PTK Multi-sensor Fused Occupancy Grid Map

Introduction

Collaboration diagram for PTK Multi-sensor Fused Occupancy Grid Map:

Data Structures
struct	PTK_Alg_FusedOgmapTime
	Containes for holding time stamps for different sensors. More...
struct	PTK_Alg_FusedOgmapParams
	Configuration parameters. More...

Functions
int32_t	PTK_Alg_FusedOgmapGetMapConfig (const PTK_Alg_FusedOgmapParams *cfgParams, PTK_MapConfig *config)
	Initializes the map configuration based on the given algorithm configuration parameters. More...
int32_t	PTK_Alg_FusedOgmapConfig (const PTK_Alg_FusedOgmapParams *cfgParams, PTK_Api_MemoryReq *memReq)
	Computes the memory requirements based on the given algorithm configuration parameters. More...
PTK_AlgHandle	PTK_Alg_FusedOgmapInit (const PTK_Alg_FusedOgmapParams *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_FusedOgmapProcess (PTK_AlgHandle algHandle, PTK_Alg_FusedOgmapParams *cfgParams, PTK_Map *cameraMap, PTK_Map *radarMap, PTK_Map *lidarMap, PTK_INS_Record *insRec, const PTK_RigidTransform_d *Md_ecef_w, PTK_Map *outMap)
	Processes the given point cloud and performs the Occupancy grid mapping. More...
void	PTK_Alg_FusedOgmapDeInit (PTK_AlgHandle algHandle)
	De-initializes the algorithm context. More...

Macros
#define	PTK_ALG_FUSED_OGMAP_METHOD_VOTING   (0U)
	Voting method based fusion. More...
#define	PTK_ALG_FUSED_OGMAP_METHOD_DS   (1U)
	Dempster-Shafer method based fusion. More...
#define	PTK_ALG_FUSED_OGMAP_FUSIONTABLE_SIZE   (26U)
	Voting based fusion table size. More...
#define	PTK_ALG_FUSED_OGMAP_DSWEIGHTS_SIZE   (9U)
	Dempster-Shafer weight table size. More...
#define	PTK_ALG_FUSED_OGMAP_DSTHRESH_SIZE   (9U)
	Dempster-Shafer threshold table size. More...
#define	PTK_ALG_FUSED_OGMAP_NUM_MEM_REQ_BLKS   (3U)
	Number of entries that would be set in the 'memReq' object in the PTK_Alg_FusedOgmapConfig() API. More...
#define	PTK_ALG_FUSED_OGMAP_NUM_MEM_RSP_BLKS   (2U)
	Number of entries that should be set in the 'memRsp' object in the PTK_Alg_FusedOgmapInit() API. More...

Macro Definition Documentation

PTK_ALG_FUSED_OGMAP_METHOD_VOTING

#define PTK_ALG_FUSED_OGMAP_METHOD_VOTING   (0U)

Voting method based fusion.

PTK_ALG_FUSED_OGMAP_METHOD_DS

#define PTK_ALG_FUSED_OGMAP_METHOD_DS   (1U)

Dempster-Shafer method based fusion.

PTK_ALG_FUSED_OGMAP_FUSIONTABLE_SIZE

#define PTK_ALG_FUSED_OGMAP_FUSIONTABLE_SIZE   (26U)

Voting based fusion table size.

PTK_ALG_FUSED_OGMAP_DSWEIGHTS_SIZE

#define PTK_ALG_FUSED_OGMAP_DSWEIGHTS_SIZE   (9U)

Dempster-Shafer weight table size.

PTK_ALG_FUSED_OGMAP_DSTHRESH_SIZE

#define PTK_ALG_FUSED_OGMAP_DSTHRESH_SIZE   (9U)

Dempster-Shafer threshold table size.

PTK_ALG_FUSED_OGMAP_NUM_MEM_REQ_BLKS

#define PTK_ALG_FUSED_OGMAP_NUM_MEM_REQ_BLKS   (3U)

Number of entries that would be set in the 'memReq' object in the PTK_Alg_FusedOgmapConfig() API.

PTK_ALG_FUSED_OGMAP_NUM_MEM_RSP_BLKS

#define PTK_ALG_FUSED_OGMAP_NUM_MEM_RSP_BLKS   (2U)

Number of entries that should be set in the 'memRsp' object in the PTK_Alg_FusedOgmapInit() API.

Function Documentation

PTK_Alg_FusedOgmapGetMapConfig()

int32_t PTK_Alg_FusedOgmapGetMapConfig	(	const PTK_Alg_FusedOgmapParams *	cfgParams,
		PTK_MapConfig *	config
	)

Initializes the map configuration based on the given algorithm configuration parameters.

Parameters

[in]	cfgParams	Algorithm configuration parameters.
[out]	config	Map configuration

Returns

• PTK_ALG_RET_SUCCESS, if successful
• < error code, otherwise

PTK_Alg_FusedOgmapConfig()

int32_t PTK_Alg_FusedOgmapConfig	(	const PTK_Alg_FusedOgmapParams *	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. 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_FusedOgmapInit().

Returns

• PTK_ALG_RET_SUCCESS, if successful
• < error code, otherwise

PTK_Alg_FusedOgmapInit()

PTK_AlgHandle PTK_Alg_FusedOgmapInit	(	const PTK_Alg_FusedOgmapParams *	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. It is ecpected that the same configuration parameters passed in the PTK_Alg_FusedOgmapConfig() 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).
[in]	memRsp	Memory blocks as specified below entry [0]: Memory for internal context. entry [1]: Memory for internal point cloud.

Returns

• valid handle, if successful
• NULL, otherwise

PTK_Alg_FusedOgmapProcess()

int32_t PTK_Alg_FusedOgmapProcess	(	PTK_AlgHandle	algHandle,
		PTK_Alg_FusedOgmapParams *	cfgParams,
		PTK_Map *	cameraMap,
		PTK_Map *	radarMap,
		PTK_Map *	lidarMap,
		PTK_INS_Record *	insRec,
		const PTK_RigidTransform_d *	Md_ecef_w,
		PTK_Map *	outMap
	)

Processes the given point cloud and performs the Occupancy grid mapping.

Parameters

[in,out]	algHandle	Algorithm handle.
[in]	cfgParams	Configuration parameters.
[in,out]	cameraMap	OGMAP from camera processing.
[in,out]	radarMap	OGMAP from radar processing.
[in,out]	lidarMap	OGMAP from lidar processing.
[in]	insRec	INS record corresponding to the sensor maps.
[in]	Md_ecef_w	Transform from world to ECEF.
[out]	outMap	Fused output OGMAP.

Returns

• PTK_ALG_RET_SUCCESS, if successful
• < error code, otherwise

PTK_Alg_FusedOgmapDeInit()

void PTK_Alg_FusedOgmapDeInit

(

PTK_AlgHandle

algHandle

)

De-initializes the algorithm context.

Parameters

[in,out]

algHandle

Algorithm handle.