Perception Tool Kit (PTK) API Guide
create_og.h File Reference
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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...
 

Macros

#define GRID_MAX_HEIGHT   2000
 
#define GRID_MIN_HEIGHT   -1000
 
#define MAX_CLASS_NUM_IN_GRID   5
 
#define QUAD_LATERAL_BB   0
 

Enumerations

enum  OBJECT_SEARCH_DIRECTION { DIR_FORWARD = 0, DIR_BACKWARD }
 
enum  OBJECT_CORRESPONDENCE { CORRESPONDENCE_INIT = -1, CORRESPONDENCE_FOUND = -2 }
 

Functions

PTK_Alg_StereoOG_BoxPropPTK_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_obs3DBoxPTK_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...
 

Macro Definition Documentation

◆ GRID_MAX_HEIGHT

#define GRID_MAX_HEIGHT   2000

◆ GRID_MIN_HEIGHT

#define GRID_MIN_HEIGHT   -1000

◆ MAX_CLASS_NUM_IN_GRID

#define MAX_CLASS_NUM_IN_GRID   5

◆ QUAD_LATERAL_BB

#define QUAD_LATERAL_BB   0

On/Off test codes to enable any quadrilateral bounding box shape To be cleaned up after more tests

Enumeration Type Documentation

◆ OBJECT_SEARCH_DIRECTION

Enum for correspondence search direction: DIR_FORWARD - from previous to current DIR_BACKWARD - from current to previous

Enumerator
DIR_FORWARD 
DIR_BACKWARD 

◆ OBJECT_CORRESPONDENCE

Enum for correspondence search result: CORRESPONDENCE_INIT - not searched yet CORRESPONDENCE_FOUND - correspondence found

Enumerator
CORRESPONDENCE_INIT 
CORRESPONDENCE_FOUND