once, simplifying function signatures for processing.

PTK_Map provides a system for optionally selecting which PTK_Grid members to populate as well as querying which are available, in order to detect configuration errors at runtime. The optional selection of PTK_Grids is done to improve memory performance, as in practice each PTK_Grid for a suitable region of space typically spans several MB.

Collaboration diagram for PTK_Map:
Collaboration graph

Data Fields

PTK_MapConfig config
 
uint32_t gridOffsets [PTK_MAP_MAX_NUM_GRIDS_PER_MAP]
 

Field Documentation

◆ config

PTK_MapConfig PTK_Map::config

Map configuration.

◆ gridOffsets

uint32_t PTK_Map::gridOffsets[PTK_MAP_MAX_NUM_GRIDS_PER_MAP]