Perception Tool Kit (PTK) API Guide
PTK Stereo Disparity Median Filter Postprocess

Introduction

Data Structures

struct  PTK_Alg_StereoPP_MedianFilter_configParams
 Stereo Post-Processing 2-D median filter algorithm - config Parameters. More...
 
struct  PTK_Alg_StereoPP_MedianFilterObj
 Stereo algorithm - 2-D median filter context. More...
 

Functions

void PTK_Alg_StereoPP_MedianFilterSetParams (PTK_Alg_StereoPP_MedianFilter_configParams *cfg, PTK_Alg_StereoPP_MedianFilterObj *cntxt)
 Initialize median filter parameters. More...
 
int32_t PTK_Alg_StereoPP_MedianFilterConfig (PTK_Alg_StereoPP_MedianFilter_configParams *cfg, PTK_Api_MemoryReq *memReq)
 Computes the memory requirements based on the given algorithm configuration parameters. More...
 
PTK_AlgHandle PTK_Alg_StereoPP_MedianFilterInit (PTK_Alg_StereoPP_MedianFilter_configParams *cfg, const PTK_Api_MemoryRsp *memRsp)
 Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...
 
int32_t PTK_Alg_StereoPP_MedianFilterGetMem (PTK_Alg_StereoPP_MedianFilterObj *cntxt, uint8_t *memPtr)
 Get memory size. More...
 
void PTK_Alg_StereoPP_runMedianFilter (PTK_Alg_StereoPP_MedianFilterObj *cntxt, int16_t *disparityBuffer, int16_t *outDisparityBuffer, int16_t stride)
 Run 2-D median filter. More...
 

Function Documentation

◆ PTK_Alg_StereoPP_MedianFilterSetParams()

void PTK_Alg_StereoPP_MedianFilterSetParams ( PTK_Alg_StereoPP_MedianFilter_configParams cfg,
PTK_Alg_StereoPP_MedianFilterObj cntxt 
)

Initialize median filter parameters.

Parameters
[in]cfgconfiguration parameters for median filter
[in]cntxtmedian filter algorithm context
Returns

◆ PTK_Alg_StereoPP_MedianFilterConfig()

int32_t PTK_Alg_StereoPP_MedianFilterConfig ( PTK_Alg_StereoPP_MedianFilter_configParams cfg,
PTK_Api_MemoryReq memReq 
)

Computes the memory requirements based on the given algorithm configuration parameters.

Parameters
[in]cntxtAlgorithm configuration parameters.
[in]memReqMemory requirements as specified below
  • entry [0]: Memory for internal context. Best allocated from the fastest memory.
  • entry [1]: Memory for internal point cloud. Best allocated from the fastest memory.
  • entry [2]: Memory for the output buffer. The output buffer is allocated by the Application so this entry is just to communicate the output buffer size. No need to pass the memory to the library in the init call PTK_Alg_SfmOgmapInit().
Returns
  • PTK_ALG_RET_SUCCESS, if successful
  • < error code, otherwise

◆ PTK_Alg_StereoPP_MedianFilterInit()

PTK_AlgHandle PTK_Alg_StereoPP_MedianFilterInit ( PTK_Alg_StereoPP_MedianFilter_configParams cfg,
const PTK_Api_MemoryRsp memRsp 
)

Initializes the library based on the given algorithm configuration parameters and allocated memory blocks.

Parameters
[in]allParamsAlgorithm configuration parameters.
[in]memRspMemory blocks as specified below
Returns
  • valid handle, if successful
  • NULL, otherwise

◆ PTK_Alg_StereoPP_MedianFilterGetMem()

int32_t PTK_Alg_StereoPP_MedianFilterGetMem ( PTK_Alg_StereoPP_MedianFilterObj cntxt,
uint8_t *  memPtr 
)

Get memory size.

Parameters
[in,out]cntxtAlgorithm handle.
[in]memoryblock pointer
Returns
  • required memory size

◆ PTK_Alg_StereoPP_runMedianFilter()

void PTK_Alg_StereoPP_runMedianFilter ( PTK_Alg_StereoPP_MedianFilterObj cntxt,
int16_t *  disparityBuffer,
int16_t *  outDisparityBuffer,
int16_t  stride 
)

Run 2-D median filter.

Parameters
[in]cntxtalgorithm handle
[in]disparityBufferinput disparity buffer
[out]outDisparityBufferoutput disparity buffer
[int]stride stride of disparity buffer
Returns