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int32_t | PTK_Alg_StereoAlgo_computeObstacleProbalilityPerPixel (PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_camParams *camParams, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData) |
| Compute probabilities of pixels to be obstacle configuration parameters. More...
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void | PTK_Alg_StereoAlgo_computeObstacleProbabilityPerPixel_verticalLoop (PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_camParams *camParams, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData, int32_t horizon) |
| Compute probabilities of pixels to be obstacle configuration parameters. More...
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void | PTK_Alg_StereoAlgo_findBottomOfObstacle (PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_bottomObsParams *fbooParams, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData) |
| Find the closest y positions where obstacles are on every column of an image. More...
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void | PTK_Alg_StereoAlgo_downsampleDisparity (PTK_Alg_StereoAlgo_configParams *config, PTK_Alg_StereoAlgo_obsProbParams *copppParams, int16_t *disparity, float *dsDisparity) |
| Downsample input disparity map. More...
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void | PTK_Alg_StereoAlgo_filterLowConfDisparity (int32_t width, int32_t height, int8_t existConf, int8_t threshold, int16_t *disparity, int16_t *outDisparity) |
| Filter out low-confidence disparities. More...
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float | PTK_Alg_StereoAlgo_getDisparityFromModel (PTK_Alg_StereoAlgo_groundModelParams *gmParams, float x, float y) |
| Get disparity for input position (X, y) from a ground plane model. More...
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int32_t | PTK_Alg_StereoAlgo_findYforDisparity (PTK_Alg_StereoAlgo_groundModelParams *gmParams, PTK_Alg_StereoAlgo_camParams *camParams, int32_t x, float disparity) |
| Get y position of a pixel for the given horizontal position and disparity. More...
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float | PTK_Alg_StereoAlgo_disparity2Depth (PTK_Alg_StereoAlgo_camParams *camParams, float disparity, float ypos) |
| Convert disparity to depth. More...
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int32_t | PTK_Alg_StereoAlgo_randRange (int32_t min, int32_t max) |
| Generate random number between two numbers. More...
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void | PTK_Alg_StereoAlgo_transpose (float *M, int32_t M_width, int32_t M_height, float *Mt) |
| Generate random number between two numbers. More...
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void | PTK_Alg_StereoAlgo_multiplyMatrix (float *iM1, int32_t iM1_width, int32_t iM1_height, float *iM2, int32_t iM2_width, int32_t iM2_height, float *oM, int32_t oM_width, int32_t oM_height) |
| Multiply two matrices. More...
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int32_t | PTK_Alg_StereoAlgo_LUdecomposition (float *A, int32_t A_width, int32_t A_height, float *b, int32_t b_width, int32_t n_toCompute) |
| LU decomposition. More...
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int32_t | PTK_Alg_StereoAlgo_runGroundEstimation (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, uint8_t *inputImageBuffer, int16_t *disparityBuffer, int16_t *outDisparityBuffer) |
| Run ground plane model estimation algorithym. More...
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void | PTK_Alg_StereoAlgo_GroundEstimationSetParams (PTK_Alg_StereoAlgo_GroundEstimation_allParams *allPararms, PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt) |
| Initialize ground plane estimation parameters. More...
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int32_t | PTK_Alg_StereoAlgo_GroundEstimationConfig (PTK_Alg_StereoAlgo_GroundEstimation_allParams *cfg, PTK_Api_MemoryReq *memReq) |
| Computes the memory requirements based on the given algorithm configuration parameters. More...
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PTK_AlgHandle | PTK_Alg_StereoAlgo_GroundEstimationInit (PTK_Alg_StereoAlgo_GroundEstimation_allParams *allParams, const PTK_Api_MemoryRsp *memRsp) |
| Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...
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int32_t | PTK_Alg_StereoAlgo_GroundEstimationGetMem (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, uint8_t *memPtr) |
| Get memory size. More...
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void | PTK_Alg_StereoAlgo_GroundEstimationReset (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt) |
| Reset ground plane estimation parameters. More...
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void | PTK_Alg_StereoAlgo_computeVDisparityGroundModel (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr) |
| Main function to estimat v-disparity based ground plane models. More...
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void | PTK_Alg_StereoAlgo_updateCandidateGPDisparity (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, int32_t *numGPDisparity, int32_t *totalNumPixels) |
| Get disparities corresponding to ground plane. More...
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int32_t | PTK_Alg_StereoAlgo_modelGroundPlane (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, int32_t *numGPDisparity, int32_t *totalNumPixels) |
| Get disparities corresponding to ground plane. More...
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void | PTK_Alg_StereoAlgo_updateGroundPlaneModelHistory (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr) |
| Update ground model history. More...
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void | PTK_Alg_StereoAlgo_averageGrounPlaneModel (PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, int32_t *numGPDisparity) |
| Comput the final ground plane model by taking account for previous models. More...
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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. More...
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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. More...
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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. More...
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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. More...
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void | PTK_Alg_StereoAlgo_mergeDetection (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda) |
| split detected obstacles More...
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void | PTK_Alg_StereoAlgo_splitDetection (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda) |
| split detected obstacles More...
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void | PTK_Alg_StereoAlgo_removeFarDetection (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *curOda, PTK_Alg_StereoAlgo_obsDetectionArray *newOda) |
| Remove too far obstacles. More...
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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. More...
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int32_t | PTK_Alg_StereoAlgo_findObstacleFromDisparity (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *oda) |
| Main function for obstacle detection. More...
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void | PTK_Alg_StereoAlgo_findClosestDisparity (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt) |
| Find closed dispairty for obstacles. More...
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void | PTK_Alg_StereoAlgo_detectObstacle (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_obsDetectionArray *oda) |
| Create final bounding boxes for detected obstacles. More...
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PTK_Alg_StereoAlgo_lineModel | PTK_Alg_StereoAlgo_getlineModel (float offset, float dx) |
| Update a line model with offset and dx. More...
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int32_t | PTK_Alg_StereoAlgo_searchFreeDriveDistance (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt) |
| Compute drivable distance in front of a camera. More...
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void | PTK_Alg_StereoAlgo_searchFreeSpace (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, int32_t horizon) |
| Find free space for every column. More...
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int32_t | PTK_Alg_StereoAlgo_runObjectDetect (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, PTK_Alg_StereoAlgo_obsBox *obsBox, uint32_t *numDetetions, int32_t *freeSpaceBoundary, PTK_Alg_StereoAlgo_driveSpace *drivableSpace, uint8_t *inputImageBuffer, int16_t *disparityBuffer) |
| Rund obstacle detection algorithm. More...
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void | PTK_Alg_StereoAlgo_ObjectDetectSetParams (PTK_Alg_StereoAlgo_ObjectDetect_allParams *allPararms, PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt) |
| Initialize obstacle detection parameters. More...
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int32_t | PTK_Alg_StereoAlgo_ObjectDetectConfig (PTK_Alg_StereoAlgo_ObjectDetect_allParams *cntxt, PTK_Api_MemoryReq *memReq) |
| Computes the memory requirements based on the given algorithm configuration parameters. More...
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PTK_AlgHandle | PTK_Alg_StereoAlgo_ObjectDetectInit (PTK_Alg_StereoAlgo_ObjectDetect_allParams *allParams, const PTK_Api_MemoryRsp *memRsp) |
| Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...
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int32_t | PTK_Alg_StereoAlgo_ObjectDetectGetMem (PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, uint8_t *memPtr) |
| Get memory size. More...
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