PTK Stereo PC creation process

Introduction

Data Structures
struct	PTK_Alg_StereoOG_CreatePCConfigParams
	Stereo PC creation process - config Parameters. More...
struct	PTK_Alg_StereoOG_CreatePCCamParams
	Stereo PC creation process - camera Parameters. More...
struct	PTK_Alg_StereoOG_CreatePCAllParams
	Stereo PC creation process - All algorithm parameters. More...
struct	PTK_Alg_StereoOG_CreatePCObj
	Stereo PC creation process - PC creation context. More...

Functions
void	PTK_Alg_StereoOG_CreatePCSetParams (PTK_Alg_StereoOG_CreatePCAllParams *params, PTK_Alg_StereoOG_CreatePCObj *cntxt)
	Initialize PC creation parameters. More...
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. More...
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 blocks. More...
int32_t	PTK_Alg_StereoOG_CreatePCGetMem (PTK_Alg_StereoOG_CreatePCObj *cntxt, uint8_t *memPtr)
	Get memory size. More...
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. More...
void	PTK_Alg_StereoOG_downsampleDisparity (PTK_Alg_StereoOG_CreatePCConfigParams *config, int16_t *disparity, float *dsDisparity)
	Downsample input disparity map. More...
void	PTK_Alg_StereoOG_downsampleSSMap (PTK_Alg_StereoOG_CreatePCConfigParams *config, uint8_t *ssmap, uint8_t *dsSSMap)
	Downsample input semantic segmentation map. More...
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. More...
int8_t	PTK_Alg_StereoOG_classToPC (uint8_t classId)
	Check if the point with a particular class should be triangulated. More...
int8_t	PTK_Alg_StereoOG_classToDetect (uint8_t classId)
	Check if a particular class of object should be detected. More...

Function Documentation

PTK_Alg_StereoOG_CreatePCSetParams()

void PTK_Alg_StereoOG_CreatePCSetParams	(	PTK_Alg_StereoOG_CreatePCAllParams *	params,
		PTK_Alg_StereoOG_CreatePCObj *	cntxt
	)

Initialize PC creation parameters.

Parameters

[in]	params	all algorithm parameters for PC creation
[in]	cntxt	PC creation algorithm context

PTK_Alg_StereoOG_CreatePCConfig()

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.

Parameters

[in]	cntxt	Algorithm configuration parameters.
[in]	memReq	Memory requirements as specified below entry [0]: Memory for internal context. Best allocated from the fastest memory. entry [1]: Memory for internal point cloud. Best allocated from the fastest memory. entry [2]: Memory for the output buffer. The output buffer is allocated by the Application so this entry is just to communicate the output buffer size. No need to pass the memory to the library in the init call PTK_Alg_SfmOgmapInit().

Returns

• PTK_ALG_RET_SUCCESS, if successful
• < error code, otherwise

PTK_Alg_StereoOG_CreatePCInit()

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 blocks.

Parameters

[in]	params	All algorithm configuration parameters.
[in]	memRsp	Memory blocks as specified below

Returns

• valid handle, if successful
• NULL, otherwise

PTK_Alg_StereoOG_CreatePCGetMem()

int32_t PTK_Alg_StereoOG_CreatePCGetMem	(	PTK_Alg_StereoOG_CreatePCObj *	cntxt,
		uint8_t *	memPtr
	)

Get memory size.

Parameters

[in,out]	cntxt	Algorithm handle.
[in]	memory	block pointer

Returns

• required memory size

PTK_Alg_StereoOG_createPC()

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.

Parameters

[in]	cntxt	algorithm handle
[in]	disparity	disparity buffer
[in]	ssmap	semantic segmentaion buffer
[out]	pc	Point cloud

PTK_Alg_StereoOG_downsampleDisparity()

void PTK_Alg_StereoOG_downsampleDisparity	(	PTK_Alg_StereoOG_CreatePCConfigParams *	config,
		int16_t *	disparity,
		float *	dsDisparity
	)

Downsample input disparity map.

Parameters

[in]	config	algorihtm configuration params
[in]	disparity	input disparity map
[out]	dsDisparity	downsampled disparity map

PTK_Alg_StereoOG_downsampleSSMap()

void PTK_Alg_StereoOG_downsampleSSMap	(	PTK_Alg_StereoOG_CreatePCConfigParams *	config,
		uint8_t *	ssmap,
		uint8_t *	dsSSMap
	)

Downsample input semantic segmentation map.

Parameters

[in]	config	algorihtm configuration params
[in]	ssmap	input semantic segmentation map
[out]	dsSSMap	downsampled semantic segmentation map

PTK_Alg_StereoOG_triangulate()

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.

Parameters

[in]	params	All algorihtm configuration params
[in]	dsDisparity	Down-sampled disparity map
[out]	dsSSMap	downsampled semantic segmentation map

PTK_Alg_StereoOG_classToPC()

int8_t PTK_Alg_StereoOG_classToPC

(

uint8_t

classId

)

Check if the point with a particular class should be triangulated.

Parameters

[in]

classId

class id of a point

Returns

1 if a point should be triangualted

PTK_Alg_StereoOG_classToDetect()

int8_t PTK_Alg_StereoOG_classToDetect

(

uint8_t

classId

)

Check if a particular class of object should be detected.

Parameters

[in]

classId

class id

Returns

1 if a input class id one that should be detected