Perception Tool Kit (PTK) API Guide
PTK_Alg_StereoAlgo_GroundEstimationObj Struct Reference

Detailed Description

Stereo algorithm - ground plane estimation context.

Collaboration diagram for PTK_Alg_StereoAlgo_GroundEstimationObj:
Collaboration graph

Data Fields

PTK_Alg_StereoAlgo_GroundEstimation_allParams allParams
 
PTK_Alg_StereoAlgo_groundParams groundParams
 
PTK_Alg_StereoAlgo_groundModelHistory_Array gmHistoryArray
 
uint8_t * inputImage
 
uint8_t * dispConfidence
 
int16_t * disparity
 
int16_t * outDisparity
 
float * dsDisparity
 
int32_t * vDisparity [NUM_GP_MODELS]
 
float * candidateGP [NUM_GP_MODELS]
 
uint8_t * gpModelIdx
 

Field Documentation

◆ allParams

PTK_Alg_StereoAlgo_GroundEstimation_allParams PTK_Alg_StereoAlgo_GroundEstimationObj::allParams

All configuation parameter for ground plane estimation

◆ groundParams

PTK_Alg_StereoAlgo_groundParams PTK_Alg_StereoAlgo_GroundEstimationObj::groundParams

Ground parameters

◆ gmHistoryArray

PTK_Alg_StereoAlgo_groundModelHistory_Array PTK_Alg_StereoAlgo_GroundEstimationObj::gmHistoryArray

Ground model history array

◆ inputImage

uint8_t* PTK_Alg_StereoAlgo_GroundEstimationObj::inputImage

Pointer to input image

◆ dispConfidence

uint8_t* PTK_Alg_StereoAlgo_GroundEstimationObj::dispConfidence

Pointer to disparity confidence map

◆ disparity

int16_t* PTK_Alg_StereoAlgo_GroundEstimationObj::disparity

Pointer to disparity map.

◆ outDisparity

int16_t* PTK_Alg_StereoAlgo_GroundEstimationObj::outDisparity

Pointer to output disparity map after removing low-confidence disparities

◆ dsDisparity

float* PTK_Alg_StereoAlgo_GroundEstimationObj::dsDisparity

down-sampled disparity pointer for ground plane estimation

◆ vDisparity

int32_t* PTK_Alg_StereoAlgo_GroundEstimationObj::vDisparity[NUM_GP_MODELS]

Pointer to V-disparity map

◆ candidateGP

float* PTK_Alg_StereoAlgo_GroundEstimationObj::candidateGP[NUM_GP_MODELS]

Candidate GP disparity for every row

◆ gpModelIdx

uint8_t* PTK_Alg_StereoAlgo_GroundEstimationObj::gpModelIdx

Pointer to the ground plane model index for each column of an image