/*
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* data_types.h - data types in interface
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*
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* Copyright (c) 2017 Intel Corporation
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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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* Author: Wind Yuan <feng.yuan@intel.com>
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* Author: Yinhang Liu <yinhangx.liu@intel.com>
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*/
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#ifndef XCAM_INTERFACE_DATA_TYPES_H
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#define XCAM_INTERFACE_DATA_TYPES_H
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#include <xcam_std.h>
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namespace XCam {
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enum SurroundMode {
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SphereView = 0,
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BowlView = 1
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};
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struct Rect {
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int32_t pos_x, pos_y;
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int32_t width, height;
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Rect () : pos_x (0), pos_y (0), width (0), height (0) {}
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Rect (int32_t x, int32_t y, int32_t w, int32_t h) : pos_x (x), pos_y (y), width (w), height (h) {}
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};
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struct ImageCropInfo {
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uint32_t left;
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uint32_t right;
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uint32_t top;
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uint32_t bottom;
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ImageCropInfo () : left (0), right (0), top (0), bottom (0) {}
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};
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struct FisheyeInfo {
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float center_x;
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float center_y;
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float wide_angle;
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float radius;
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float rotate_angle; // clockwise
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FisheyeInfo ()
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: center_x (0.0f), center_y (0.0f), wide_angle (0.0f)
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, radius (0.0f), rotate_angle (0.0f)
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{}
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bool is_valid () const {
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return wide_angle >= 1.0f && radius >= 1.0f;
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}
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};
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#define XCAM_INTRINSIC_MAX_POLY_SIZE 16
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// current intrinsic parameters definition from Scaramuzza's approach
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struct IntrinsicParameter {
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float xc;
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float yc;
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float c;
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float d;
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float e;
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uint32_t poly_length;
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float poly_coeff[XCAM_INTRINSIC_MAX_POLY_SIZE];
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IntrinsicParameter ()
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: xc (0.0f), yc (0.0f), c(0.0f), d (0.0f), e (0.0f), poly_length (0)
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{
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xcam_mem_clear (poly_coeff);
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}
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};
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struct ExtrinsicParameter {
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float trans_x;
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float trans_y;
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float trans_z;
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// angle degree
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float roll;
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float pitch;
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float yaw;
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ExtrinsicParameter ()
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: trans_x (0.0f), trans_y (0.0f), trans_z (0.0f)
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, roll (0.0f), pitch (0.0f), yaw (0.0f)
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{}
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};
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template <typename T>
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struct Point2DT {
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T x, y;
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Point2DT () : x (0), y(0) {}
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Point2DT (const T px, const T py) : x (px), y(py) {}
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};
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template <typename T>
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struct Point3DT {
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T x, y, z;
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Point3DT () : x (0), y(0), z(0) {}
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Point3DT (const T px, const T py, const T pz) : x (px), y(py), z(pz) {}
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};
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typedef Point2DT<int32_t> PointInt2;
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typedef Point2DT<float> PointFloat2;
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typedef Point3DT<int32_t> PointInt3;
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typedef Point3DT<float> PointFloat3;
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/*
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* Ellipsoid model
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* x^2 / a^2 + y^2 / b^2 + (z-center_z)^2 / c^2 = 1
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* ground : z = 0
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* x_axis : front direction
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* y_axis : left direction
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* z_axis : up direction
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* wall_height : bowl height inside of view
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* ground_length: left direction distance from ellipsoid bottom edge to nearest side of the car in the view
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*/
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struct BowlDataConfig {
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float a, b, c;
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float angle_start, angle_end; // angle degree
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// unit mm
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float center_z;
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float wall_height;
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float ground_length;
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BowlDataConfig ()
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: a (6060.0f), b (4388.0f), c (3003.4f)
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, angle_start (90.0f), angle_end (270.0f)
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, center_z (1500.0f)
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, wall_height (3000.0f)
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, ground_length (2801.0f)
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{
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XCAM_ASSERT (fabs(center_z) <= c);
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XCAM_ASSERT (a > 0.0f && b > 0.0f && c > 0.0f);
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XCAM_ASSERT (wall_height >= 0.0f && ground_length >= 0.0f);
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XCAM_ASSERT (ground_length <= b * sqrt(1.0f - center_z * center_z / (c * c)));
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XCAM_ASSERT (wall_height <= center_z + c);
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}
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};
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}
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#endif //XCAM_INTERFACE_DATA_TYPES_H
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