75 #define NUM_FRAC_BITS 4 289 float * dsDisparity);
351 #endif // #ifndef _CREATE_PC_H int32_t PTK_Alg_StereoOG_CreatePCGetMem(PTK_Alg_StereoOG_CreatePCObj *cntxt, uint8_t *memPtr)
Get memory size.
int32_t camHeight
Definition: create_pc.h:123
int8_t PTK_Alg_StereoOG_classToDetect(uint8_t classId)
Check if a particular class of object should be detected.
float * dsDisparity
Definition: create_pc.h:188
int16_t height
Definition: create_pc.h:93
void PTK_Alg_StereoOG_createPC(PTK_Alg_StereoOG_CreatePCObj *cntxt, int16_t *disparity, uint8_t *ssmap, PTK_PointCloud *pc)
Root function to creaet point clouds from disparity map and semantic segmantation map...
Definition of a 3x3 matrix.
Definition: matrix.h:119
int16_t dsHeight
Definition: create_pc.h:105
int32_t PTK_Alg_StereoOG_triangulate(PTK_Alg_StereoOG_CreatePCAllParams *params, float *dsDisparity, uint8_t *dsSSMap, PTK_PointCloud *pc)
Triangulate points using downsampled disparity and semantic segmentation to create point cloud...
int16_t tensorHeight
Definition: create_pc.h:99
PTK_Alg_StereoOG_CreatePCAllParams params
Definition: create_pc.h:182
float dcx
Definition: create_pc.h:144
void * PTK_AlgHandle
Algorithm Handle.
Definition: alg_common.h:79
PTK_Alg_StereoOG_CreatePCCamParams camParams
Definition: create_pc.h:171
Definition: pointCloud.h:129
int16_t dsWidth
Definition: create_pc.h:102
PTK_3D_Matrix invK
Definition: create_pc.h:156
Stereo PC creation process - PC creation context.
Definition: create_pc.h:179
float camPitch
Definition: create_pc.h:129
void PTK_Alg_StereoOG_CreatePCSetParams(PTK_Alg_StereoOG_CreatePCAllParams *params, PTK_Alg_StereoOG_CreatePCObj *cntxt)
Initialize PC creation parameters.
int32_t PTK_Alg_StereoOG_CreatePCConfig(PTK_Alg_StereoOG_CreatePCAllParams *params, PTK_Api_MemoryReq *memReq)
Computes the memory requirements based on the given algorithm configuration parameters.
void PTK_Alg_StereoOG_downsampleSSMap(PTK_Alg_StereoOG_CreatePCConfigParams *config, uint8_t *ssmap, uint8_t *dsSSMap)
Downsample input semantic segmentation map.
int16_t width
Definition: create_pc.h:90
int32_t baseline
Definition: create_pc.h:141
float camRoll
Definition: create_pc.h:126
Declarations for PTK_Matrix struct+functions.
PTK_3D_Matrix K
Definition: create_pc.h:153
PTK_AlgHandle PTK_Alg_StereoOG_CreatePCInit(PTK_Alg_StereoOG_CreatePCAllParams *params, const PTK_Api_MemoryRsp *memRsp)
Initializes the library based on the given algorithm configuration parameters and allocated memory bl...
float camYaw
Definition: create_pc.h:132
API memory allocation response.
Definition: api_memory_if.h:158
void PTK_Alg_StereoOG_downsampleDisparity(PTK_Alg_StereoOG_CreatePCConfigParams *config, int16_t *disparity, float *dsDisparity)
Downsample input disparity map.
int16_t dsFactor
Definition: create_pc.h:108
PTK_Alg_StereoOG_CreatePCConfigParams cfgParams
Definition: create_pc.h:168
API memory allocation request.
Definition: api_memory_if.h:125
Stereo PC creation process - config Parameters.
Definition: create_pc.h:87
uint8_t * dsSSMap
Definition: create_pc.h:191
float cosPitch
Definition: create_pc.h:138
int16_t * disparity
Definition: create_pc.h:185
float sinPitch
Definition: create_pc.h:135
int8_t PTK_Alg_StereoOG_classToPC(uint8_t classId)
Check if the point with a particular class should be triangulated.
Stereo PC creation process - All algorithm parameters.
Definition: create_pc.h:165
float f
Definition: create_pc.h:150
Stereo PC creation process - camera Parameters.
Definition: create_pc.h:120
float dcy
Definition: create_pc.h:147
uint8_t confidenceTh
Definition: create_pc.h:111
int16_t tensorWidth
Definition: create_pc.h:96