Data structure and parameter description

This section lists the important data structures used in the project to help understand the core implementation logic.

Data structure

1. StereoCamParam_t

Represents the parameter structure of the camera, including internal and external parameters, parallax range and other information.

typedef struct _StereoCamParam_t {
double m_dBaseLine; // Stereo camera baseline distance (unit: meter)
double m_dMaxDist; // Maximum depth distance (unit: meter)
int m_nNumberOfDisp; // Disparity range
int m_nWindowSize; // Matching window size
struct {
double m_dFocalLength; // Focal length
double m_dCameraHeight; // Camera height (unit: meter)
double m_dPitchDeg; // Camera pitch angle (unit: degree)
Size m_sizeSrc; // Image resolution
} objCamParam;
} StereoCamParam_t;

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2. stixel_t

Core data structure used to describe columnar pixels (Stixel).

typedef struct _stixel_t {
int nCol; // Stixel column index
int nGround; // Pixel row corresponding to the ground
int nHeight; // Pixel row corresponding to the top
uchar chDisparity; // Disparity value
double dX; // Horizontal distance
double dZ; // Depth distance
} stixel_t;

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3. Object_t

Represents the target object after segmentation.

typedef struct _Object_t {
Rect rectBB; // Bounding box
double dZ; // Target depth
vector<stixel_t> vecobjStixels; // List of Stixels that make up the target
} Object_t;