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Perception Tool Kit (PTK) API Guide
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Data Structures | |
struct | PTK_Alg_StereoOG_CreatePCConfigParams |
Stereo PC creation process - config Parameters. More... | |
struct | PTK_Alg_StereoOG_CreatePCCamParams |
Stereo PC creation process - camera Parameters. More... | |
struct | PTK_Alg_StereoOG_CreatePCAllParams |
Stereo PC creation process - All algorithm parameters. More... | |
struct | PTK_Alg_StereoOG_CreatePCObj |
Stereo PC creation process - PC creation context. More... | |
Functions | |
void | PTK_Alg_StereoOG_CreatePCSetParams (PTK_Alg_StereoOG_CreatePCAllParams *params, PTK_Alg_StereoOG_CreatePCObj *cntxt) |
Initialize PC creation parameters. More... | |
int32_t | PTK_Alg_StereoOG_CreatePCConfig (PTK_Alg_StereoOG_CreatePCAllParams *params, PTK_Api_MemoryReq *memReq) |
Computes the memory requirements based on the given algorithm configuration parameters. More... | |
PTK_AlgHandle | PTK_Alg_StereoOG_CreatePCInit (PTK_Alg_StereoOG_CreatePCAllParams *params, const PTK_Api_MemoryRsp *memRsp) |
Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More... | |
int32_t | PTK_Alg_StereoOG_CreatePCGetMem (PTK_Alg_StereoOG_CreatePCObj *cntxt, uint8_t *memPtr) |
Get memory size. More... | |
void | PTK_Alg_StereoOG_createPC (PTK_Alg_StereoOG_CreatePCObj *cntxt, int16_t *disparity, uint8_t *ssmap, PTK_PointCloud *pc) |
Root function to creaet point clouds from disparity map and semantic segmantation map. More... | |
void | PTK_Alg_StereoOG_downsampleDisparity (PTK_Alg_StereoOG_CreatePCConfigParams *config, int16_t *disparity, float *dsDisparity) |
Downsample input disparity map. More... | |
void | PTK_Alg_StereoOG_downsampleSSMap (PTK_Alg_StereoOG_CreatePCConfigParams *config, uint8_t *ssmap, uint8_t *dsSSMap) |
Downsample input semantic segmentation map. More... | |
int32_t | PTK_Alg_StereoOG_triangulate (PTK_Alg_StereoOG_CreatePCAllParams *params, float *dsDisparity, uint8_t *dsSSMap, PTK_PointCloud *pc) |
Triangulate points using downsampled disparity and semantic segmentation to create point cloud. More... | |
int8_t | PTK_Alg_StereoOG_classToPC (uint8_t classId) |
Check if the point with a particular class should be triangulated. More... | |
int8_t | PTK_Alg_StereoOG_classToDetect (uint8_t classId) |
Check if a particular class of object should be detected. More... | |
void PTK_Alg_StereoOG_CreatePCSetParams | ( | PTK_Alg_StereoOG_CreatePCAllParams * | params, |
PTK_Alg_StereoOG_CreatePCObj * | cntxt | ||
) |
Initialize PC creation parameters.
[in] | params | all algorithm parameters for PC creation |
[in] | cntxt | PC creation algorithm context |
int32_t PTK_Alg_StereoOG_CreatePCConfig | ( | PTK_Alg_StereoOG_CreatePCAllParams * | params, |
PTK_Api_MemoryReq * | memReq | ||
) |
Computes the memory requirements based on the given algorithm configuration parameters.
[in] | cntxt | Algorithm configuration parameters. |
[in] | memReq | Memory requirements as specified below
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PTK_AlgHandle PTK_Alg_StereoOG_CreatePCInit | ( | PTK_Alg_StereoOG_CreatePCAllParams * | params, |
const PTK_Api_MemoryRsp * | memRsp | ||
) |
Initializes the library based on the given algorithm configuration parameters and allocated memory blocks.
[in] | params | All algorithm configuration parameters. |
[in] | memRsp | Memory blocks as specified below |
int32_t PTK_Alg_StereoOG_CreatePCGetMem | ( | PTK_Alg_StereoOG_CreatePCObj * | cntxt, |
uint8_t * | memPtr | ||
) |
Get memory size.
[in,out] | cntxt | Algorithm handle. |
[in] | memory | block pointer |
void PTK_Alg_StereoOG_createPC | ( | PTK_Alg_StereoOG_CreatePCObj * | cntxt, |
int16_t * | disparity, | ||
uint8_t * | ssmap, | ||
PTK_PointCloud * | pc | ||
) |
Root function to creaet point clouds from disparity map and semantic segmantation map.
[in] | cntxt | algorithm handle |
[in] | disparity | disparity buffer |
[in] | ssmap | semantic segmentaion buffer |
[out] | pc | Point cloud |
void PTK_Alg_StereoOG_downsampleDisparity | ( | PTK_Alg_StereoOG_CreatePCConfigParams * | config, |
int16_t * | disparity, | ||
float * | dsDisparity | ||
) |
Downsample input disparity map.
[in] | config | algorihtm configuration params |
[in] | disparity | input disparity map |
[out] | dsDisparity | downsampled disparity map |
void PTK_Alg_StereoOG_downsampleSSMap | ( | PTK_Alg_StereoOG_CreatePCConfigParams * | config, |
uint8_t * | ssmap, | ||
uint8_t * | dsSSMap | ||
) |
Downsample input semantic segmentation map.
[in] | config | algorihtm configuration params |
[in] | ssmap | input semantic segmentation map |
[out] | dsSSMap | downsampled semantic segmentation map |
int32_t PTK_Alg_StereoOG_triangulate | ( | PTK_Alg_StereoOG_CreatePCAllParams * | params, |
float * | dsDisparity, | ||
uint8_t * | dsSSMap, | ||
PTK_PointCloud * | pc | ||
) |
Triangulate points using downsampled disparity and semantic segmentation to create point cloud.
[in] | params | All algorihtm configuration params |
[in] | dsDisparity | Down-sampled disparity map |
[out] | dsSSMap | downsampled semantic segmentation map |
int8_t PTK_Alg_StereoOG_classToPC | ( | uint8_t | classId | ) |
Check if the point with a particular class should be triangulated.
[in] | classId | class id of a point |
int8_t PTK_Alg_StereoOG_classToDetect | ( | uint8_t | classId | ) |
Check if a particular class of object should be detected.
[in] | classId | class id |