Perception Tool Kit (PTK) API Guide
PTK_Alg_StereoAlgo_obsProbParams Struct Reference

Detailed Description

Stereo algorithm - obstacle probability (per pixel) parameters.

Collaboration diagram for PTK_Alg_StereoAlgo_obsProbParams:
Collaboration graph

Data Fields

uint8_t dsFactor
 
int32_t dsWidth
 
int32_t dsHeight
 
int32_t obsProbWindowHeight
 
int32_t obsProbWindowWidth
 
int32_t minSearchBoxSize
 
int32_t pixelAboveHorizonToCheck
 
float minDisparityDifferenceFromModel
 

Field Documentation

◆ dsFactor

uint8_t PTK_Alg_StereoAlgo_obsProbParams::dsFactor

Downsampling factor of disparity map Downsampled disparity map is an input to obstacle / freespace detection

◆ dsWidth

int32_t PTK_Alg_StereoAlgo_obsProbParams::dsWidth

Dowsampled disparity width

◆ dsHeight

int32_t PTK_Alg_StereoAlgo_obsProbParams::dsHeight

Downsampled disparity height

◆ obsProbWindowHeight

int32_t PTK_Alg_StereoAlgo_obsProbParams::obsProbWindowHeight

search window height in mm to calculate obstacle probability

◆ obsProbWindowWidth

int32_t PTK_Alg_StereoAlgo_obsProbParams::obsProbWindowWidth

search window width in mm to calculate obstacle probability

◆ minSearchBoxSize

int32_t PTK_Alg_StereoAlgo_obsProbParams::minSearchBoxSize

Minimum size of search window in pixel to calculate obstacle probability

◆ pixelAboveHorizonToCheck

int32_t PTK_Alg_StereoAlgo_obsProbParams::pixelAboveHorizonToCheck

Pixel to check above horizon

◆ minDisparityDifferenceFromModel

float PTK_Alg_StereoAlgo_obsProbParams::minDisparityDifferenceFromModel

allowed ground disparity difference from model