Introduction

Collaboration diagram for PTK RADAR Group Tracker:

Data Structures
struct	PTK_Alg_RadarGTrackAdvParams
	GTRACK Advanced Parameters. More...

struct	PTK_Alg_RadarGTrackParams
	GTRACK Configuration. More...

struct	PTK_Alg_RadarGTrackTargetInfo
	Data structure which holds tracks and ego-location for frame. More...

struct	GTRACK_measurement_vector
	GTRACK Measurement vector. More...

struct	GTRACK_cartesian_position
	GTRACK position. More...

struct	GTRACK_state_vector_pos_vel
	GTRACK State vector, 2DV configuration. More...

struct	GTRACK_state_vector_pos_vel_acc
	GTRACK State vector, 2DA configuration. More...

struct	GTRACK_boundaryBox
	GTRACK Box Structure. More...

struct	GTRACK_gateLimits
	GTRACK Gate Limits. More...

struct	GTRACK_varParams
	GTRACK Update Function Parameters. More...

struct	GTRACK_sceneryParams
	GTRACK Scene Parameters/. More...

struct	GTRACK_gatingParams
	GTRACK Gating Function Parameters. More...

struct	GTRACK_stateParams
	GTRACK Tracking Management Function Parameters. More...

struct	GTRACK_allocationParams
	GTRACK Allocation Function Parameters. More...

struct	GTRACK_unrollingParams
	GTRACK Unrolling Parameters. More...

struct	GTRACK_measurementPoint
	GTRACK Measurement point. More...

struct	GTRACK_targetDesc
	GTRACK target descriptor. More...

Functions
PTK_AlgHandle	PTK_Alg_RadarGTrackInit (const PTK_Alg_RadarGTrackParams *cfgParams)
	Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...

int	PTK_Alg_RadarGTrackProcess (PTK_AlgHandle algHandle, const PTK_Alg_RadarSensorConfig sensorCfg, const PTK_Alg_RadarDetOutput doaData, const PTK_InsPoseAndRef posAndRef, PTK_Alg_RadarGTrackTargetInfo targetInfo)
	Processes the given point cloud and performs Group Tracking. More...

void	PTK_Alg_RadarGTrackDeInit (PTK_AlgHandle algHandle)
	De-initializes the algorithm context. More...

void *	gtrack_alloc (uint32_t numElements, uint32_t sizeInBytes)
	GTRACK calls this function to allocate memory. Expects the void pointer if allocation is sucessful, and NULL otherwise. More...

void	gtrack_free (void *pFree, uint32_t sizeInBytes)
	GTRACK calls this function to free memory. More...

void	gtrack_log (GTRACK_VERBOSE_TYPE level, const char *format,...)
	GTRACK calls this function to log the events. More...

Enumerations
enum	GTRACK_VERBOSE_TYPE { GTRACK_VERBOSE_NONE = 0, GTRACK_VERBOSE_ERROR, GTRACK_VERBOSE_WARNING, GTRACK_VERBOSE_DEBUG, GTRACK_VERBOSE_MATRIX, GTRACK_VERBOSE_MAXIMUM }
	GTRACK Verbose Level. More...

Macros
#define	GTRACK_MAX_SAVE_FILE_NAME_LENGTH (200U)
	Size of name of output file. More...

#define	GTRACK_STATE_VECTOR_SIZE sizeof(GTRACK_state_vector_pos_vel_acc)/sizeof(float)
	Size of state vector. More...

#define	GTRACK_MEASUREMENT_VECTOR_SIZE sizeof(GTRACK_measurement_vector)/sizeof(float)
	Size of measurements vector. More...

Maximum supported configurations.
#define	GTRACK_NUM_POINTS_MAX (1000U)
	Defines maximum possible number of measurments point the algorithm will accept at configuration time. More...

#define	GTRACK_NUM_TRACKS_MAX (250U)
	Defines maximum possible number of tracking target the algorithm will accept at configuration time. More...

Target ID definitions.
Target IDs are uint8_t, with valid IDs ranging from 0 to 249. Values 250 to 252 are reserved for future use, other values as defined below.
#define	GTRACK_ID_POINT_TOO_WEAK (253U)
	Point is not associated, is too weak. More...

#define	GTRACK_ID_POINT_BEHIND_THE_WALL (254U)
	Point is not associated, is behind the wall. More...

#define	GTRACK_ID_POINT_NOT_ASSOCIATED (255U)
	Point is not associated, noise. More...

Benchmarking results.
During runtime execution, tracking step function can optionally return cycle counts for the sub-functions defined below. Each count is 32bit unsigned integer value representing a timestamp of free runing clock.
#define	GTRACK_BENCHMARK_SETUP (0U)
	Cycle count at step setup. More...

#define	GTRACK_BENCHMARK_PREDICT (1U)
	Cycle count after predict function. More...

#define	GTRACK_BENCHMARK_ASSOCIATE (2U)
	Cycle count after associate function. More...

#define	GTRACK_BENCHMARK_ALLOCATE (3U)
	Cycle count after allocate function. More...

#define	GTRACK_BENCHMARK_UPDATE (4U)
	Cycle count after update function. More...

#define	GTRACK_BENCHMARK_REPORT (5U)
	Cycle count after report function. More...

#define	GTRACK_BENCHMARK_SIZE (GTRACK_BENCHMARK_REPORT)
	Size of benchmarking array. More...

Boundary boxes.
Application can configure tracker with scene boundries. Boundaries are defined as a boxes.
#define	GTRACK_MAX_BOUNDARY_BOXES (2U)
	Maximum number of boundary boxes. Points outside of boundary boxes are ignored. More...

#define	GTRACK_MAX_STATIC_BOXES (2U)
	Maximum number of static boxes. Targets inside the static box can persist longer. More...

Macro Definition Documentation

◆ GTRACK_NUM_POINTS_MAX

#define GTRACK_NUM_POINTS_MAX (1000U)

Defines maximum possible number of measurments point the algorithm will accept at configuration time.

◆ GTRACK_NUM_TRACKS_MAX

#define GTRACK_NUM_TRACKS_MAX (250U)

Defines maximum possible number of tracking target the algorithm will accept at configuration time.

◆ GTRACK_ID_POINT_TOO_WEAK

#define GTRACK_ID_POINT_TOO_WEAK (253U)

Point is not associated, is too weak.

◆ GTRACK_ID_POINT_BEHIND_THE_WALL

#define GTRACK_ID_POINT_BEHIND_THE_WALL (254U)

Point is not associated, is behind the wall.

◆ GTRACK_ID_POINT_NOT_ASSOCIATED

#define GTRACK_ID_POINT_NOT_ASSOCIATED (255U)

Point is not associated, noise.

◆ GTRACK_BENCHMARK_SETUP

#define GTRACK_BENCHMARK_SETUP (0U)

Cycle count at step setup.

◆ GTRACK_BENCHMARK_PREDICT

#define GTRACK_BENCHMARK_PREDICT (1U)

Cycle count after predict function.

◆ GTRACK_BENCHMARK_ASSOCIATE

#define GTRACK_BENCHMARK_ASSOCIATE (2U)

Cycle count after associate function.

◆ GTRACK_BENCHMARK_ALLOCATE

#define GTRACK_BENCHMARK_ALLOCATE (3U)

Cycle count after allocate function.

◆ GTRACK_BENCHMARK_UPDATE

#define GTRACK_BENCHMARK_UPDATE (4U)

Cycle count after update function.

◆ GTRACK_BENCHMARK_REPORT

#define GTRACK_BENCHMARK_REPORT (5U)

Cycle count after report function.

◆ GTRACK_BENCHMARK_SIZE

#define GTRACK_BENCHMARK_SIZE (GTRACK_BENCHMARK_REPORT)

Size of benchmarking array.

◆ GTRACK_MAX_SAVE_FILE_NAME_LENGTH

#define GTRACK_MAX_SAVE_FILE_NAME_LENGTH (200U)

Size of name of output file.

◆ GTRACK_MAX_BOUNDARY_BOXES

#define GTRACK_MAX_BOUNDARY_BOXES (2U)

Maximum number of boundary boxes. Points outside of boundary boxes are ignored.

◆ GTRACK_MAX_STATIC_BOXES

#define GTRACK_MAX_STATIC_BOXES (2U)

Maximum number of static boxes. Targets inside the static box can persist longer.

◆ GTRACK_STATE_VECTOR_SIZE

#define GTRACK_STATE_VECTOR_SIZE sizeof(GTRACK_state_vector_pos_vel_acc)/sizeof(float)

Size of state vector.

◆ GTRACK_MEASUREMENT_VECTOR_SIZE

#define GTRACK_MEASUREMENT_VECTOR_SIZE sizeof(GTRACK_measurement_vector)/sizeof(float)

Size of measurements vector.

Enumeration Type Documentation

◆ GTRACK_VERBOSE_TYPE

enum GTRACK_VERBOSE_TYPE

GTRACK Verbose Level.

Defines Algorithm verboseness level.

Enumerator
GTRACK_VERBOSE_NONE	NONE.
GTRACK_VERBOSE_ERROR	ERROR Level, only errors are reported.
GTRACK_VERBOSE_WARNING	WARNING Level, errors and warnings are reported.
GTRACK_VERBOSE_DEBUG	DEBUG Level, errors, warnings, and state transitions are reported.
GTRACK_VERBOSE_MATRIX	MATRIX Level, previous level plus all intermediate computation results are reported.
GTRACK_VERBOSE_MAXIMUM	MAXIMUM Level, maximum amount of details are reported.

Function Documentation

◆ PTK_Alg_RadarGTrackInit()

PTK_AlgHandle PTK_Alg_RadarGTrackInit ( const PTK_Alg_RadarGTrackParams * cfgParams )

Initializes the library based on the given algorithm configuration parameters and allocated memory blocks.

Parameters

[in] cfgParams Algorithm configuration parameters. It is ecpected that the same configuration parameters passed in the PTK_Alg_RadarOgmapConfig() API are given. No check can be made to make sure these are the same. Failure to provide the same parameter set might result in an unexpected behavior (ex:- memory requirements could be different for different parameter set).

Returns

valid handle, if successful.
NULL, otherwise.

◆ PTK_Alg_RadarGTrackProcess()

int PTK_Alg_RadarGTrackProcess	(	PTK_AlgHandle	algHandle,
		const PTK_Alg_RadarSensorConfig *	sensorCfg,
		const PTK_Alg_RadarDetOutput *	doaData,
		const PTK_InsPoseAndRef *	posAndRef,
		PTK_Alg_RadarGTrackTargetInfo *	targetInfo
	)

Processes the given point cloud and performs Group Tracking.

Parameters

[in,out]	algHandle	Algorithm handle.
[in]	sensorCfg	Radar sensor configuration.
[in]	doaData	Radar object data.
[in]	posAndRef	Current and previous INS records along with the transform for ecef to world.
[out]	targetInfo	Data structure which holds tracks and ego-location for frame.

Returns

PTK_ALG_RET_SUCCESS, if successful.
< error code, otherwise.

◆ PTK_Alg_RadarGTrackDeInit()

void PTK_Alg_RadarGTrackDeInit ( PTK_AlgHandle algHandle )

De-initializes the algorithm context.

Parameters

[in,out] algHandle Algorithm handle.

◆ gtrack_alloc()

void* gtrack_alloc	(	uint32_t	numElements,
		uint32_t	sizeInBytes
	)

GTRACK calls this function to allocate memory. Expects the void pointer if allocation is sucessful, and NULL otherwise.

Parameters

[in]	numElements	Number of elements to allocate.
[in]	sizeInBytes	Size of each element in bytes to allocate.

◆ gtrack_free()

void gtrack_free	(	void *	pFree,
		uint32_t	sizeInBytes
	)

GTRACK calls this function to free memory.

Parameters

[in]	pFree	Pointer to a memmory to free.
[in]	sizeInBytes	Size of memory in bytes to free.

◆ gtrack_log()

void gtrack_log	(	GTRACK_VERBOSE_TYPE	level,
		const char *	format,
			...
	)

GTRACK calls this function to log the events.

Parameters

[in]	level	Level is the event importance.
[in]	format	Format is the variable size formated output.

Introduction

Data Structures

Functions

Enumerations

Macros

Maximum supported configurations.

Target ID definitions.

Benchmarking results.

Boundary boxes.

Macro Definition Documentation

◆ GTRACK_NUM_POINTS_MAX

◆ GTRACK_NUM_TRACKS_MAX

◆ GTRACK_ID_POINT_TOO_WEAK

◆ GTRACK_ID_POINT_BEHIND_THE_WALL

◆ GTRACK_ID_POINT_NOT_ASSOCIATED

◆ GTRACK_BENCHMARK_SETUP

◆ GTRACK_BENCHMARK_PREDICT

◆ GTRACK_BENCHMARK_ASSOCIATE

◆ GTRACK_BENCHMARK_ALLOCATE

◆ GTRACK_BENCHMARK_UPDATE

◆ GTRACK_BENCHMARK_REPORT

◆ GTRACK_BENCHMARK_SIZE

◆ GTRACK_MAX_SAVE_FILE_NAME_LENGTH

◆ GTRACK_MAX_BOUNDARY_BOXES

◆ GTRACK_MAX_STATIC_BOXES

◆ GTRACK_STATE_VECTOR_SIZE

◆ GTRACK_MEASUREMENT_VECTOR_SIZE

Enumeration Type Documentation

◆ GTRACK_VERBOSE_TYPE

Function Documentation

◆ PTK_Alg_RadarGTrackInit()

◆ PTK_Alg_RadarGTrackProcess()

◆ PTK_Alg_RadarGTrackDeInit()

◆ gtrack_alloc()

◆ gtrack_free()

◆ gtrack_log()