Xiangfei Qian | 35d4bd4 | 2020-05-29 16:35:09 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright 2020 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | #ifndef SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |
| 18 | #define SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |
| 19 | |
| 20 | #include "Matrix4x4.h" |
| 21 | #include "core_lib.h" |
| 22 | |
| 23 | #include <android-base/logging.h> |
| 24 | namespace android { |
| 25 | namespace hardware { |
| 26 | namespace automotive { |
| 27 | namespace sv { |
| 28 | namespace V1_0 { |
| 29 | namespace implementation { |
| 30 | |
Tanmay Patil | b2897b4 | 2020-06-08 17:55:02 -0700 | [diff] [blame] | 31 | using android_auto::surround_view::Mat4x4; |
| 32 | |
Xiangfei Qian | 35d4bd4 | 2020-05-29 16:35:09 -0700 | [diff] [blame] | 33 | const int gMat4Size = 4 * 4 * sizeof(float); |
| 34 | |
| 35 | const Mat4x4 gMat4Identity = {1, 0, 0, /*tx=*/0.0, 0, 1, 0, /*ty=*/0, |
| 36 | 0, 0, 1, /*tz=*/0.0, 0, 0, 0, 1}; |
| 37 | |
| 38 | inline float degToRad(float angleInDegrees) { |
| 39 | return 1.0f * angleInDegrees / 180 * M_PI; |
| 40 | } |
| 41 | |
| 42 | typedef std::array<float, 3> VectorT; |
| 43 | typedef std::array<float, 4> HomVectorT; |
| 44 | typedef Matrix4x4<float> HomMatrixT; |
| 45 | |
| 46 | // Create a Translation matrix. |
| 47 | inline HomMatrixT translationMatrix(const VectorT& v) { |
| 48 | HomMatrixT m = HomMatrixT::identity(); |
| 49 | m.setRow(3, HomVectorT{v[0], v[1], v[2], 1}); |
| 50 | return m; |
| 51 | } |
| 52 | |
| 53 | // Create a Rotation matrix. |
| 54 | inline HomMatrixT rotationMatrix(const VectorT& v, float angle, int orientation) { |
| 55 | const float c = cos(angle); |
| 56 | const float s = orientation * sin(angle); |
| 57 | const float t = 1 - c; |
| 58 | const float tx = t * v[0]; |
| 59 | const float ty = t * v[1]; |
| 60 | const float tz = t * v[2]; |
| 61 | return HomMatrixT(tx * v[0] + c, tx * v[1] + s * v[2], tx * v[2] - s * v[1], 0, |
| 62 | tx * v[1] - s * v[2], ty * v[1] + c, ty * v[2] + s * v[0], 0, |
| 63 | tx * v[2] + s * v[1], ty * v[2] - s * v[0], tz * v[2] + c, 0, 0, 0, 0, 1); |
| 64 | } |
| 65 | |
| 66 | inline Mat4x4 toMat4x4(const Matrix4x4F& matrix4x4F) { |
| 67 | Mat4x4 mat4x4; |
| 68 | memcpy(&mat4x4[0], matrix4x4F.transpose().data(), gMat4Size); |
| 69 | return mat4x4; |
| 70 | } |
| 71 | |
| 72 | inline Matrix4x4F toMatrix4x4F(const Mat4x4& mat4x4) { |
| 73 | Matrix4x4F matrix4x4F; |
| 74 | memcpy(matrix4x4F.data(), &mat4x4[0], gMat4Size); |
| 75 | |
| 76 | for (int i = 0; i < 4; i++) { |
| 77 | for (int j = 0; j < 4; j++) { |
| 78 | if (matrix4x4F(i, j) != mat4x4[i * 4 + j]) { |
| 79 | LOG(ERROR) << "Matrix error"; |
| 80 | } |
| 81 | } |
| 82 | } |
| 83 | return matrix4x4F.transpose(); |
| 84 | } |
| 85 | |
| 86 | // Create a Rotation Matrix, around a unit vector by a ccw angle. |
| 87 | inline Mat4x4 rotationMatrix(float angleInDegrees, const VectorT& axis) { |
| 88 | return toMat4x4(rotationMatrix(axis, degToRad(angleInDegrees), 1)); |
| 89 | } |
| 90 | |
| 91 | inline Mat4x4 appendRotation(float angleInDegrees, const VectorT& axis, const Mat4x4& mat4) { |
| 92 | return toMat4x4(toMatrix4x4F(mat4) * rotationMatrix(axis, degToRad(angleInDegrees), 1)); |
| 93 | } |
| 94 | |
| 95 | // Append mat_l * mat_r; |
| 96 | inline Mat4x4 appendMat(const Mat4x4& matL, const Mat4x4& matR) { |
| 97 | return toMat4x4(toMatrix4x4F(matL) * toMatrix4x4F(matR)); |
| 98 | } |
| 99 | |
| 100 | // Rotate about a point about a unit vector. |
| 101 | inline Mat4x4 rotationAboutPoint(float angleInDegrees, const VectorT& point, const VectorT& axis) { |
| 102 | VectorT pointInv = point; |
| 103 | pointInv[0] *= -1; |
| 104 | pointInv[1] *= -1; |
| 105 | pointInv[2] *= -1; |
| 106 | return toMat4x4(translationMatrix(pointInv) * |
| 107 | rotationMatrix(axis, degToRad(angleInDegrees), 1) * translationMatrix(point)); |
| 108 | } |
| 109 | |
| 110 | inline Mat4x4 translationMatrixToMat4x4(const VectorT& translation) { |
| 111 | return toMat4x4(translationMatrix(translation)); |
| 112 | } |
| 113 | |
| 114 | inline Mat4x4 appendTranslation(const VectorT& translation, const Mat4x4& mat4) { |
| 115 | return toMat4x4(toMatrix4x4F(mat4) * translationMatrix(translation)); |
| 116 | } |
| 117 | |
| 118 | inline Mat4x4 appendMatrix(const Mat4x4& deltaMatrix, const Mat4x4& currentMatrix) { |
| 119 | return toMat4x4(toMatrix4x4F(deltaMatrix) * toMatrix4x4F(currentMatrix)); |
| 120 | } |
| 121 | |
| 122 | } // namespace implementation |
| 123 | } // namespace V1_0 |
| 124 | } // namespace sv |
| 125 | } // namespace automotive |
| 126 | } // namespace hardware |
| 127 | } // namespace android |
| 128 | |
| 129 | #endif // SURROUND_VIEW_SERVICE_IMPL_MATH_HELP_H_ |