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 #include "CoreLibSetupHelper.h"
18
19 using namespace android_auto::surround_view;
20
21 namespace android_auto {
22 namespace surround_view {
23
GetCameras()24 vector<SurroundViewCameraParams> GetCameras() {
25 std::vector<android_auto::surround_view::SurroundViewCameraParams> cameras;
26
27 // Camera 1.
28 {
29 android_auto::surround_view::SurroundViewCameraParams camera_params;
30
31 camera_params.intrinsics[0] = 608.0026093794693;
32 camera_params.intrinsics[1] = 0.0;
33 camera_params.intrinsics[2] = 968.699544102168;
34 camera_params.intrinsics[3] = 0.0;
35 camera_params.intrinsics[4] = 608.205469489769;
36 camera_params.intrinsics[5] = 476.38843298898996;
37 camera_params.intrinsics[6] = 0.0;
38 camera_params.intrinsics[7] = 0.0;
39 camera_params.intrinsics[8] = 1.0;
40
41 camera_params.distorion[0] = -0.03711481733589263;
42 camera_params.distorion[1] = -0.0014805627895442888;
43 camera_params.distorion[2] = -0.00030212056866592464;
44 camera_params.distorion[3] = -0.00020149538570397933;
45
46 camera_params.rvec[0] = 2.26308;
47 camera_params.rvec[1] = 0.0382788;
48 camera_params.rvec[2] = -0.0220549;
49
50 camera_params.tvec[0] = -7.8028875403817685e-02;
51 camera_params.tvec[1] = 1.4537396465103221e+00;
52 camera_params.tvec[2] = -8.4197165554645001e-02;
53
54 camera_params.size.width = 1920;
55 camera_params.size.height = 1024;
56
57 camera_params.circular_fov = 179;
58
59 cameras.push_back(camera_params);
60 }
61
62 // Camera 2.
63 {
64 android_auto::surround_view::SurroundViewCameraParams camera_params;
65
66 camera_params.intrinsics[0] = 607.8691721095306;
67 camera_params.intrinsics[1] = 0.0;
68 camera_params.intrinsics[2] = 975.5686146375716;
69 camera_params.intrinsics[3] = 0.0;
70 camera_params.intrinsics[4] = 608.0112887189435;
71 camera_params.intrinsics[5] = 481.1938786570715;
72 camera_params.intrinsics[6] = 0.0;
73 camera_params.intrinsics[7] = 0.0;
74 camera_params.intrinsics[8] = 1.0;
75
76 camera_params.distorion[0] = -0.040116809827977926;
77 camera_params.distorion[1] = 0.0028769489398543014;
78 camera_params.distorion[2] = -0.002651039958977229;
79 camera_params.distorion[3] = 0.00024260630476736675;
80
81 camera_params.rvec[0] = 1.67415;
82 camera_params.rvec[1] = -1.74075;
83 camera_params.rvec[2] = 0.789399;
84
85 camera_params.tvec[0] = 2.9715052384687407e-01;
86 camera_params.tvec[1] = 1.1407102692699396e+00;
87 camera_params.tvec[2] = 3.0074545273489206e-01;
88
89 camera_params.size.width = 1920;
90 camera_params.size.height = 1024;
91
92 camera_params.circular_fov = 179;
93
94 cameras.push_back(camera_params);
95 }
96
97 // Camera 3.
98 {
99 android_auto::surround_view::SurroundViewCameraParams camera_params;
100
101 camera_params.intrinsics[0] = 608.557299289448;
102 camera_params.intrinsics[1] = 0.0;
103 camera_params.intrinsics[2] = 960.1949354417656;
104 camera_params.intrinsics[3] = 0.0;
105 camera_params.intrinsics[4] = 608.8093878512448;
106 camera_params.intrinsics[5] = 474.74744054048256;
107 camera_params.intrinsics[6] = 0.0;
108 camera_params.intrinsics[7] = 0.0;
109 camera_params.intrinsics[8] = 1.0;
110
111 camera_params.distorion[0] = -0.03998488563470043;
112 camera_params.distorion[1] = 0.0024786686909103388;
113 camera_params.distorion[2] = -0.002354736769480817;
114 camera_params.distorion[3] = 0.00018369619088506146;
115
116 camera_params.rvec[0] = -0.106409;
117 camera_params.rvec[1] = -2.83697;
118 camera_params.rvec[2] = 1.28629;
119
120 camera_params.tvec[0] = 1.7115269161259747e-01;
121 camera_params.tvec[1] = 1.4376160762596599e+00;
122 camera_params.tvec[2] = -1.9028844233159006e-02;
123
124 camera_params.size.width = 1920;
125 camera_params.size.height = 1024;
126
127 camera_params.circular_fov = 179;
128
129 cameras.push_back(camera_params);
130 }
131
132 // Camera 4.
133 {
134 android_auto::surround_view::SurroundViewCameraParams camera_params;
135
136 camera_params.intrinsics[0] = 608.1221963545495;
137 camera_params.intrinsics[1] = 0.0;
138 camera_params.intrinsics[2] = 943.6280444638576;
139 camera_params.intrinsics[3] = 0.0;
140 camera_params.intrinsics[4] = 608.0523818661524;
141 camera_params.intrinsics[5] = 474.8564698210861;
142 camera_params.intrinsics[6] = 0.0;
143 camera_params.intrinsics[7] = 0.0;
144 camera_params.intrinsics[8] = 1.0;
145
146 camera_params.distorion[0] = -0.038096507459563965;
147 camera_params.distorion[1] = 0.0004008114278766646;
148 camera_params.distorion[2] = -0.0013549275607082035;
149 camera_params.distorion[3] = -5.9961182248325556e-06;
150
151 camera_params.rvec[0] = 1.63019;
152 camera_params.rvec[1] = 1.76475;
153 camera_params.rvec[2] = -0.827941;
154
155 camera_params.tvec[0] = -3.0842691427126512e-01;
156 camera_params.tvec[1] = 1.0884122033556984e+00;
157 camera_params.tvec[2] = 3.4419058255954926e-01;
158
159 camera_params.size.width = 1920;
160 camera_params.size.height = 1024;
161
162 camera_params.circular_fov = 179;
163
164 cameras.push_back(camera_params);
165 }
166 return cameras;
167
168 }
169
Get2dParams()170 SurroundView2dParams Get2dParams() {
171 android_auto::surround_view::Size2dInteger
172 resolution{ /*width=*/ 1024, /*height*/ 768};
173 // make sure resolution has the same ratio with physical_size.
174 // {480 *360 }
175 android_auto::surround_view::Size2dFloat physical_size{8.0, 6.0};
176 android_auto::surround_view::Coordinate2dFloat physical_center{0, 0};
177
178 return android_auto::surround_view::SurroundView2dParams(
179 resolution, physical_size, physical_center);
180 }
181
Get3dParams()182 SurroundView3dParams Get3dParams() {
183 return android_auto::surround_view::SurroundView3dParams(
184 /*plane_radius=*/ 8.0f,
185 /*plane_divisions=*/ 50,
186 /*curve_height=*/ 6.0f,
187 /*curve_divisions=*/ 50,
188 /*angular_divisions=*/ 90,
189 /*curve_coefficient=*/ 3.0f,
190 /*resolution=*/ Size2dInteger(1024, 768));
191 }
192
GetBoundingBox()193 BoundingBox GetBoundingBox() {
194 return android_auto::surround_view::BoundingBox(
195 /*x=*/ -0.01f,
196 /*y=*/ 0.01f,
197 /*width=*/ 0.01f,
198 /*height=*/ 0.01f);
199 }
200
GetUndistortionScales()201 vector<float> GetUndistortionScales() {
202 return vector<float>{1.0f, 1.0f, 1.0f, 1.0f};
203 }
204
205
206 } // namespace surround_view
207 } // namespace audroid_auto
208
209