| /* |
| * Copyright (C) 2017 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 CONFIG_MANAGER_H |
| #define CONFIG_MANAGER_H |
| |
| #include <vector> |
| #include <string> |
| |
| namespace android { |
| namespace automotive { |
| namespace evs { |
| namespace support { |
| |
| class ConfigManager { |
| public: |
| struct CameraInfo { |
| std::string cameraId = ""; // The name of the camera from the point of view of the HAL |
| std::string function = ""; // The expected use for this camera ("reverse", "left", "right") |
| float position[3] = {0}; // x, y, z -> right, fwd, up in the units of car space |
| float yaw = 0; // radians positive to the left (right hand rule about global z axis) |
| float pitch = 0; // positive upward (ie: right hand rule about local x axis) |
| float hfov = 0; // radians |
| float vfov = 0; // radians |
| }; |
| |
| bool initialize(const char* configFileName); |
| |
| // World space dimensions of the car |
| float getCarWidth() const { return mCarWidth; }; |
| float getCarLength() const { return mWheelBase + mFrontExtent + mRearExtent; }; |
| float getWheelBase() const { return mWheelBase; }; |
| |
| // Car space (world space centered on the rear axel) edges of the car |
| float getFrontLocation() const { return mWheelBase + mFrontExtent; }; |
| float getRearLocation() const { return -mRearExtent; }; |
| float getRightLocation() const { return mCarWidth*0.5f; }; |
| float getLeftLocation() const { return -mCarWidth*0.5f; }; |
| |
| // Where are the edges of the top down display in car space? |
| float getDisplayTopLocation() const { |
| // From the rear axel (origin) to the front bumper, and then beyond by the front range |
| return mWheelBase + mFrontExtent + mFrontRangeInCarSpace; |
| }; |
| float getDisplayBottomLocation() const { |
| // From the rear axel (origin) to the back bumper, and then beyond by the back range |
| return -mRearExtent - mRearRangeInCarSpace; |
| }; |
| float getDisplayRightLocation(float aspectRatio) const { |
| // Given the display aspect ratio (width over height), how far can we see to the right? |
| return (getDisplayTopLocation() - getDisplayBottomLocation()) * 0.5f * aspectRatio; |
| }; |
| float getDisplayLeftLocation(float aspectRatio) const { |
| // Given the display aspect ratio (width over height), how far can we see to the left? |
| return -getDisplayRightLocation(aspectRatio); |
| }; |
| |
| // At which texel (vertically in the image) are the front and rear bumpers of the car? |
| float carGraphicFrontPixel() const { return mCarGraphicFrontPixel; }; |
| float carGraphicRearPixel() const { return mCarGraphicRearPixel; }; |
| |
| const std::vector<CameraInfo>& getCameras() const { return mCameras; }; |
| |
| private: |
| // Camera information |
| std::vector<CameraInfo> mCameras; |
| |
| // Car body information (assumes front wheel steering and origin at center of rear axel) |
| // Note that units aren't specified and don't matter as long as all length units are consistent |
| // within the JSON file from which we parse. That is, if everything is in meters, that's fine. |
| // Everything in mm? That's fine too. |
| float mCarWidth; |
| float mWheelBase; |
| float mFrontExtent; |
| float mRearExtent; |
| |
| // Display information |
| float mFrontRangeInCarSpace; // How far the display extends in front of the car |
| float mRearRangeInCarSpace; // How far the display extends behind the car |
| |
| // Top view car image information |
| float mCarGraphicFrontPixel; // How many pixels from the top of the image does the car start |
| float mCarGraphicRearPixel; // How many pixels from the top of the image does the car end |
| }; |
| |
| } // namespace support |
| } // namespace evs |
| } // namespace automotive |
| } // namespace android |
| |
| #endif // CONFIG_MANAGER_H |