| /* |
| * Copyright 2020 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #ifndef SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |
| #define SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |
| |
| #include "Matrix4x4.h" |
| #include "core_lib.h" |
| |
| #include <android-base/logging.h> |
| namespace android { |
| namespace hardware { |
| namespace automotive { |
| namespace sv { |
| namespace V1_0 { |
| namespace implementation { |
| |
| using android_auto::surround_view::Mat4x4; |
| |
| const int gMat4Size = 4 * 4 * sizeof(float); |
| |
| const Mat4x4 gMat4Identity = {1, 0, 0, /*tx=*/0.0, 0, 1, 0, /*ty=*/0, |
| 0, 0, 1, /*tz=*/0.0, 0, 0, 0, 1}; |
| |
| inline float degToRad(float angleInDegrees) { |
| return 1.0f * angleInDegrees / 180 * M_PI; |
| } |
| |
| typedef std::array<float, 3> VectorT; |
| typedef std::array<float, 4> HomVectorT; |
| typedef Matrix4x4<float> HomMatrixT; |
| |
| // Create a Translation matrix. |
| inline HomMatrixT translationMatrix(const VectorT& v) { |
| HomMatrixT m = HomMatrixT::identity(); |
| m.setRow(3, HomVectorT{v[0], v[1], v[2], 1}); |
| return m; |
| } |
| |
| // Create a Rotation matrix. |
| inline HomMatrixT rotationMatrix(const VectorT& v, float angle, int orientation) { |
| const float c = cos(angle); |
| const float s = orientation * sin(angle); |
| const float t = 1 - c; |
| const float tx = t * v[0]; |
| const float ty = t * v[1]; |
| const float tz = t * v[2]; |
| return HomMatrixT(tx * v[0] + c, tx * v[1] + s * v[2], tx * v[2] - s * v[1], 0, |
| tx * v[1] - s * v[2], ty * v[1] + c, ty * v[2] + s * v[0], 0, |
| tx * v[2] + s * v[1], ty * v[2] - s * v[0], tz * v[2] + c, 0, 0, 0, 0, 1); |
| } |
| |
| inline Mat4x4 toMat4x4(const Matrix4x4F& matrix4x4F) { |
| Mat4x4 mat4x4; |
| memcpy(&mat4x4[0], matrix4x4F.transpose().data(), gMat4Size); |
| return mat4x4; |
| } |
| |
| inline Matrix4x4F toMatrix4x4F(const Mat4x4& mat4x4) { |
| Matrix4x4F matrix4x4F; |
| memcpy(matrix4x4F.data(), &mat4x4[0], gMat4Size); |
| |
| for (int i = 0; i < 4; i++) { |
| for (int j = 0; j < 4; j++) { |
| if (matrix4x4F(i, j) != mat4x4[i * 4 + j]) { |
| LOG(ERROR) << "Matrix error"; |
| } |
| } |
| } |
| return matrix4x4F.transpose(); |
| } |
| |
| // Create a Rotation Matrix, around a unit vector by a ccw angle. |
| inline Mat4x4 rotationMatrix(float angleInDegrees, const VectorT& axis) { |
| return toMat4x4(rotationMatrix(axis, degToRad(angleInDegrees), 1)); |
| } |
| |
| inline Mat4x4 appendRotation(float angleInDegrees, const VectorT& axis, const Mat4x4& mat4) { |
| return toMat4x4(toMatrix4x4F(mat4) * rotationMatrix(axis, degToRad(angleInDegrees), 1)); |
| } |
| |
| // Append mat_l * mat_r; |
| inline Mat4x4 appendMat(const Mat4x4& matL, const Mat4x4& matR) { |
| return toMat4x4(toMatrix4x4F(matL) * toMatrix4x4F(matR)); |
| } |
| |
| // Rotate about a point about a unit vector. |
| inline Mat4x4 rotationAboutPoint(float angleInDegrees, const VectorT& point, const VectorT& axis) { |
| VectorT pointInv = point; |
| pointInv[0] *= -1; |
| pointInv[1] *= -1; |
| pointInv[2] *= -1; |
| return toMat4x4(translationMatrix(pointInv) * |
| rotationMatrix(axis, degToRad(angleInDegrees), 1) * translationMatrix(point)); |
| } |
| |
| inline Mat4x4 translationMatrixToMat4x4(const VectorT& translation) { |
| return toMat4x4(translationMatrix(translation)); |
| } |
| |
| inline Mat4x4 appendTranslation(const VectorT& translation, const Mat4x4& mat4) { |
| return toMat4x4(toMatrix4x4F(mat4) * translationMatrix(translation)); |
| } |
| |
| inline Mat4x4 appendMatrix(const Mat4x4& deltaMatrix, const Mat4x4& currentMatrix) { |
| return toMat4x4(toMatrix4x4F(deltaMatrix) * toMatrix4x4F(currentMatrix)); |
| } |
| |
| } // namespace implementation |
| } // namespace V1_0 |
| } // namespace sv |
| } // namespace automotive |
| } // namespace hardware |
| } // namespace android |
| |
| #endif // SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |