Perception Tool Kit (PTK) API Guide
PTK_Alg_StereoAlgo_uvDispParams Struct Reference

Detailed Description

Stereo algorithm - uvDisparity parameters.

Collaboration diagram for PTK_Alg_StereoAlgo_uvDispParams:
Collaboration graph

Data Fields

int8_t dsFactor
 
uint8_t useRoadParams
 
uint8_t adaptiveGroundError
 
int32_t roadWidth
 
int32_t vdWidth
 
int32_t vdHeight
 
int32_t startX
 
int32_t lastX
 
int32_t startY
 
int32_t lastY
 
int32_t ransacIter
 
float ransacErrTh
 

Field Documentation

◆ dsFactor

int8_t PTK_Alg_StereoAlgo_uvDispParams::dsFactor

Downsampling factor of disparity map Downsampled disparity map is an input to ground plane estimation

◆ useRoadParams

uint8_t PTK_Alg_StereoAlgo_uvDispParams::useRoadParams

Flag that indicates whether to use road params in estimating ground plane

◆ adaptiveGroundError

uint8_t PTK_Alg_StereoAlgo_uvDispParams::adaptiveGroundError

Flat that indicates whether to use adaptive ground error for non-flat ground

◆ roadWidth

int32_t PTK_Alg_StereoAlgo_uvDispParams::roadWidth

Minimum road width. Ground plane disparity should have more pixels than as many pixels as roadWidth

◆ vdWidth

int32_t PTK_Alg_StereoAlgo_uvDispParams::vdWidth

V-disparity map width

◆ vdHeight

int32_t PTK_Alg_StereoAlgo_uvDispParams::vdHeight

V-disparity map width

◆ startX

int32_t PTK_Alg_StereoAlgo_uvDispParams::startX

Starting horizontal pixel pos that is used for ground model estimation

◆ lastX

int32_t PTK_Alg_StereoAlgo_uvDispParams::lastX

Last horizontal pixel pos that is used for ground model estimation

◆ startY

int32_t PTK_Alg_StereoAlgo_uvDispParams::startY

Starting vertical pixel pos that is used for ground model estimation

◆ lastY

int32_t PTK_Alg_StereoAlgo_uvDispParams::lastY

Last vertical pixel pos that is used for ground model estimation

◆ ransacIter

int32_t PTK_Alg_StereoAlgo_uvDispParams::ransacIter

The number of RANSAC iteration for V-disparity modeling

◆ ransacErrTh

float PTK_Alg_StereoAlgo_uvDispParams::ransacErrTh

RANSAC error threshold