PTK Free and Park-able Free Space Detection

Introduction

Collaboration diagram for PTK Free and Park-able Free Space Detection:

Data Structures
struct	PTK_Alg_FsdPfsdBoxParams
	FSD-PFSD algorithm box parameters. More...
struct	PTK_Alg_FsdPfsdParams
	FSD-PFSD algorithm configuration parameters. More...
struct	PTK_Alg_FsdPfsdPSCoords
	Park-able space coordinates (part of output). [park-able space: contiguous space larger than PFSD dimensions] . More...
struct	PTK_Alg_FsdPfsdPSDesc
	Output structure that holds park-able free space coordinates. More...

Functions
int32_t	PTK_Alg_FsdPfsdConfig (const PTK_Alg_FsdPfsdParams *cfgParams, PTK_Api_MemoryReq *memReq)
	Computes the memory requirements based on the given algorithm configuration parameters. More...
PTK_AlgHandle	PTK_Alg_FsdPfsdInit (const PTK_Alg_FsdPfsdParams *cfgParams, const PTK_Api_MemoryRsp *memRsp)
	Initializes the library based on the given algorithm configuration parameters and allocated memory blocks. More...
int32_t	PTK_Alg_FsdPfsdProcess (PTK_AlgHandle algHandle, const PTK_InsPoseAndRef *posAndRef, PTK_Map *outMap, PTK_Alg_FsdPfsdPSDesc *psDesc)
	Processes the given occupancy map and performs the Free Space and Parking Free Space detection. More...

Macros
#define	FSD_PFSD_MAX_NUM_BOXES   (4U)
	Maximum allowed PFSD boxes. More...
#define	FSD_PFSD_MAX_PARKABLE_SPACES   (50U)
	Maximum allowed Park-parkable spaces,. More...

Macro Definition Documentation

FSD_PFSD_MAX_NUM_BOXES

#define FSD_PFSD_MAX_NUM_BOXES   (4U)

Maximum allowed PFSD boxes.

FSD_PFSD_MAX_PARKABLE_SPACES

#define FSD_PFSD_MAX_PARKABLE_SPACES   (50U)

Maximum allowed Park-parkable spaces,.

Function Documentation

PTK_Alg_FsdPfsdConfig()

int32_t PTK_Alg_FsdPfsdConfig	(	const PTK_Alg_FsdPfsdParams *	cfgParams,
		PTK_Api_MemoryReq *	memReq
	)

Computes the memory requirements based on the given algorithm configuration parameters.

Parameters

[in]	cfgParams	Algorithm configuration parameters.
[out]	memReq	Memory requirements as specified below entry [0]: Memory for internal context. Best allocated from the fastest memory.

Returns

• PTK_ALG_RET_SUCCESS, if successful.
• < error code, otherwise.

PTK_Alg_FsdPfsdInit()

PTK_AlgHandle PTK_Alg_FsdPfsdInit	(	const PTK_Alg_FsdPfsdParams *	cfgParams,
		const PTK_Api_MemoryRsp *	memRsp
	)

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

Parameters

[in]	cfgParams	Algorithm configuration parameters. .
[in]	memRsp	Memory blocks as specified below entry [0]: Memory for internal context.

Returns

• valid handle, if successful.
• NULL, otherwise.

PTK_Alg_FsdPfsdProcess()

int32_t PTK_Alg_FsdPfsdProcess	(	PTK_AlgHandle	algHandle,
		const PTK_InsPoseAndRef *	posAndRef,
		PTK_Map *	outMap,
		PTK_Alg_FsdPfsdPSDesc *	psDesc
	)

Processes the given occupancy map and performs the Free Space and Parking Free Space detection.

Parameters

[in,out]	algHandle	Algorithm handle.
[in]	posAndRef	Current and previous INS records along with the transform for ecef to world.
[out]	outMap	Output OG Map.
[out]	psDesc	Data structure that stores, number of parkable space dimentions of spaces, and current INS record.

Returns

• PTK_ALG_RET_SUCCESS, if successful.
• < error code, otherwise.