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Perception Tool Kit (PTK) API Guide
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Data Structures | |
struct | PTK_Alg_StereoOG_BoxProp |
Stereo OG Map creation process - 3D bounding box property. More... | |
struct | PTK_Alg_StereoOG_obs3DBox |
Stereo OG Map creation process - 3D bounding boxes. More... | |
struct | PTK_Alg_StereoOG_CreateOGConfigParams |
Stereo OG Map creation process - config Parameters. More... | |
struct | PTK_Alg_StereoOG_CreateOGCamParams |
Stereo algorithm - camera Parameters. More... | |
struct | PTK_Alg_StereoOG_CreateOGParams |
Stereo OG Map creation process - OG Parameters. More... | |
struct | PTK_Alg_StereoOG_CreateOGAllParams |
Stereo OG Map creation process - All algorithm Parameters. More... | |
struct | PTK_Alg_StereoOG_GridProp |
Stereo OG Map creation process - Grid Property struct. More... | |
struct | PTK_Alg_StereoOG_OccupancyGrid |
Stereo OG Map creation process - OG struct. More... | |
struct | PTK_Alg_StereoOG_Object |
Stereo OG Map creation process - Object struct. More... | |
struct | PTK_Alg_StereoOG_OGConn |
Stereo OG Map creation process - OGConn struct. More... | |
struct | PTK_Alg_StereoOG_CreateOGObj |
Stereo algorithm - OG Map creation context. More... | |
Functions | |
PTK_Alg_StereoOG_BoxProp * | PTK_Alg_StereOG_get3DBB (PTK_Alg_StereoOG_obs3DBox *obsBB) |
Get bounding box pointer. More... | |
void | PTK_Alg_StereoOG_CreateOGSetParams (PTK_Alg_StereoOG_CreateOGAllParams *params, PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Initialize OG Map creation parameters. More... | |
int32_t | PTK_Alg_StereoOG_CreateOGConfig (PTK_Alg_StereoOG_CreateOGAllParams *params, PTK_Api_MemoryReq *memReq) |
Computes the memory requirements based on the given algorithm configuration parameters. More... | |
PTK_AlgHandle | PTK_Alg_StereoOG_CreateOGInit (PTK_Alg_StereoOG_CreateOGAllParams *params, const PTK_Api_MemoryRsp *memRsp) |
Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More... | |
void | PTK_Alg_StereoOG_createOG (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_PointCloud *pc, PTK_Alg_StereoOG_obs3DBox *obsBB) |
Root function to create OG map from point clouds. More... | |
int32_t | PTK_Alg_StereoOG_CreateOGGetMem (PTK_Alg_StereoOG_CreateOGObj *cntxt, uint8_t *memPtr) |
Get memory size. More... | |
int32_t | PTK_Alg_StereoOG_getGridPropMem (PTK_Alg_StereoOG_CreateOGObj *cntxt, uint8_t *memPtr) |
Get memory size for GridProp mem. More... | |
int32_t | PTK_Alg_StereoOG_getOGMem (PTK_Alg_StereoOG_CreateOGObj *cntxt, uint8_t *memPtr) |
Get memory size for OG map. More... | |
int32_t | PTK_Alg_StereoOG_getObjMem (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_Alg_StereoOG_Object *obj, uint8_t *memPtr) |
Get memory size for OG objects. More... | |
int32_t | PTK_Alg_StereoOG_getOGConnMem (PTK_Alg_StereoOG_CreateOGObj *cntxt, uint8_t *memPtr) |
Get memory size for connected component analysis. More... | |
uint32_t | PTK_Alg_StereoOG_getObsBBSize (const PTK_Alg_StereoOG_CreateOGParams *ogParams) |
Get memory size for object 3D bounding box on image without allocating memory. More... | |
PTK_Alg_StereoOG_obs3DBox * | PTK_Alg_StereoOG_initObsBB (uint8_t *memPtr) |
Initialize bouning box structure using the given chunk of memory. More... | |
void | PTK_Alg_StereoOG_addPoints (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_Point *points, int32_t numPoints) |
Add point clouds to OG map. More... | |
void | PTK_Alg_StereoOG_CCA (PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Connected component analysis. More... | |
int16_t | getNeighbor8Idx (PTK_Alg_StereoOG_CreateOGParams *ogParams, PTK_Alg_StereoOG_OGConn *ogConn, int32_t idx, int32_t xIdx, int32_t yIdx) |
Find 8 neighboring grids. More... | |
int16_t | getNeighbor24Idx (PTK_Alg_StereoOG_CreateOGParams *ogParams, PTK_Alg_StereoOG_OGConn *ogConn, int32_t idx, int32_t xIdx, int32_t yIdx) |
Find 24 neighboring grids. More... | |
void | PTK_Alg_StereoOG_mergeObjects (PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Merge neighboring objects. More... | |
bool | PTK_Alg_StereoOG_mergeTwoObjects (PTK_Alg_StereoOG_Object *curObj, PTK_Alg_StereoOG_Object *newObj, int32_t gridSize, int16_t index) |
Merge neighboring objects. More... | |
void | PTK_Alg_StereoOG_applyTemporalFilter (PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Apply temporal filtering of objects. More... | |
void | PTK_Alg_StereoOG_findCorrespondence (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_Alg_StereoOG_Object *srcObj, PTK_Alg_StereoOG_Object *refObj, uint8_t direction) |
Find corresponding objects in two frames. More... | |
void | PTK_Alg_StereoOG_associateCorrespondence (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_Alg_StereoOG_Object *curObj, PTK_Alg_StereoOG_Object *prevObj) |
Associate the objects in the current frame to the previous frame's object. The assocaited objects shuold have the matched forward serach and backward search. More... | |
void | PTK_Alg_StereoOG_mergeObjectsTemporal (PTK_Alg_StereoOG_CreateOGObj *cntxt, int8_t direction) |
Merge the current (or previous) frame's object, which does not have correspondences in the prvious (or current ) frame, with a close object in the same frame. More... | |
float | PTK_Alg_StereoOG_computeDistanceObjects (uint8_t mode, PTK_Alg_StereoOG_Object *obj1, PTK_Alg_StereoOG_Object *obj2, int16_t idx1, int16_t idx2) |
Merge neighboring objects. More... | |
void | PTK_Alg_StereoOG_createBB (PTK_Alg_StereoOG_CreateOGObj *cntxt, PTK_Alg_StereoOG_Object *object, PTK_Alg_StereoOG_obs3DBox *obsBB) |
Create 3D bounding boxes for detected objects. More... | |
void | PTK_Alg_StereoOG_copyObjectInfo (PTK_Alg_StereoOG_Object *srcObj, PTK_Alg_StereoOG_Object *dstObj, int16_t srcIdx, int16_t dstIdx) |
Merge neighboring objects. More... | |
void | PTK_Alg_StereoOG_resetOG (PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Reset OG. More... | |
void | PTK_Alg_StereoOG_resetTemporalReference (PTK_Alg_StereoOG_CreateOGObj *cntxt) |
Reset temporal object reference. More... | |
PTK_Alg_StereoOG_BoxProp* PTK_Alg_StereOG_get3DBB | ( | PTK_Alg_StereoOG_obs3DBox * | obsBB | ) |
Get bounding box pointer.
[in,out] | obsBB | object bounding box |
void PTK_Alg_StereoOG_CreateOGSetParams | ( | PTK_Alg_StereoOG_CreateOGAllParams * | params, |
PTK_Alg_StereoOG_CreateOGObj * | cntxt | ||
) |
Initialize OG Map creation parameters.
[in] | params | All algorithm configuration parameters for OG Map creation |
[in] | cntxt | OG Map creation algorithm context |
int32_t PTK_Alg_StereoOG_CreateOGConfig | ( | PTK_Alg_StereoOG_CreateOGAllParams * | params, |
PTK_Api_MemoryReq * | memReq | ||
) |
Computes the memory requirements based on the given algorithm configuration parameters.
[in] | cntxt | Algorithm configuration parameters. |
[in] | memReq | Memory requirements as specified below
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PTK_AlgHandle PTK_Alg_StereoOG_CreateOGInit | ( | PTK_Alg_StereoOG_CreateOGAllParams * | params, |
const PTK_Api_MemoryRsp * | memRsp | ||
) |
Initializes the library based on the given algorithm configuration parameters and allocated memory blocks.
[in] | params | All algorithm configuration parameters. |
[in] | memRsp | Memory blocks as specified below |
void PTK_Alg_StereoOG_createOG | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_PointCloud * | pc, | ||
PTK_Alg_StereoOG_obs3DBox * | obsBB | ||
) |
Root function to create OG map from point clouds.
[in] | cntxt | algorithm handle |
[in] | pc | point cloud |
[in] | obsBB | detected object's bounding box info |
int32_t PTK_Alg_StereoOG_CreateOGGetMem | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
uint8_t * | memPtr | ||
) |
Get memory size.
[in,out] | cntxt | Algorithm handle. |
[in] | memPtr | block pointer |
int32_t PTK_Alg_StereoOG_getGridPropMem | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
uint8_t * | memPtr | ||
) |
Get memory size for GridProp mem.
[in,out] | cntxt | Algorithm handle. |
[in] | memPtr | block pointer |
int32_t PTK_Alg_StereoOG_getOGMem | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
uint8_t * | memPtr | ||
) |
Get memory size for OG map.
[in,out] | cntxt | Algorithm handle. |
[in] | memPtr | block pointer |
int32_t PTK_Alg_StereoOG_getObjMem | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_Alg_StereoOG_Object * | obj, | ||
uint8_t * | memPtr | ||
) |
Get memory size for OG objects.
[in,out] | cntxt | Algorithm handle. |
[in,out] | obj | Object structure |
[in] | memPtr | block pointer |
int32_t PTK_Alg_StereoOG_getOGConnMem | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
uint8_t * | memPtr | ||
) |
Get memory size for connected component analysis.
[in,out] | cntxt | Algorithm handle. |
[in] | memPtr | block pointer |
uint32_t PTK_Alg_StereoOG_getObsBBSize | ( | const PTK_Alg_StereoOG_CreateOGParams * | ogParams | ) |
Get memory size for object 3D bounding box on image without allocating memory.
[in] | ogParams | OG params. |
PTK_Alg_StereoOG_obs3DBox* PTK_Alg_StereoOG_initObsBB | ( | uint8_t * | memPtr | ) |
Initialize bouning box structure using the given chunk of memory.
[in] | memPtr | chunk of memory |
void PTK_Alg_StereoOG_addPoints | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_Point * | points, | ||
int32_t | numPoints | ||
) |
Add point clouds to OG map.
[in] | cntxt | algorithm handle |
[in] | points | points |
[in] | numPoints | number of points |
void PTK_Alg_StereoOG_CCA | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt | ) |
Connected component analysis.
[in] | cntxt | algorithm handle |
int16_t getNeighbor8Idx | ( | PTK_Alg_StereoOG_CreateOGParams * | ogParams, |
PTK_Alg_StereoOG_OGConn * | ogConn, | ||
int32_t | idx, | ||
int32_t | xIdx, | ||
int32_t | yIdx | ||
) |
Find 8 neighboring grids.
[in] | ogParams | OG params |
[in] | ogConn | OGConn struct |
[in] | idx | 2D grid index |
[in] | xIdx | X grid index |
[in] | yIdx | Y grid index |
int16_t getNeighbor24Idx | ( | PTK_Alg_StereoOG_CreateOGParams * | ogParams, |
PTK_Alg_StereoOG_OGConn * | ogConn, | ||
int32_t | idx, | ||
int32_t | xIdx, | ||
int32_t | yIdx | ||
) |
Find 24 neighboring grids.
[in] | ogParams | OG params |
[in] | ogConn | OGConn struct |
[in] | idx | 2D grid index |
[in] | xIdx | X grid index |
[in] | yIdx | Y grid index |
void PTK_Alg_StereoOG_mergeObjects | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt | ) |
Merge neighboring objects.
[in,out] | cntxt | Algorithm handle. |
bool PTK_Alg_StereoOG_mergeTwoObjects | ( | PTK_Alg_StereoOG_Object * | curObj, |
PTK_Alg_StereoOG_Object * | newObj, | ||
int32_t | gridSize, | ||
int16_t | index | ||
) |
Merge neighboring objects.
[in] | curObj | input object [out] newObj output merged object [in] gridSize grid size [in] index input index to merge |
void PTK_Alg_StereoOG_applyTemporalFilter | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt | ) |
Apply temporal filtering of objects.
[in,out] | cntxt | Algorithm handle. |
void PTK_Alg_StereoOG_findCorrespondence | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_Alg_StereoOG_Object * | srcObj, | ||
PTK_Alg_StereoOG_Object * | refObj, | ||
uint8_t | direction | ||
) |
Find corresponding objects in two frames.
[in] | cntxt | Algorithm handle [in] srcObj source objects for which correspondences need to be found [in] refObj reference objects to be searched [in] direction search direction |
void PTK_Alg_StereoOG_associateCorrespondence | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_Alg_StereoOG_Object * | curObj, | ||
PTK_Alg_StereoOG_Object * | prevObj | ||
) |
Associate the objects in the current frame to the previous frame's object. The assocaited objects shuold have the matched forward serach and backward search.
[in] | cntxt | Algorithm handle [inout] curObj current frame objects [in] prevObj previous frame objects |
void PTK_Alg_StereoOG_mergeObjectsTemporal | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
int8_t | direction | ||
) |
Merge the current (or previous) frame's object, which does not have
correspondences in the prvious (or current ) frame, with a close object in the same frame.
[in,out] | cntxt | Algorithm handle [in] direction 0: backward, 1: forward |
float PTK_Alg_StereoOG_computeDistanceObjects | ( | uint8_t | mode, |
PTK_Alg_StereoOG_Object * | obj1, | ||
PTK_Alg_StereoOG_Object * | obj2, | ||
int16_t | idx1, | ||
int16_t | idx2 | ||
) |
Merge neighboring objects.
[in] | mode | distance compute mode [in] obj1 input object struct 1 [in] obj2 input object struct 2 [in] idx1 object index in obj1, with which distance is computed [in] idx2 object index in obj2, with which distance is computed |
void PTK_Alg_StereoOG_createBB | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt, |
PTK_Alg_StereoOG_Object * | object, | ||
PTK_Alg_StereoOG_obs3DBox * | obsBB | ||
) |
Create 3D bounding boxes for detected objects.
[in,out] | cntxt | Algorithm handle. [in] object pointer to the detected objects. [out] obsBB pointer to objects' bounding boxes on image |
void PTK_Alg_StereoOG_copyObjectInfo | ( | PTK_Alg_StereoOG_Object * | srcObj, |
PTK_Alg_StereoOG_Object * | dstObj, | ||
int16_t | srcIdx, | ||
int16_t | dstIdx | ||
) |
Merge neighboring objects.
[in] | srcObj | src object struct, from which an object is copied [in] dstObj dst object struct, to which an object is copied [in] srcIdx object index in srcObj that will be copied to dstObj [in] dstIdx object index in dstObj that an object will be copied to |
void PTK_Alg_StereoOG_resetOG | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt | ) |
Reset OG.
[in] | cntxt | Algorithm handle |
void PTK_Alg_StereoOG_resetTemporalReference | ( | PTK_Alg_StereoOG_CreateOGObj * | cntxt | ) |
Reset temporal object reference.
[in] | cntxt | Algorithm handle |