104 lines
4.3 KiB
C++
104 lines
4.3 KiB
C++
/*
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* Copyright (C) 2017 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CONFIG_MANAGER_H
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#define CONFIG_MANAGER_H
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#include <vector>
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#include <string>
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namespace android {
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namespace automotive {
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namespace evs {
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namespace support {
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class ConfigManager {
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public:
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struct CameraInfo {
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std::string cameraId = ""; // The name of the camera from the point of view of the HAL
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std::string function = ""; // The expected use for this camera ("reverse", "left", "right")
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float position[3] = {0}; // x, y, z -> right, fwd, up in the units of car space
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float yaw = 0; // radians positive to the left (right hand rule about global z axis)
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float pitch = 0; // positive upward (ie: right hand rule about local x axis)
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float hfov = 0; // radians
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float vfov = 0; // radians
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};
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bool initialize(const char* configFileName);
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// World space dimensions of the car
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float getCarWidth() const { return mCarWidth; };
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float getCarLength() const { return mWheelBase + mFrontExtent + mRearExtent; };
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float getWheelBase() const { return mWheelBase; };
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// Car space (world space centered on the rear axel) edges of the car
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float getFrontLocation() const { return mWheelBase + mFrontExtent; };
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float getRearLocation() const { return -mRearExtent; };
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float getRightLocation() const { return mCarWidth*0.5f; };
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float getLeftLocation() const { return -mCarWidth*0.5f; };
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// Where are the edges of the top down display in car space?
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float getDisplayTopLocation() const {
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// From the rear axel (origin) to the front bumper, and then beyond by the front range
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return mWheelBase + mFrontExtent + mFrontRangeInCarSpace;
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};
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float getDisplayBottomLocation() const {
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// From the rear axel (origin) to the back bumper, and then beyond by the back range
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return -mRearExtent - mRearRangeInCarSpace;
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};
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float getDisplayRightLocation(float aspectRatio) const {
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// Given the display aspect ratio (width over height), how far can we see to the right?
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return (getDisplayTopLocation() - getDisplayBottomLocation()) * 0.5f * aspectRatio;
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};
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float getDisplayLeftLocation(float aspectRatio) const {
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// Given the display aspect ratio (width over height), how far can we see to the left?
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return -getDisplayRightLocation(aspectRatio);
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};
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// At which texel (vertically in the image) are the front and rear bumpers of the car?
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float carGraphicFrontPixel() const { return mCarGraphicFrontPixel; };
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float carGraphicRearPixel() const { return mCarGraphicRearPixel; };
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const std::vector<CameraInfo>& getCameras() const { return mCameras; };
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private:
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// Camera information
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std::vector<CameraInfo> mCameras;
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// Car body information (assumes front wheel steering and origin at center of rear axel)
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// Note that units aren't specified and don't matter as long as all length units are consistent
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// within the JSON file from which we parse. That is, if everything is in meters, that's fine.
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// Everything in mm? That's fine too.
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float mCarWidth;
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float mWheelBase;
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float mFrontExtent;
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float mRearExtent;
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// Display information
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float mFrontRangeInCarSpace; // How far the display extends in front of the car
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float mRearRangeInCarSpace; // How far the display extends behind the car
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// Top view car image information
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float mCarGraphicFrontPixel; // How many pixels from the top of the image does the car start
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float mCarGraphicRearPixel; // How many pixels from the top of the image does the car end
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};
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} // namespace support
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} // namespace evs
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} // namespace automotive
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} // namespace android
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#endif // CONFIG_MANAGER_H
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