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
31 using android_auto::surround_view::Mat4x4;
32
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
degToRad(float angleInDegrees)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.
translationMatrix(const VectorT & v)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.
rotationMatrix(const VectorT & v,float angle,int orientation)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
toMat4x4(const Matrix4x4F & matrix4x4F)66 inline Mat4x4 toMat4x4(const Matrix4x4F& matrix4x4F) {
67 Mat4x4 mat4x4;
68 memcpy(&mat4x4[0], matrix4x4F.transpose().data(), gMat4Size);
69 return mat4x4;
70 }
71
toMatrix4x4F(const Mat4x4 & mat4x4)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.
rotationMatrix(float angleInDegrees,const VectorT & axis)87 inline Mat4x4 rotationMatrix(float angleInDegrees, const VectorT& axis) {
88 return toMat4x4(rotationMatrix(axis, degToRad(angleInDegrees), 1));
89 }
90
appendRotation(float angleInDegrees,const VectorT & axis,const Mat4x4 & mat4)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;
appendMat(const Mat4x4 & matL,const Mat4x4 & matR)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.
rotationAboutPoint(float angleInDegrees,const VectorT & point,const VectorT & axis)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
translationMatrixToMat4x4(const VectorT & translation)110 inline Mat4x4 translationMatrixToMat4x4(const VectorT& translation) {
111 return toMat4x4(translationMatrix(translation));
112 }
113
appendTranslation(const VectorT & translation,const Mat4x4 & mat4)114 inline Mat4x4 appendTranslation(const VectorT& translation, const Mat4x4& mat4) {
115 return toMat4x4(toMatrix4x4F(mat4) * translationMatrix(translation));
116 }
117
appendMatrix(const Mat4x4 & deltaMatrix,const Mat4x4 & currentMatrix)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_
130