62 #ifndef _STEREO_OBJECT_DETECT_H_ 63 #define _STEREO_OBJECT_DETECT_H_ 76 #define MAX_DETECTIONS 40 166 float disparities[2];
172 int32_t windowHeights[2];
178 int32_t xLocations[2];
237 float windowHeightRatioRange[2];
375 float * dataBuffer[2];
PTK_Alg_StereoAlgo_closestObsParams fcdParams
Definition: stereo_object_detect.h:316
float maxDisparityDifference
Definition: stereo_object_detect.h:245
int32_t * closestHeightPrior
Definition: stereo_object_detect.h:366
PTK_Alg_StereoAlgo_mergeObsParams moParams
Definition: stereo_object_detect.h:322
PTK_Alg_StereoAlgo_detectObsParams doParams
Definition: stereo_object_detect.h:319
Stereo algorithm - drivable space structure.
Definition: stereo_object_detect.h:116
Stereo algorithm - detected obstacle parameters.
Definition: stereo_object_detect.h:228
int32_t p3y
Definition: stereo_object_detect.h:136
int32_t PTK_Alg_StereoAlgo_ObjectDetectGetMem(PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt, uint8_t *memPtr)
Get memory size.
int16_t * freeDriveSpace
Definition: stereo_object_detect.h:393
PTK_Alg_StereoAlgo_dispParams dispParams
Definition: stereo_object_detect.h:307
uint8_t maxHorizontalSkip
Definition: stereo_object_detect.h:263
PTK_Alg_StereoAlgo_ObjectDetect_allParams allParams
Definition: stereo_object_detect.h:339
int32_t p1y
Definition: stereo_object_detect.h:124
int32_t p3x
Definition: stereo_object_detect.h:99
Stereo algorithm - obstacle detection algorithm context.
Definition: stereo_object_detect.h:336
float drivableDepth
Definition: stereo_object_detect.h:118
uint8_t * inputImage
Definition: stereo_object_detect.h:354
uint8_t minSplitComponentWidth
Definition: stereo_object_detect.h:280
int32_t p2x
Definition: stereo_object_detect.h:93
PTK_Alg_StereoAlgo_obstacleDetetionMems algoMemData
Definition: stereo_object_detect.h:342
int32_t p4x
Definition: stereo_object_detect.h:139
int32_t p2y
Definition: stereo_object_detect.h:130
float * At
Definition: stereo_object_detect.h:381
Stereo algorithm - array of detected obstacels in a frame.
Definition: stereo_object_detect.h:195
Stereo algorithm - obstacle split parameters.
Definition: stereo_object_detect.h:277
void * PTK_AlgHandle
Algorithm Handle.
Definition: alg_common.h:79
PTK_Alg_StereoAlgo_roadParams roadParams
Definition: stereo_object_detect.h:304
int32_t p1x
Definition: stereo_object_detect.h:121
int32_t minSearchBoxSize
Definition: stereo_object_detect.h:216
PTK_Alg_StereoAlgo_obsDetection * detections
Definition: stereo_object_detect.h:198
uint8_t maxHorizontalToSkip
Definition: stereo_object_detect.h:231
float splitInlierThreshold
Definition: stereo_object_detect.h:283
int32_t p4x
Definition: stereo_object_detect.h:105
int32_t p2y
Definition: stereo_object_detect.h:96
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:175
PTK_Alg_StereoAlgo_lineModel detectionLineModel
Definition: stereo_object_detect.h:187
Stereo algorithm - four corners of a detected obstacle bounding box.
Definition: stereo_object_detect.h:82
Stereo algorithm - V-disparity ground plane model array for multiple models.
Definition: stereo_algo.h:448
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:148
int32_t p1x
Definition: stereo_object_detect.h:87
float depth
Definition: stereo_object_detect.h:84
uint8_t minHorizontalLength
Definition: stereo_object_detect.h:234
float * sortedDisparity
Definition: stereo_object_detect.h:372
PTK_Alg_StereoAlgo_obsDetectionArray * oda2
Definition: stereo_object_detect.h:351
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.
float dx
Definition: stereo_object_detect.h:155
int32_t p3y
Definition: stereo_object_detect.h:102
PTK_Alg_StereoAlgo_bottomObsParams fbooParams
Definition: stereo_object_detect.h:313
Stereo algorithm - all required parameters structure for obstacle detection.
Definition: stereo_object_detect.h:295
Stereo algorithm - disparity parameters.
Definition: stereo_algo.h:226
PTK_Alg_StereoAlgo_groundModelParams_Array * gmParamsArr
Definition: stereo_object_detect.h:345
uint8_t * dispConfidence
Definition: stereo_object_detect.h:357
Stereo algorithm - obstacle merge parameters.
Definition: stereo_object_detect.h:257
Stereo algorithm - Data mems needed for algorithms.
Definition: stereo_algo.h:462
PTK_Alg_StereoAlgo_splitObsParams soParams
Definition: stereo_object_detect.h:325
float obsProbabilityMinDisparityToAccept
Definition: stereo_object_detect.h:248
Declarations for PTK_Matrix struct+functions.
int32_t p2x
Definition: stereo_object_detect.h:127
int32_t numDetections
Definition: stereo_object_detect.h:201
int32_t p4y
Definition: stereo_object_detect.h:108
float * b
Definition: stereo_object_detect.h:384
Stereo algorithm - closest obstacle parameters.
Definition: stereo_object_detect.h:210
PTK_Alg_StereoAlgo_obsProbParams copppParams
Definition: stereo_object_detect.h:310
PTK_Alg_StereoAlgo_configParams odConfig
Definition: stereo_object_detect.h:298
API memory allocation response.
Definition: api_memory_if.h:158
int32_t p1y
Definition: stereo_object_detect.h:90
Stereo algorithm - config Parameters.
Definition: stereo_algo.h:110
int16_t * disparity
Definition: stereo_object_detect.h:360
int32_t depthThreshold
Definition: stereo_object_detect.h:260
int32_t originalDetectedArea
Definition: stereo_object_detect.h:181
float adaptiveTerminationPercentage
Definition: stereo_object_detect.h:240
float * closestDisparity
Definition: stereo_object_detect.h:363
float statisticsNearestPercent
Definition: stereo_object_detect.h:219
int16_t * bestInlierIdx
Definition: stereo_object_detect.h:390
API memory allocation request.
Definition: api_memory_if.h:125
float tiltThreshold
Definition: stereo_object_detect.h:266
int16_t * inlierIdx
Definition: stereo_object_detect.h:387
int32_t p3x
Definition: stereo_object_detect.h:133
void PTK_Alg_StereoAlgo_ObjectDetectSetParams(PTK_Alg_StereoAlgo_ObjectDetect_allParams *allPararms, PTK_Alg_StereoAlgo_ObjectDetectObj *cntxt)
Initialize obstacle detection parameters.
Stereo algorithm - line model for detected obstacle bounding box.
Definition: stereo_object_detect.h:150
PTK_Alg_StereoAlgo_camParams camParams
Definition: stereo_object_detect.h:301
int8_t isValid
Definition: stereo_object_detect.h:184
int32_t * closestHeightComputed
Definition: stereo_object_detect.h:369
PTK_Alg_StereoAlgo_obsDetectionArray * oda1
Definition: stereo_object_detect.h:348
Stereo algorithm - bottom of obstacle parameter.
Definition: stereo_algo.h:347
int32_t p4y
Definition: stereo_object_detect.h:142
Stereo algorithm - properties of a detected obstacles.
Definition: stereo_object_detect.h:163
float adaptiveTerminationPercentage
Definition: stereo_object_detect.h:286
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 bl...
Stereo algorithm - obstacle probability (per pixel) parameters.
Definition: stereo_algo.h:313
float offset
Definition: stereo_object_detect.h:152
float adaptiveTerminationPercentage
Definition: stereo_object_detect.h:269
int32_t statisticsBoxHeight
Definition: stereo_object_detect.h:213
float * A
Definition: stereo_object_detect.h:378