| /* |
| * 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. |
| */ |
| |
| #include "CoreLibSetupHelper.h" |
| |
| using namespace android_auto::surround_view; |
| |
| namespace android_auto { |
| namespace surround_view { |
| |
| vector<SurroundViewCameraParams> GetCameras() { |
| std::vector<android_auto::surround_view::SurroundViewCameraParams> cameras; |
| |
| // Camera 1. |
| { |
| android_auto::surround_view::SurroundViewCameraParams camera_params; |
| |
| camera_params.intrinsics[0] = 608.0026093794693; |
| camera_params.intrinsics[1] = 0.0; |
| camera_params.intrinsics[2] = 968.699544102168; |
| camera_params.intrinsics[3] = 0.0; |
| camera_params.intrinsics[4] = 608.205469489769; |
| camera_params.intrinsics[5] = 476.38843298898996; |
| camera_params.intrinsics[6] = 0.0; |
| camera_params.intrinsics[7] = 0.0; |
| camera_params.intrinsics[8] = 1.0; |
| |
| camera_params.distorion[0] = -0.03711481733589263; |
| camera_params.distorion[1] = -0.0014805627895442888; |
| camera_params.distorion[2] = -0.00030212056866592464; |
| camera_params.distorion[3] = -0.00020149538570397933; |
| |
| camera_params.rvec[0] = 2.26308; |
| camera_params.rvec[1] = 0.0382788; |
| camera_params.rvec[2] = -0.0220549; |
| |
| camera_params.tvec[0] = -7.8028875403817685e-02; |
| camera_params.tvec[1] = 1.4537396465103221e+00; |
| camera_params.tvec[2] = -8.4197165554645001e-02; |
| |
| camera_params.size.width = 1920; |
| camera_params.size.height = 1024; |
| |
| camera_params.circular_fov = 179; |
| |
| cameras.push_back(camera_params); |
| } |
| |
| // Camera 2. |
| { |
| android_auto::surround_view::SurroundViewCameraParams camera_params; |
| |
| camera_params.intrinsics[0] = 607.8691721095306; |
| camera_params.intrinsics[1] = 0.0; |
| camera_params.intrinsics[2] = 975.5686146375716; |
| camera_params.intrinsics[3] = 0.0; |
| camera_params.intrinsics[4] = 608.0112887189435; |
| camera_params.intrinsics[5] = 481.1938786570715; |
| camera_params.intrinsics[6] = 0.0; |
| camera_params.intrinsics[7] = 0.0; |
| camera_params.intrinsics[8] = 1.0; |
| |
| camera_params.distorion[0] = -0.040116809827977926; |
| camera_params.distorion[1] = 0.0028769489398543014; |
| camera_params.distorion[2] = -0.002651039958977229; |
| camera_params.distorion[3] = 0.00024260630476736675; |
| |
| camera_params.rvec[0] = 1.67415; |
| camera_params.rvec[1] = -1.74075; |
| camera_params.rvec[2] = 0.789399; |
| |
| camera_params.tvec[0] = 2.9715052384687407e-01; |
| camera_params.tvec[1] = 1.1407102692699396e+00; |
| camera_params.tvec[2] = 3.0074545273489206e-01; |
| |
| camera_params.size.width = 1920; |
| camera_params.size.height = 1024; |
| |
| camera_params.circular_fov = 179; |
| |
| cameras.push_back(camera_params); |
| } |
| |
| // Camera 3. |
| { |
| android_auto::surround_view::SurroundViewCameraParams camera_params; |
| |
| camera_params.intrinsics[0] = 608.557299289448; |
| camera_params.intrinsics[1] = 0.0; |
| camera_params.intrinsics[2] = 960.1949354417656; |
| camera_params.intrinsics[3] = 0.0; |
| camera_params.intrinsics[4] = 608.8093878512448; |
| camera_params.intrinsics[5] = 474.74744054048256; |
| camera_params.intrinsics[6] = 0.0; |
| camera_params.intrinsics[7] = 0.0; |
| camera_params.intrinsics[8] = 1.0; |
| |
| camera_params.distorion[0] = -0.03998488563470043; |
| camera_params.distorion[1] = 0.0024786686909103388; |
| camera_params.distorion[2] = -0.002354736769480817; |
| camera_params.distorion[3] = 0.00018369619088506146; |
| |
| camera_params.rvec[0] = -0.106409; |
| camera_params.rvec[1] = -2.83697; |
| camera_params.rvec[2] = 1.28629; |
| |
| camera_params.tvec[0] = 1.7115269161259747e-01; |
| camera_params.tvec[1] = 1.4376160762596599e+00; |
| camera_params.tvec[2] = -1.9028844233159006e-02; |
| |
| camera_params.size.width = 1920; |
| camera_params.size.height = 1024; |
| |
| camera_params.circular_fov = 179; |
| |
| cameras.push_back(camera_params); |
| } |
| |
| // Camera 4. |
| { |
| android_auto::surround_view::SurroundViewCameraParams camera_params; |
| |
| camera_params.intrinsics[0] = 608.1221963545495; |
| camera_params.intrinsics[1] = 0.0; |
| camera_params.intrinsics[2] = 943.6280444638576; |
| camera_params.intrinsics[3] = 0.0; |
| camera_params.intrinsics[4] = 608.0523818661524; |
| camera_params.intrinsics[5] = 474.8564698210861; |
| camera_params.intrinsics[6] = 0.0; |
| camera_params.intrinsics[7] = 0.0; |
| camera_params.intrinsics[8] = 1.0; |
| |
| camera_params.distorion[0] = -0.038096507459563965; |
| camera_params.distorion[1] = 0.0004008114278766646; |
| camera_params.distorion[2] = -0.0013549275607082035; |
| camera_params.distorion[3] = -5.9961182248325556e-06; |
| |
| camera_params.rvec[0] = 1.63019; |
| camera_params.rvec[1] = 1.76475; |
| camera_params.rvec[2] = -0.827941; |
| |
| camera_params.tvec[0] = -3.0842691427126512e-01; |
| camera_params.tvec[1] = 1.0884122033556984e+00; |
| camera_params.tvec[2] = 3.4419058255954926e-01; |
| |
| camera_params.size.width = 1920; |
| camera_params.size.height = 1024; |
| |
| camera_params.circular_fov = 179; |
| |
| cameras.push_back(camera_params); |
| } |
| return cameras; |
| |
| } |
| |
| SurroundView2dParams Get2dParams() { |
| android_auto::surround_view::Size2dInteger |
| resolution{ /*width=*/ 1024, /*height*/ 768}; |
| // make sure resolution has the same ratio with physical_size. |
| // {480 *360 } |
| android_auto::surround_view::Size2dFloat physical_size{8.0, 6.0}; |
| android_auto::surround_view::Coordinate2dFloat physical_center{0, 0}; |
| |
| return android_auto::surround_view::SurroundView2dParams( |
| resolution, physical_size, physical_center); |
| } |
| |
| SurroundView3dParams Get3dParams() { |
| return android_auto::surround_view::SurroundView3dParams( |
| /*plane_radius=*/ 8.0f, |
| /*plane_divisions=*/ 50, |
| /*curve_height=*/ 6.0f, |
| /*curve_divisions=*/ 50, |
| /*angular_divisions=*/ 90, |
| /*curve_coefficient=*/ 3.0f, |
| /*resolution=*/ Size2dInteger(1024, 768)); |
| } |
| |
| BoundingBox GetBoundingBox() { |
| return android_auto::surround_view::BoundingBox( |
| /*x=*/ -0.01f, |
| /*y=*/ 0.01f, |
| /*width=*/ 0.01f, |
| /*height=*/ 0.01f); |
| } |
| |
| vector<float> GetUndistortionScales() { |
| return vector<float>{1.0f, 1.0f, 1.0f, 1.0f}; |
| } |
| |
| |
| } // namespace surround_view |
| } // namespace audroid_auto |
| |