62 #ifndef _STEREO_ALGO_H_ 63 #define _STEREO_ALGO_H_ 82 #define AUX_CODE_REMOVE 0 84 #define TEST_MAX_FILE_PATH (256u) 85 #define MAX_FRAME_WIDTH (1920u) 86 #define MAX_FRAME_HEIGHT (1080u) 88 #define ALGORITHM_PROCESS_OK 0 89 #define ALGORITHM_PROCESS_FAIL -1 91 #define PI 3.14159265358979f 94 #define MMAX(a,b) ((a > b) ? (a) : (b)) 95 #define MMIN(a,b) ((a < b) ? (a) : (b)) 101 #define NUM_GP_MODELS 1 103 #define NUM_FRAC_BITS 4 151 int32_t roadCenterBase[2];
154 int32_t roadCenterTop[2];
370 float * groundErrArray[2];
393 float interceptArray[5];
434 float * gpModelLine[4];
554 float * dsDisparity);
573 int16_t *outDisparity);
666 float *iM2, int32_t iM2_width, int32_t iM2_height,
667 float* oM, int32_t oM_width, int32_t oM_height);
693 #endif // _STEREO_ALGO_H_ float slope
Definition: stereo_algo.h:428
int32_t height
Definition: stereo_algo.h:116
uint8_t useRoadParams
Definition: stereo_algo.h:272
Stereo algorithm - V-disparity ground plane model.
Definition: stereo_algo.h:425
Stereo algorithm - V-disparity ground plane model histroy array for muliple models.
Definition: stereo_algo.h:410
int32_t farZ
Definition: stereo_algo.h:256
float ransacErrTh
Definition: stereo_algo.h:304
int32_t ransacIter
Definition: stereo_algo.h:301
int32_t obsProbWindowHeight
Definition: stereo_algo.h:327
int32_t obsProbWindowWidth
Definition: stereo_algo.h:330
int32_t * numValidFound
Definition: stereo_algo.h:474
int32_t startX
Definition: stereo_algo.h:289
void PTK_Alg_StereoAlgo_multiplyMatrix(float *iM1, int32_t iM1_width, int32_t iM1_height, float *iM2, int32_t iM2_width, int32_t iM2_height, float *oM, int32_t oM_width, int32_t oM_height)
Multiply two matrices.
int8_t dsFactor
Definition: stereo_algo.h:269
int32_t maxFrameNo
Definition: stereo_algo.h:401
int32_t height
Definition: stereo_algo.h:184
Definition of a 3x3 matrix.
Definition: matrix.h:119
int32_t * candidateFoundVertical
Definition: stereo_algo.h:477
float cosPitch
Definition: stereo_algo.h:199
int32_t numDisparity
Definition: stereo_algo.h:248
int8_t confTh
Definition: stereo_algo.h:231
float dcx
Definition: stereo_algo.h:205
float * obstacleProbability
Definition: stereo_algo.h:483
uint8_t * gpModelIdx
Definition: stereo_algo.h:465
#define NUM_GP_MODELS
Definition: stereo_algo.h:101
int32_t width
Definition: stereo_algo.h:113
float focalLength
Definition: stereo_algo.h:138
int32_t frameNo
Definition: stereo_algo.h:396
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:175
float camRoll
Definition: stereo_algo.h:187
float f
Definition: stereo_algo.h:211
int32_t width
Definition: stereo_algo.h:181
float baseline
Definition: stereo_algo.h:202
int32_t dsWidth
Definition: stereo_algo.h:321
int32_t maxDisparity
Definition: stereo_algo.h:245
Stereo algorithm - V-disparity ground plane model array for multiple models.
Definition: stereo_algo.h:448
int32_t * obtacleBottomLine
Definition: stereo_algo.h:486
Stereo algorithm - road Parameters.
Definition: stereo_algo.h:148
int32_t PTK_Alg_StereoAlgo_computeObstacleProbalilityPerPixel(PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_camParams *camParams, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData)
Compute probabilities of pixels to be obstacle configuration parameters.
int32_t * candidateFound
Definition: stereo_algo.h:471
float * objHeightArray
Definition: stereo_algo.h:377
void PTK_Alg_StereoAlgo_filterLowConfDisparity(int32_t width, int32_t height, int8_t existConf, int8_t threshold, int16_t *disparity, int16_t *outDisparity)
Filter out low-confidence disparities.
Stereo algorithm - disparity parameters.
Definition: stereo_algo.h:226
void PTK_Alg_StereoAlgo_downsampleDisparity(PTK_Alg_StereoAlgo_configParams *config, PTK_Alg_StereoAlgo_obsProbParams *copppParams, int16_t *disparity, float *dsDisparity)
Downsample input disparity map.
int32_t PTK_Alg_StereoAlgo_LUdecomposition(float *A, int32_t A_width, int32_t A_height, float *b, int32_t b_width, int32_t n_toCompute)
LU decomposition.
Stereo algorithm - V-disparity ground plane model histroy.
Definition: stereo_algo.h:387
Stereo algorithm - Data mems needed for algorithms.
Definition: stereo_algo.h:462
float minDisparityDifferenceFromModel
Definition: stereo_algo.h:339
float distCenterY
Definition: stereo_algo.h:135
int32_t minDisparity
Definition: stereo_algo.h:119
Declarations for PTK_Matrix struct+functions.
int32_t minDisparity
Definition: stereo_algo.h:240
int32_t roadSizeBase
Definition: stereo_algo.h:157
float PTK_Alg_StereoAlgo_getDisparityFromModel(PTK_Alg_StereoAlgo_groundModelParams *gmParams, float x, float y)
Get disparity for input position (X, y) from a ground plane model.
int8_t numModels
Definition: stereo_algo.h:416
int32_t * numValidFoundVertical
Definition: stereo_algo.h:480
int32_t fracBits
Definition: stereo_algo.h:251
uint8_t dsFactor
Definition: stereo_algo.h:318
int32_t vdWidth
Definition: stereo_algo.h:283
float dcy
Definition: stereo_algo.h:208
Stereo algorithm - ground plane parameters.
Definition: stereo_algo.h:364
int32_t maxDepth
Definition: stereo_algo.h:163
float distCenterX
Definition: stereo_algo.h:132
float PTK_Alg_StereoAlgo_disparity2Depth(PTK_Alg_StereoAlgo_camParams *camParams, float disparity, float ypos)
Convert disparity to depth.
int32_t PTK_Alg_StereoAlgo_findYforDisparity(PTK_Alg_StereoAlgo_groundModelParams *gmParams, PTK_Alg_StereoAlgo_camParams *camParams, int32_t x, float disparity)
Get y position of a pixel for the given horizontal position and disparity.
int32_t egoSize
Definition: stereo_algo.h:166
int32_t PTK_Alg_StereoAlgo_randRange(int32_t min, int32_t max)
Generate random number between two numbers.
int8_t numModels
Definition: stereo_algo.h:453
Stereo algorithm - config Parameters.
Definition: stereo_algo.h:110
int32_t maxDisparity
Definition: stereo_algo.h:122
PTK_3D_Matrix invK
Definition: stereo_algo.h:217
int32_t lastX
Definition: stereo_algo.h:292
int32_t roadWidth
Definition: stereo_algo.h:280
float intercept
Definition: stereo_algo.h:431
int32_t minConsecutiveVertical
Definition: stereo_algo.h:355
int8_t validGM
Definition: stereo_algo.h:439
int32_t startY
Definition: stereo_algo.h:295
int32_t camHeight
Definition: stereo_algo.h:178
int32_t roadSizeTop
Definition: stereo_algo.h:160
int32_t dsHeight
Definition: stereo_algo.h:324
uint8_t adaptiveGroundError
Definition: stereo_algo.h:275
float * gpThArray
Definition: stereo_algo.h:367
Stereo algorithm - bottom of obstacle parameter.
Definition: stereo_algo.h:347
int32_t minSearchBoxSize
Definition: stereo_algo.h:333
int32_t vdHeight
Definition: stereo_algo.h:286
PTK_3D_Matrix K
Definition: stereo_algo.h:214
float camYaw
Definition: stereo_algo.h:193
float minProbability
Definition: stereo_algo.h:350
int8_t sde_confidence_threshold
Definition: stereo_algo.h:129
int32_t pixelAboveHorizonToCheck
Definition: stereo_algo.h:336
float * dsDisparity
Definition: stereo_algo.h:468
float camPitch
Definition: stereo_algo.h:190
Stereo algorithm - obstacle probability (per pixel) parameters.
Definition: stereo_algo.h:313
Stereo algorithm - uvDisparity parameters.
Definition: stereo_algo.h:264
float sinPitch
Definition: stereo_algo.h:196
void PTK_Alg_StereoAlgo_findBottomOfObstacle(PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_bottomObsParams *fbooParams, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData)
Find the closest y positions where obstacles are on every column of an image.
int8_t existConf
Definition: stereo_algo.h:235
void PTK_Alg_StereoAlgo_computeObstacleProbabilityPerPixel_verticalLoop(PTK_Alg_StereoAlgo_obsProbParams *copppParams, PTK_Alg_StereoAlgo_camParams *camParams, PTK_Alg_StereoAlgo_groundModelParams_Array *gmParamsArr, PTK_Alg_StereoAlgo_obstacleDetetionMems *algoMemData, int32_t horizon)
Compute probabilities of pixels to be obstacle configuration parameters.
int32_t lastY
Definition: stereo_algo.h:298
float * yOffsetArray
Definition: stereo_algo.h:374
void PTK_Alg_StereoAlgo_transpose(float *M, int32_t M_width, int32_t M_height, float *Mt)
Generate random number between two numbers.