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Perception Tool Kit (PTK) API Guide
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Stereo algorithm - uvDisparity parameters.
Data Fields | |
int8_t | dsFactor |
uint8_t | useRoadParams |
uint8_t | adaptiveGroundError |
int32_t | roadWidth |
int32_t | vdWidth |
int32_t | vdHeight |
int32_t | startX |
int32_t | lastX |
int32_t | startY |
int32_t | lastY |
int32_t | ransacIter |
float | ransacErrTh |
int8_t PTK_Alg_StereoAlgo_uvDispParams::dsFactor |
Downsampling factor of disparity map Downsampled disparity map is an input to ground plane estimation
uint8_t PTK_Alg_StereoAlgo_uvDispParams::useRoadParams |
Flag that indicates whether to use road params in estimating ground plane
uint8_t PTK_Alg_StereoAlgo_uvDispParams::adaptiveGroundError |
Flat that indicates whether to use adaptive ground error for non-flat ground
int32_t PTK_Alg_StereoAlgo_uvDispParams::roadWidth |
Minimum road width. Ground plane disparity should have more pixels than as many pixels as roadWidth
int32_t PTK_Alg_StereoAlgo_uvDispParams::vdWidth |
V-disparity map width
int32_t PTK_Alg_StereoAlgo_uvDispParams::vdHeight |
V-disparity map width
int32_t PTK_Alg_StereoAlgo_uvDispParams::startX |
Starting horizontal pixel pos that is used for ground model estimation
int32_t PTK_Alg_StereoAlgo_uvDispParams::lastX |
Last horizontal pixel pos that is used for ground model estimation
int32_t PTK_Alg_StereoAlgo_uvDispParams::startY |
Starting vertical pixel pos that is used for ground model estimation
int32_t PTK_Alg_StereoAlgo_uvDispParams::lastY |
Last vertical pixel pos that is used for ground model estimation
int32_t PTK_Alg_StereoAlgo_uvDispParams::ransacIter |
The number of RANSAC iteration for V-disparity modeling
float PTK_Alg_StereoAlgo_uvDispParams::ransacErrTh |
RANSAC error threshold