Perception Tool Kit (PTK) API Guide
stereo_ground_estimation.h
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62 #ifndef _STEREO_GROUND_ESTIMATION_H_
63 #define _STEREO_GROUND_ESTIMATION_H_
64 
65 #ifdef __cplusplus
66 extern "C" {
67 #endif
68 
69 #include <perception/perception.h>
73 #include <perception/base/matrix.h>
74 
75 
80 typedef struct
81 {
84 
87 
90 
93 
96 
98 
99 
104 typedef struct
105 {
108 
111 
114 
116  uint8_t * inputImage;
117 
119  uint8_t * dispConfidence;
120 
122  int16_t * disparity;
123 
125  int16_t * outDisparity;
126 
128  float * dsDisparity;
129 
131  int32_t * vDisparity[NUM_GP_MODELS];
132 
134  float * candidateGP[NUM_GP_MODELS];
135 
137  uint8_t * gpModelIdx;
138 
140 
141 
156 
157 
182  PTK_Api_MemoryReq * memReq);
183 
184 
200  const PTK_Api_MemoryRsp * memRsp);
201 
202 
203 
213 
214 
223 
224 
225 /* PRIVATE APIS (not visible to OVX node) */
226 
227 #ifdef __cplusplus
228 }
229 #endif
230 
231 #endif // _STEREO_GROUND_ESTIMATION_H_
Stereo algorithm - V-disparity ground plane model histroy array for muliple models.
Definition: stereo_algo.h:410
PTK_Alg_StereoAlgo_configParams config
Definition: stereo_ground_estimation.h:83
void PTK_Alg_StereoAlgo_GroundEstimationReset(PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt)
Reset ground plane estimation parameters.
int16_t * outDisparity
Definition: stereo_ground_estimation.h:125
PTK_Alg_StereoAlgo_GroundEstimation_allParams allParams
Definition: stereo_ground_estimation.h:107
void * PTK_AlgHandle
Algorithm Handle.
Definition: alg_common.h:79
void PTK_Alg_StereoAlgo_GroundEstimationSetParams(PTK_Alg_StereoAlgo_GroundEstimation_allParams *allPararms, PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt)
Initialize ground plane estimation parameters.
PTK_Alg_StereoAlgo_camParams camParams
Definition: stereo_ground_estimation.h:86
#define NUM_GP_MODELS
Definition: stereo_algo.h:101
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.
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:175
PTK_Alg_StereoAlgo_dispParams dispParams
Definition: stereo_ground_estimation.h:92
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:148
Stereo algorithm - disparity parameters.
Definition: stereo_algo.h:226
PTK_Alg_StereoAlgo_groundModelHistory_Array gmHistoryArray
Definition: stereo_ground_estimation.h:113
int32_t PTK_Alg_StereoAlgo_GroundEstimationGetMem(PTK_Alg_StereoAlgo_GroundEstimationObj *cntxt, uint8_t *memPtr)
Get memory size.
int16_t * disparity
Definition: stereo_ground_estimation.h:122
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 bl...
uint8_t * dispConfidence
Definition: stereo_ground_estimation.h:119
PTK_Alg_StereoAlgo_roadParams roadParams
Definition: stereo_ground_estimation.h:89
Declarations for PTK_Matrix struct+functions.
Stereo algorithm - ground plane parameters.
Definition: stereo_algo.h:364
API memory allocation response.
Definition: api_memory_if.h:158
uint8_t * inputImage
Definition: stereo_ground_estimation.h:116
Stereo algorithm - config Parameters.
Definition: stereo_algo.h:110
Stereo algorithm - ground plane estimation context.
Definition: stereo_ground_estimation.h:104
API memory allocation request.
Definition: api_memory_if.h:125
PTK_Alg_StereoAlgo_uvDispParams uvDispParams
Definition: stereo_ground_estimation.h:95
Stereo algorithm - all required parameters structure for ground plane estimation. ...
Definition: stereo_ground_estimation.h:80
PTK_Alg_StereoAlgo_groundParams groundParams
Definition: stereo_ground_estimation.h:110
float * dsDisparity
Definition: stereo_ground_estimation.h:128
uint8_t * gpModelIdx
Definition: stereo_ground_estimation.h:137
Stereo algorithm - uvDisparity parameters.
Definition: stereo_algo.h:264