Remove CoreLibSetupHelper class.
Bug: 158479099
Bug: 162599435
Test: m -j
Change-Id: I7d6f5e0bd7068df004e8011151e3a219c864bfca
Merged-In: I7d6f5e0bd7068df004e8011151e3a219c864bfca
(cherry picked from commit fe6145277d3d059e3e169110fba6a0be111b98f1)
diff --git a/surround_view/service-impl/Android.bp b/surround_view/service-impl/Android.bp
index 7580795..d05c4d8 100644
--- a/surround_view/service-impl/Android.bp
+++ b/surround_view/service-impl/Android.bp
@@ -156,7 +156,6 @@
vendor : true,
srcs : [
"CameraUtils.cpp",
- "CoreLibSetupHelper.cpp",
"SurroundView2dSession.cpp",
"SurroundView3dSession.cpp",
],
diff --git a/surround_view/service-impl/CoreLibSetupHelper.cpp b/surround_view/service-impl/CoreLibSetupHelper.cpp
deleted file mode 100644
index 4812efe..0000000
--- a/surround_view/service-impl/CoreLibSetupHelper.cpp
+++ /dev/null
@@ -1,208 +0,0 @@
-/*
- * Copyright 2020 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "CoreLibSetupHelper.h"
-
-using namespace android_auto::surround_view;
-
-namespace android_auto {
-namespace surround_view {
-
-vector<SurroundViewCameraParams> GetCameras() {
- std::vector<android_auto::surround_view::SurroundViewCameraParams> cameras;
-
- // Camera 1.
- {
- android_auto::surround_view::SurroundViewCameraParams camera_params;
-
- camera_params.intrinsics[0] = 608.0026093794693;
- camera_params.intrinsics[1] = 0.0;
- camera_params.intrinsics[2] = 968.699544102168;
- camera_params.intrinsics[3] = 0.0;
- camera_params.intrinsics[4] = 608.205469489769;
- camera_params.intrinsics[5] = 476.38843298898996;
- camera_params.intrinsics[6] = 0.0;
- camera_params.intrinsics[7] = 0.0;
- camera_params.intrinsics[8] = 1.0;
-
- camera_params.distorion[0] = -0.03711481733589263;
- camera_params.distorion[1] = -0.0014805627895442888;
- camera_params.distorion[2] = -0.00030212056866592464;
- camera_params.distorion[3] = -0.00020149538570397933;
-
- camera_params.rvec[0] = 2.26308;
- camera_params.rvec[1] = 0.0382788;
- camera_params.rvec[2] = -0.0220549;
-
- camera_params.tvec[0] = -7.8028875403817685e-02;
- camera_params.tvec[1] = 1.4537396465103221e+00;
- camera_params.tvec[2] = -8.4197165554645001e-02;
-
- camera_params.size.width = 1920;
- camera_params.size.height = 1024;
-
- camera_params.circular_fov = 179;
-
- cameras.push_back(camera_params);
- }
-
- // Camera 2.
- {
- android_auto::surround_view::SurroundViewCameraParams camera_params;
-
- camera_params.intrinsics[0] = 607.8691721095306;
- camera_params.intrinsics[1] = 0.0;
- camera_params.intrinsics[2] = 975.5686146375716;
- camera_params.intrinsics[3] = 0.0;
- camera_params.intrinsics[4] = 608.0112887189435;
- camera_params.intrinsics[5] = 481.1938786570715;
- camera_params.intrinsics[6] = 0.0;
- camera_params.intrinsics[7] = 0.0;
- camera_params.intrinsics[8] = 1.0;
-
- camera_params.distorion[0] = -0.040116809827977926;
- camera_params.distorion[1] = 0.0028769489398543014;
- camera_params.distorion[2] = -0.002651039958977229;
- camera_params.distorion[3] = 0.00024260630476736675;
-
- camera_params.rvec[0] = 1.67415;
- camera_params.rvec[1] = -1.74075;
- camera_params.rvec[2] = 0.789399;
-
- camera_params.tvec[0] = 2.9715052384687407e-01;
- camera_params.tvec[1] = 1.1407102692699396e+00;
- camera_params.tvec[2] = 3.0074545273489206e-01;
-
- camera_params.size.width = 1920;
- camera_params.size.height = 1024;
-
- camera_params.circular_fov = 179;
-
- cameras.push_back(camera_params);
- }
-
- // Camera 3.
- {
- android_auto::surround_view::SurroundViewCameraParams camera_params;
-
- camera_params.intrinsics[0] = 608.557299289448;
- camera_params.intrinsics[1] = 0.0;
- camera_params.intrinsics[2] = 960.1949354417656;
- camera_params.intrinsics[3] = 0.0;
- camera_params.intrinsics[4] = 608.8093878512448;
- camera_params.intrinsics[5] = 474.74744054048256;
- camera_params.intrinsics[6] = 0.0;
- camera_params.intrinsics[7] = 0.0;
- camera_params.intrinsics[8] = 1.0;
-
- camera_params.distorion[0] = -0.03998488563470043;
- camera_params.distorion[1] = 0.0024786686909103388;
- camera_params.distorion[2] = -0.002354736769480817;
- camera_params.distorion[3] = 0.00018369619088506146;
-
- camera_params.rvec[0] = -0.106409;
- camera_params.rvec[1] = -2.83697;
- camera_params.rvec[2] = 1.28629;
-
- camera_params.tvec[0] = 1.7115269161259747e-01;
- camera_params.tvec[1] = 1.4376160762596599e+00;
- camera_params.tvec[2] = -1.9028844233159006e-02;
-
- camera_params.size.width = 1920;
- camera_params.size.height = 1024;
-
- camera_params.circular_fov = 179;
-
- cameras.push_back(camera_params);
- }
-
- // Camera 4.
- {
- android_auto::surround_view::SurroundViewCameraParams camera_params;
-
- camera_params.intrinsics[0] = 608.1221963545495;
- camera_params.intrinsics[1] = 0.0;
- camera_params.intrinsics[2] = 943.6280444638576;
- camera_params.intrinsics[3] = 0.0;
- camera_params.intrinsics[4] = 608.0523818661524;
- camera_params.intrinsics[5] = 474.8564698210861;
- camera_params.intrinsics[6] = 0.0;
- camera_params.intrinsics[7] = 0.0;
- camera_params.intrinsics[8] = 1.0;
-
- camera_params.distorion[0] = -0.038096507459563965;
- camera_params.distorion[1] = 0.0004008114278766646;
- camera_params.distorion[2] = -0.0013549275607082035;
- camera_params.distorion[3] = -5.9961182248325556e-06;
-
- camera_params.rvec[0] = 1.63019;
- camera_params.rvec[1] = 1.76475;
- camera_params.rvec[2] = -0.827941;
-
- camera_params.tvec[0] = -3.0842691427126512e-01;
- camera_params.tvec[1] = 1.0884122033556984e+00;
- camera_params.tvec[2] = 3.4419058255954926e-01;
-
- camera_params.size.width = 1920;
- camera_params.size.height = 1024;
-
- camera_params.circular_fov = 179;
-
- cameras.push_back(camera_params);
- }
- return cameras;
-
-}
-
-SurroundView2dParams Get2dParams() {
- android_auto::surround_view::Size2dInteger
- resolution{ /*width=*/ 1024, /*height*/ 768};
- // make sure resolution has the same ratio with physical_size.
- // {480 *360 }
- android_auto::surround_view::Size2dFloat physical_size{8.0, 6.0};
- android_auto::surround_view::Coordinate2dFloat physical_center{0, 0};
-
- return android_auto::surround_view::SurroundView2dParams(
- resolution, physical_size, physical_center);
-}
-
-SurroundView3dParams Get3dParams() {
- return android_auto::surround_view::SurroundView3dParams(
- /*plane_radius=*/ 8.0f,
- /*plane_divisions=*/ 50,
- /*curve_height=*/ 6.0f,
- /*curve_divisions=*/ 50,
- /*angular_divisions=*/ 90,
- /*curve_coefficient=*/ 3.0f,
- /*resolution=*/ Size2dInteger(1024, 768));
-}
-
-BoundingBox GetBoundingBox() {
- return android_auto::surround_view::BoundingBox(
- /*x=*/ -0.01f,
- /*y=*/ 0.01f,
- /*width=*/ 0.01f,
- /*height=*/ 0.01f);
-}
-
-vector<float> GetUndistortionScales() {
- return vector<float>{1.0f, 1.0f, 1.0f, 1.0f};
-}
-
-
-} // namespace surround_view
-} // namespace audroid_auto
-
diff --git a/surround_view/service-impl/CoreLibSetupHelper.h b/surround_view/service-impl/CoreLibSetupHelper.h
deleted file mode 100644
index 889ebf2..0000000
--- a/surround_view/service-impl/CoreLibSetupHelper.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * Copyright 2020 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <string>
-#include <vector>
-#include "core_lib.h"
-
-using namespace std;
-
-// TODO(b/150412555): The helper method should only be used for testing
-// purposes once EVS camera is used.
-namespace android_auto {
-namespace surround_view {
-
-vector<SurroundViewCameraParams> GetCameras();
-
-SurroundView2dParams Get2dParams();
-
-SurroundView3dParams Get3dParams();
-
-BoundingBox GetBoundingBox();
-
-vector<float> GetUndistortionScales();
-
-} // namespace surround_view
-} // namespace android_auto
-
diff --git a/surround_view/service-impl/SurroundView2dSession.cpp b/surround_view/service-impl/SurroundView2dSession.cpp
index 15a85a3..26c42b9 100644
--- a/surround_view/service-impl/SurroundView2dSession.cpp
+++ b/surround_view/service-impl/SurroundView2dSession.cpp
@@ -27,6 +27,18 @@
#include "CameraUtils.h"
+using ::std::adopt_lock;
+using ::std::lock;
+using ::std::lock_guard;
+using ::std::map;
+using ::std::mutex;
+using ::std::scoped_lock;
+using ::std::string;
+using ::std::thread;
+using ::std::unique_lock;
+using ::std::unique_ptr;
+using ::std::vector;
+
using ::android::hardware::automotive::evs::V1_0::EvsResult;
using ::android::hardware::camera::device::V3_2::Stream;
@@ -55,6 +67,7 @@
static const int kNumChannels = 3;
static const int kNumFrames = 4;
static const int kSv2dViewId = 0;
+static const float kUndistortionScales[4] = {1.0f, 1.0f, 1.0f, 1.0f};
SurroundView2dSession::FramesHandler::FramesHandler(
sp<IEvsCamera> pCamera, sp<SurroundView2dSession> pSession)
@@ -568,7 +581,8 @@
mCameraParams,
mIOModuleConfig->sv2dConfig.sv2dParams,
mIOModuleConfig->sv3dConfig.sv3dParams,
- GetUndistortionScales(),
+ vector<float>(std::begin(kUndistortionScales),
+ std::end(kUndistortionScales)),
mIOModuleConfig->sv2dConfig.carBoundingBox,
mIOModuleConfig->carModelConfig.carModel.texturesMap,
mIOModuleConfig->carModelConfig.carModel.partsMap);
diff --git a/surround_view/service-impl/SurroundView2dSession.h b/surround_view/service-impl/SurroundView2dSession.h
index 5a74c20..8061f23 100644
--- a/surround_view/service-impl/SurroundView2dSession.h
+++ b/surround_view/service-impl/SurroundView2dSession.h
@@ -16,7 +16,6 @@
#pragma once
-#include "CoreLibSetupHelper.h"
#include "IOModule.h"
#include <android/hardware/automotive/evs/1.1/IEvsCamera.h>
@@ -128,13 +127,13 @@
// Instance and metadata for the opened Evs Camera
sp<IEvsCamera> mCamera;
CameraDesc mCameraDesc;
- vector<SurroundViewCameraParams> mCameraParams;
+ std::vector<SurroundViewCameraParams> mCameraParams;
// Stream subscribed for the session.
sp<ISurroundViewStream> mStream GUARDED_BY(mAccessLock);
StreamStateValues mStreamState GUARDED_BY(mAccessLock);
- thread mProcessThread; // The thread we'll use to process frames
+ std::thread mProcessThread; // The thread we'll use to process frames
// Reference to the inner class, to handle the incoming Evs frames
sp<FramesHandler> mFramesHandler;
@@ -154,13 +153,13 @@
// Synchronization necessary to deconflict mCaptureThread from the main
// service thread
- mutex mAccessLock;
+ std::mutex mAccessLock;
- vector<string> mEvsCameraIds GUARDED_BY(mAccessLock);
+ std::vector<std::string> mEvsCameraIds GUARDED_BY(mAccessLock);
- unique_ptr<SurroundView> mSurroundView GUARDED_BY(mAccessLock);
+ std::unique_ptr<SurroundView> mSurroundView GUARDED_BY(mAccessLock);
- vector<SurroundViewInputBufferPointers>
+ std::vector<SurroundViewInputBufferPointers>
mInputPointers GUARDED_BY(mAccessLock);
SurroundViewResultPointer mOutputPointer GUARDED_BY(mAccessLock);
diff --git a/surround_view/service-impl/SurroundView3dSession.cpp b/surround_view/service-impl/SurroundView3dSession.cpp
index 99800d9..6ee4a32 100644
--- a/surround_view/service-impl/SurroundView3dSession.cpp
+++ b/surround_view/service-impl/SurroundView3dSession.cpp
@@ -32,6 +32,20 @@
#include "CameraUtils.h"
#include "sv_3d_params.h"
+using ::std::adopt_lock;
+using ::std::array;
+using ::std::lock;
+using ::std::lock_guard;
+using ::std::map;
+using ::std::mutex;
+using ::std::scoped_lock;
+using ::std::set;
+using ::std::string;
+using ::std::thread;
+using ::std::unique_lock;
+using ::std::unique_ptr;
+using ::std::vector;
+
using ::android::hardware::automotive::evs::V1_0::EvsResult;
using ::android::hardware::camera::device::V3_2::Stream;
using ::android::hardware::hidl_memory;
@@ -59,6 +73,7 @@
static const uint8_t kGrayColor = 128;
static const int kNumFrames = 4;
static const int kNumChannels = 4;
+static const float kUndistortionScales[4] = {1.0f, 1.0f, 1.0f, 1.0f};
SurroundView3dSession::FramesHandler::FramesHandler(
sp<IEvsCamera> pCamera, sp<SurroundView3dSession> pSession)
@@ -727,7 +742,8 @@
mCameraParams,
mIOModuleConfig->sv2dConfig.sv2dParams,
mIOModuleConfig->sv3dConfig.sv3dParams,
- GetUndistortionScales(),
+ vector<float>(std::begin(kUndistortionScales),
+ std::end(kUndistortionScales)),
mIOModuleConfig->sv2dConfig.carBoundingBox,
mIOModuleConfig->carModelConfig.carModel.texturesMap,
mIOModuleConfig->carModelConfig.carModel.partsMap);
diff --git a/surround_view/service-impl/SurroundView3dSession.h b/surround_view/service-impl/SurroundView3dSession.h
index 09f4c90..2c3626a 100644
--- a/surround_view/service-impl/SurroundView3dSession.h
+++ b/surround_view/service-impl/SurroundView3dSession.h
@@ -27,7 +27,6 @@
#include <hidl/Status.h>
#include "AnimationModule.h"
-#include "CoreLibSetupHelper.h"
#include "VhalHandler.h"
#include <thread>
@@ -133,13 +132,13 @@
// Instance and metadata for the opened Evs Camera
sp<IEvsCamera> mCamera;
CameraDesc mCameraDesc;
- vector<SurroundViewCameraParams> mCameraParams;
+ std::vector<SurroundViewCameraParams> mCameraParams;
// Stream subscribed for the session.
sp<ISurroundViewStream> mStream GUARDED_BY(mAccessLock);
StreamStateValues mStreamState GUARDED_BY(mAccessLock);
- thread mProcessThread; // The thread we'll use to process frames
+ std::thread mProcessThread; // The thread we'll use to process frames
// Reference to the inner class, to handle the incoming Evs frames
sp<FramesHandler> mFramesHandler;
@@ -158,17 +157,17 @@
FramesRecord mFramesRecord GUARDED_BY(mAccessLock);
// Synchronization necessary to deconflict mCaptureThread from the main service thread
- mutex mAccessLock;
+ std::mutex mAccessLock;
- vector<View3d> mViews GUARDED_BY(mAccessLock);
+ std::vector<View3d> mViews GUARDED_BY(mAccessLock);
Sv3dConfig mConfig GUARDED_BY(mAccessLock);
- vector<string> mEvsCameraIds GUARDED_BY(mAccessLock);
+ std::vector<std::string> mEvsCameraIds GUARDED_BY(mAccessLock);
- unique_ptr<SurroundView> mSurroundView GUARDED_BY(mAccessLock);
+ std::unique_ptr<SurroundView> mSurroundView GUARDED_BY(mAccessLock);
- vector<SurroundViewInputBufferPointers>
+ std::vector<SurroundViewInputBufferPointers>
mInputPointers GUARDED_BY(mAccessLock);
SurroundViewResultPointer mOutputPointer GUARDED_BY(mAccessLock);
int mOutputWidth, mOutputHeight GUARDED_BY(mAccessLock);
diff --git a/surround_view/service-impl/SurroundViewService.cpp b/surround_view/service-impl/SurroundViewService.cpp
index 910b0ae..824469e 100644
--- a/surround_view/service-impl/SurroundViewService.cpp
+++ b/surround_view/service-impl/SurroundViewService.cpp
@@ -16,7 +16,6 @@
#include <android-base/logging.h>
-#include "CoreLibSetupHelper.h"
#include "SurroundViewService.h"
using namespace android_auto::surround_view;
