1 /* 2 * Copyright (C) 2017 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 #ifndef CONFIG_MANAGER_H 17 #define CONFIG_MANAGER_H 18 19 #include <string> 20 #include <vector> 21 22 namespace android { 23 namespace automotive { 24 namespace evs { 25 namespace support { 26 27 class ConfigManager { 28 public: 29 struct CameraInfo { 30 std::string cameraId = ""; // The name of the camera from the point of view of the HAL 31 std::string function = ""; // The expected use for this camera ("reverse", "left", "right") 32 float position[3] = {0}; // x, y, z -> right, fwd, up in the units of car space 33 float yaw = 0; // radians positive to the left (right hand rule about global z axis) 34 float pitch = 0; // positive upward (ie: right hand rule about local x axis) 35 float hfov = 0; // radians 36 float vfov = 0; // radians 37 }; 38 39 bool initialize(const char* configFileName); 40 41 // World space dimensions of the car getCarWidth()42 float getCarWidth() const { return mCarWidth; }; getCarLength()43 float getCarLength() const { return mWheelBase + mFrontExtent + mRearExtent; }; getWheelBase()44 float getWheelBase() const { return mWheelBase; }; 45 46 // Car space (world space centered on the rear axel) edges of the car getFrontLocation()47 float getFrontLocation() const { return mWheelBase + mFrontExtent; }; getRearLocation()48 float getRearLocation() const { return -mRearExtent; }; getRightLocation()49 float getRightLocation() const { return mCarWidth * 0.5f; }; getLeftLocation()50 float getLeftLocation() const { return -mCarWidth * 0.5f; }; 51 52 // Where are the edges of the top down display in car space? getDisplayTopLocation()53 float getDisplayTopLocation() const { 54 // From the rear axel (origin) to the front bumper, and then beyond by the front range 55 return mWheelBase + mFrontExtent + mFrontRangeInCarSpace; 56 }; getDisplayBottomLocation()57 float getDisplayBottomLocation() const { 58 // From the rear axel (origin) to the back bumper, and then beyond by the back range 59 return -mRearExtent - mRearRangeInCarSpace; 60 }; getDisplayRightLocation(float aspectRatio)61 float getDisplayRightLocation(float aspectRatio) const { 62 // Given the display aspect ratio (width over height), how far can we see to the right? 63 return (getDisplayTopLocation() - getDisplayBottomLocation()) * 0.5f * aspectRatio; 64 }; getDisplayLeftLocation(float aspectRatio)65 float getDisplayLeftLocation(float aspectRatio) const { 66 // Given the display aspect ratio (width over height), how far can we see to the left? 67 return -getDisplayRightLocation(aspectRatio); 68 }; 69 70 // At which texel (vertically in the image) are the front and rear bumpers of the car? carGraphicFrontPixel()71 float carGraphicFrontPixel() const { return mCarGraphicFrontPixel; }; carGraphicRearPixel()72 float carGraphicRearPixel() const { return mCarGraphicRearPixel; }; 73 getCameras()74 const std::vector<CameraInfo>& getCameras() const { return mCameras; }; 75 76 private: 77 // Camera information 78 std::vector<CameraInfo> mCameras; 79 80 // Car body information (assumes front wheel steering and origin at center of rear axel) 81 // Note that units aren't specified and don't matter as long as all length units are consistent 82 // within the JSON file from which we parse. That is, if everything is in meters, that's fine. 83 // Everything in mm? That's fine too. 84 float mCarWidth; 85 float mWheelBase; 86 float mFrontExtent; 87 float mRearExtent; 88 89 // Display information 90 float mFrontRangeInCarSpace; // How far the display extends in front of the car 91 float mRearRangeInCarSpace; // How far the display extends behind the car 92 93 // Top view car image information 94 float mCarGraphicFrontPixel; // How many pixels from the top of the image does the car start 95 float mCarGraphicRearPixel; // How many pixels from the top of the image does the car end 96 }; 97 98 } // namespace support 99 } // namespace evs 100 } // namespace automotive 101 } // namespace android 102 103 #endif // CONFIG_MANAGER_H 104