| // With comments included, this file is no longer legal JSON, but serves to illustrate |
| // the format of the configuration file the evs_app expects to read at startup to configure itself |
| // for a specific car. |
| // In addition to the configuration file, an image to be used to represent the car is expected |
| // to be provided in CarFromTop.png. |
| // Throughout this file, units of length are arbitrary, but must all be the same units. |
| // X is right, Y is forward, Z is up (right handed coordinate system). |
| // The origin is at the center of the read axel at ground level. |
| // Units for angles are in degrees. |
| // Yaw is measured from the front of the car, positive to the left (postive Z rotation). |
| // Pitch is measured from the horizon, positive upward (postive X rotation). |
| // Roll is always assumed to be zero. |
| |
| { |
| "car" : { // This section describes the geometry of the car |
| "width" : 76.7, // The width of the car body |
| "wheelBase" : 117.9, // The distance between the front and read axel |
| "frontExtent" : 44.7, // The extent of the car body ahead of the front axel |
| "rearExtent" : 40 // The extent of the car body behind the read axel |
| }, |
| "display" : { // This configures the dimensions of the surround view display |
| "frontRange" : 100, // How far to render the view in front of the front bumper |
| "rearRange" : 100 // How far the view extends behind the rear bumper |
| }, |
| "graphic" : { // This maps the car texture into the projected view space |
| "frontPixel" : 23, // The pixel row in CarFromTop.png at which the front bumper appears |
| "rearPixel" : 223 // The pixel row in CarFromTop.png at which the back bumper ends |
| }, |
| "cameras" : [ // This describes the cameras potentially available on the car |
| { |
| "cameraId" : "/dev/video32", // Camera ID exposed by EVS HAL |
| "function" : "reverse,park", // set of modes to which this camera contributes |
| "x" : 0.0, // Optical center distance right of vehicle center |
| "y" : -40.0, // Optical center distance forward of rear axel |
| "z" : 48, // Optical center distance above ground |
| "yaw" : 180, // Optical axis degrees to the left of straight ahead |
| "pitch" : -30, // Optical axis degrees above the horizon |
| "hfov" : 125, // Horizontal field of view in degrees |
| "vfov" :103 // Vertical field of view in degrees |
| } |
| ] |
| } |
