Merge "Extend evs_app configuration" into rvc-qpr-dev
diff --git a/evs/apps/default/ConfigManager.cpp b/evs/apps/default/ConfigManager.cpp
index 76c142c..cc55518 100644
--- a/evs/apps/default/ConfigManager.cpp
+++ b/evs/apps/default/ConfigManager.cpp
@@ -142,8 +142,11 @@
float yaw = node.get("yaw", 0).asFloat();
float pitch = node.get("pitch", 0).asFloat();
+ float roll = node.get("roll", 0).asFloat();
float hfov = node.get("hfov", 0).asFloat();
float vfov = node.get("vfov", 0).asFloat();
+ bool hflip = node.get("hflip", false).asBool();
+ bool vflip = node.get("vflip", false).asBool();
// Wrap the direction angles to be in the 180deg to -180deg range
// Rotate 180 in yaw if necessary to flip the pitch into the +/-90degree range
@@ -157,6 +160,7 @@
pitch = -180.0f + pitch;
}
yaw = normalizeToPlusMinus180degrees(yaw);
+ roll = normalizeToPlusMinus180degrees(roll);
// Range check the FOV values to ensure they are postive and less than 180degrees
if (hfov > 179.0f) {
@@ -183,8 +187,11 @@
info.position[2] = node.get("z", 0).asFloat();
info.yaw = yaw * kDegreesToRadians;
info.pitch = pitch * kDegreesToRadians;
+ info.roll = roll * kDegreesToRadians;
info.hfov = hfov * kDegreesToRadians;
info.vfov = vfov * kDegreesToRadians;
+ info.hflip = hflip;
+ info.vflip = vflip;
info.cameraId = cameraId;
info.function = function;
diff --git a/evs/apps/default/ConfigManager.h b/evs/apps/default/ConfigManager.h
index eb89770..bf22d0c 100644
--- a/evs/apps/default/ConfigManager.h
+++ b/evs/apps/default/ConfigManager.h
@@ -31,8 +31,11 @@
float position[3] = {0}; // x, y, z -> right, fwd, up in the units of car space
float yaw = 0; // radians positive to the left (right hand rule about global z axis)
float pitch = 0; // positive upward (ie: right hand rule about local x axis)
+ float roll = 0; // radians positively increasing clockwisely around the optical axis
float hfov = 0; // radians
float vfov = 0; // radians
+ bool hflip = false;// boolean to flip the preview horizontally
+ bool vflip = false;// boolean to flip the preview vertically
};
struct DisplayInfo {
diff --git a/evs/apps/default/RenderDirectView.cpp b/evs/apps/default/RenderDirectView.cpp
index 28c1f68..c2263ce 100644
--- a/evs/apps/default/RenderDirectView.cpp
+++ b/evs/apps/default/RenderDirectView.cpp
@@ -15,15 +15,16 @@
*/
#include "RenderDirectView.h"
+
#include "VideoTex.h"
#include "glError.h"
#include "shader.h"
#include "shader_simpleTex.h"
+#include <android-base/logging.h>
+#include <android/hardware/camera/device/3.2/ICameraDevice.h>
#include <math/mat4.h>
#include <system/camera_metadata.h>
-#include <android/hardware/camera/device/3.2/ICameraDevice.h>
-#include <android-base/logging.h>
using ::android::hardware::camera::device::V3_2::Stream;
using ::android::hardware::graphics::common::V1_0::PixelFormat;
@@ -47,7 +48,21 @@
mEnumerator(enumerator),
mCameraDesc(camDesc),
mConfig(config) {
- /* Nothing to do */
+ // Find and store the target camera configuration
+ const auto& camList = mConfig.getCameras();
+ const auto target = std::find_if(camList.begin(), camList.end(),
+ [this](const ConfigManager::CameraInfo& info) {
+ return info.cameraId == mCameraDesc.v1.cameraId;
+ });
+ if (target != camList.end()) {
+ // Store the info
+ mCameraInfo = *target;
+
+ // Calculate a rotation matrix
+ float sinRoll, cosRoll;
+ sincosf(mCameraInfo.roll, &sinRoll, &cosRoll);
+ mRotationMat = {cosRoll, -sinRoll, sinRoll, cosRoll};
+ }
}
@@ -148,6 +163,10 @@
glUseProgram(mShaderProgram);
// Set up the model to clip space transform (identity matrix if we're modeling in screen space)
+ android::vec2 leftTop = {-0.5f, 0.5f};
+ android::vec2 rightTop = {0.5f, 0.5f};
+ android::vec2 leftBottom = {-0.5f, -0.5f};
+ android::vec2 rightBottom = {0.5f, -0.5f};
GLint loc = glGetUniformLocation(mShaderProgram, "cameraMat");
if (loc < 0) {
LOG(ERROR) << "Couldn't set shader parameter 'cameraMat'";
@@ -155,8 +174,13 @@
} else {
const android::mat4 identityMatrix;
glUniformMatrix4fv(loc, 1, false, identityMatrix.asArray());
- }
+ // Rotate the preview
+ leftTop = mRotationMat * leftTop;
+ leftBottom = mRotationMat * leftBottom;
+ rightTop = mRotationMat * rightTop;
+ rightBottom = mRotationMat * rightBottom;
+ }
// Bind the texture and assign it to the shader's sampler
mTexture->refresh();
@@ -183,11 +207,22 @@
-1.0, -1.0, 0.0f, // left bottom
1.0, -1.0, 0.0f // right bottom
};
- // TODO: We're flipping horizontally here, but should do it only for specified cameras!
- GLfloat vertsCarTex[] = { 1.0f, 1.0f, // left top
- 0.0f, 1.0f, // right top
- 1.0f, 0.0f, // left bottom
- 0.0f, 0.0f // right bottom
+
+ // Flip the preview if needed
+ if (mCameraInfo.hflip) {
+ std::swap(leftTop.x, rightTop.x);
+ std::swap(leftBottom.x, rightBottom.x);
+ }
+
+ if (mCameraInfo.vflip) {
+ std::swap(leftTop.y, leftBottom.y);
+ std::swap(rightTop.y, rightBottom.y);
+ }
+
+ GLfloat vertsCarTex[] = { leftTop.x + 0.5f, leftTop.y + 0.5f,
+ rightTop.x + 0.5f, rightTop.y + 0.5f,
+ leftBottom.x + 0.5f, leftBottom.y + 0.5f,
+ rightBottom.x + 0.5f, rightBottom.y + 0.5f
};
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, vertsCarPos);
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 0, vertsCarTex);
diff --git a/evs/apps/default/RenderDirectView.h b/evs/apps/default/RenderDirectView.h
index 65a94e2..2f9c11e 100644
--- a/evs/apps/default/RenderDirectView.h
+++ b/evs/apps/default/RenderDirectView.h
@@ -17,13 +17,12 @@
#ifndef CAR_EVS_APP_RENDERDIRECTVIEW_H
#define CAR_EVS_APP_RENDERDIRECTVIEW_H
-
-#include "RenderBase.h"
-
-#include <android/hardware/automotive/evs/1.1/IEvsEnumerator.h>
#include "ConfigManager.h"
+#include "RenderBase.h"
#include "VideoTex.h"
+#include <android/hardware/automotive/evs/1.1/IEvsEnumerator.h>
+#include <math/mat2.h>
using namespace ::android::hardware::automotive::evs::V1_1;
using ::android::hardware::camera::device::V3_2::Stream;
@@ -52,6 +51,8 @@
std::unique_ptr<VideoTex> mTexture;
GLuint mShaderProgram = 0;
+
+ android::mat2 mRotationMat;
};
diff --git a/evs/apps/default/config.json b/evs/apps/default/config.json
index c914e5b..16148a7 100644
--- a/evs/apps/default/config.json
+++ b/evs/apps/default/config.json
@@ -31,8 +31,11 @@
"z" : 48,
"yaw" : 180,
"pitch" : -10,
+ "roll" : 0,
"hfov" : 115,
- "vfov" : 80
+ "vfov" : 80,
+ "hflip" : true,
+ "vflip" : false
},
{
"cameraId" : "/dev/video11",
@@ -42,8 +45,11 @@
"z" : 48,
"yaw" : 0,
"pitch" : -10,
+ "roll" : 0,
"hfov" : 115,
- "vfov" : 80
+ "vfov" : 80,
+ "hflip" : false,
+ "vflip" : false
},
{
"cameraId" : "/dev/video12",
@@ -53,8 +59,11 @@
"z" : 88,
"yaw" : -90,
"pitch" : -10,
+ "roll" : 0,
"hfov" : 60,
- "vfov" : 62
+ "vfov" : 62,
+ "hflip" : false,
+ "vflip" : false
},
{
"cameraId" : "/dev/video13",
@@ -64,8 +73,11 @@
"z" : 88,
"yaw" : 90,
"pitch" : -10,
+ "roll" : 0,
"hfov" : 60,
- "vfov" : 62
+ "vfov" : 62,
+ "hflip" : false,
+ "vflip" : false
}
]
}
diff --git a/evs/apps/default/config.json.readme b/evs/apps/default/config.json.readme
index 561adcc..893eb86 100644
--- a/evs/apps/default/config.json.readme
+++ b/evs/apps/default/config.json.readme
@@ -38,8 +38,11 @@
"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
+ "roll" : 0, // Rotation degrees around the optical axis
"hfov" : 125, // Horizontal field of view in degrees
- "vfov" :103 // Vertical field of view in degrees
+ "vfov" :103, // Vertical field of view in degrees
+ "hflip" : true, // Flip the view horizontally
+ "vflip" : true, // Flip the view vertically
}
]
}
