1 // With comments included, this file is no longer legal JSON, but serves to illustrate 2 // the format of the configuration file the evs_app expects to read at startup to configure itself 3 // for a specific car. 4 // In addition to the configuration file, an image to be used to represent the car is expected 5 // to be provided in CarFromTop.png. 6 // Throughout this file, units of length are arbitrary, but must all be the same units. 7 // X is right, Y is forward, Z is up (right handed coordinate system). 8 // The origin is at the center of the read axel at ground level. 9 // Units for angles are in degrees. 10 // Yaw is measured from the front of the car, positive to the left (postive Z rotation). 11 // Pitch is measured from the horizon, positive upward (postive X rotation). 12 // Roll is always assumed to be zero. 13 14 { 15 "car" : { // This section describes the geometry of the car 16 "width" : 76.7, // The width of the car body 17 "wheelBase" : 117.9, // The distance between the front and read axel 18 "frontExtent" : 44.7, // The extent of the car body ahead of the front axel 19 "rearExtent" : 40 // The extent of the car body behind the read axel 20 }, 21 "display" : { // This configures the dimensions of the surround view display 22 "frontRange" : 100, // How far to render the view in front of the front bumper 23 "rearRange" : 100 // How far the view extends behind the rear bumper 24 }, 25 "graphic" : { // This maps the car texture into the projected view space 26 "frontPixel" : 23, // The pixel row in CarFromTop.png at which the front bumper appears 27 "rearPixel" : 223 // The pixel row in CarFromTop.png at which the back bumper ends 28 }, 29 "cameras" : [ // This describes the cameras potentially available on the car 30 { 31 "cameraId" : "/dev/video32", // Camera ID exposed by EVS HAL 32 "function" : "reverse,park", // set of modes to which this camera contributes 33 "x" : 0.0, // Optical center distance right of vehicle center 34 "y" : -40.0, // Optical center distance forward of rear axel 35 "z" : 48, // Optical center distance above ground 36 "yaw" : 180, // Optical axis degrees to the left of straight ahead 37 "pitch" : -30, // Optical axis degrees above the horizon 38 "hfov" : 125, // Horizontal field of view in degrees 39 "vfov" :103 // Vertical field of view in degrees 40 } 41 ] 42 } 43
