Perception Tool Kit (PTK) API Guide
highlight_obstacle.h
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62 #ifndef _HIGHLIGHT_OBSTACLE_H
63 #define _HIGHLIGHT_OBSTACLE_H
64 
65 #include <perception/perception.h>
67 
83 
100  int32_t startInd,
101  int32_t endInd,
102  int8_t dsf,
103  float inlierTh,
104  float adaptiveTerminationPercentage);
105 
121  float *A, float *b,
122  int32_t numData, int8_t computeGram);
123 
138 int32_t PTK_Alg_StereoAlgo_getInliersOneLine(float *dataBuffer[2],
139  int16_t *inlierIdx,
141  int32_t numData,
142  float inlierTh);
143 
158 
173 
188 
189 
206  int32_t startIdx,
207  int32_t endIdx);
208 
224  int xBeginIdx,
225  int xEndIdx);
226 
227 
228 #endif // #ifndef _HIGHLIGHT_OBSTACLE_H
PTK_Alg_StereoAlgo_obsDetection PTK_Alg_StereoAlgo_createMergedDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, int32_t startIdx, int32_t endIdx)
Merge detected obstacles.
Stereo algorithm - obstacle detection algorithm context.
Definition: stereo_object_detect.h:336
PTK_Alg_StereoAlgo_obsDetection PTK_Alg_StereoAlgo_getNewDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_lineModel model, int xBeginIdx, int xEndIdx)
Create a new detection object after spliting or merging obstacle.
Stereo algorithm - array of detected obstacels in a frame.
Definition: stereo_object_detect.h:195
PTK_Alg_StereoAlgo_lineModel PTK_Alg_StereoAlgo_computeALineModel(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, int32_t startInd, int32_t endInd, int8_t dsf, float inlierTh, float adaptiveTerminationPercentage)
Compute a line model.
void PTK_Alg_StereoAlgo_computePerspectiveForDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *inOda, PTK_Alg_StereoAlgo_obsDetectionArray *outOda)
Correct perspectives of detected obstacles.
PTK_Alg_StereoAlgo_lineModel PTK_Alg_StereoAlgo_fitModelOneLine(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, float *A, float *b, int32_t numData, int8_t computeGram)
Fit a line to compute a line model.
void PTK_Alg_StereoAlgo_mergeDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda)
split detected obstacles
int32_t PTK_Alg_StereoAlgo_getInliersOneLine(float *dataBuffer[2], int16_t *inlierIdx, PTK_Alg_StereoAlgo_lineModel model, int32_t numData, float inlierTh)
Compute the number of inlier after fitting a line.
void PTK_Alg_StereoAlgo_splitDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda)
split detected obstacles
Stereo algorithm - line model for detected obstacle bounding box.
Definition: stereo_object_detect.h:150
Stereo algorithm - properties of a detected obstacles.
Definition: stereo_object_detect.h:163
void PTK_Alg_StereoAlgo_removeFarDetection(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda)
Remove too far obstacles.