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      1 /*
      2  * data_types.h - data types in interface
      3  *
      4  *  Copyright (c) 2017 Intel Corporation
      5  *
      6  * Licensed under the Apache License, Version 2.0 (the "License");
      7  * you may not use this file except in compliance with the License.
      8  * You may obtain a copy of the License at
      9  *
     10  *      http://www.apache.org/licenses/LICENSE-2.0
     11  *
     12  * Unless required by applicable law or agreed to in writing, software
     13  * distributed under the License is distributed on an "AS IS" BASIS,
     14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     15  * See the License for the specific language governing permissions and
     16  * limitations under the License.
     17  *
     18  * Author: Wind Yuan <feng.yuan (at) intel.com>
     19  * Author: Yinhang Liu <yinhangx.liu (at) intel.com>
     20  */
     21 
     22 #ifndef XCAM_INTERFACE_DATA_TYPES_H
     23 #define XCAM_INTERFACE_DATA_TYPES_H
     24 
     25 #include <xcam_std.h>
     26 
     27 namespace XCam {
     28 
     29 enum SurroundMode {
     30     SphereView = 0,
     31     BowlView = 1
     32 };
     33 
     34 struct Rect {
     35     int32_t pos_x, pos_y;
     36     int32_t width, height;
     37 
     38     Rect () : pos_x (0), pos_y (0), width (0), height (0) {}
     39     Rect (int32_t x, int32_t y, int32_t w, int32_t h) : pos_x (x), pos_y (y), width (w), height (h) {}
     40 };
     41 
     42 struct ImageCropInfo {
     43     uint32_t left;
     44     uint32_t right;
     45     uint32_t top;
     46     uint32_t bottom;
     47 
     48     ImageCropInfo () : left (0), right (0), top (0), bottom (0) {}
     49 };
     50 
     51 struct FisheyeInfo {
     52     float    center_x;
     53     float    center_y;
     54     float    wide_angle;
     55     float    radius;
     56     float    rotate_angle; // clockwise
     57 
     58     FisheyeInfo ()
     59         : center_x (0.0f), center_y (0.0f), wide_angle (0.0f)
     60         , radius (0.0f), rotate_angle (0.0f)
     61     {}
     62     bool is_valid () const {
     63         return wide_angle >= 1.0f && radius >= 1.0f;
     64     }
     65 };
     66 
     67 #define XCAM_INTRINSIC_MAX_POLY_SIZE 16
     68 
     69 // current intrinsic parameters definition from Scaramuzza's approach
     70 struct IntrinsicParameter {
     71     float xc;
     72     float yc;
     73     float c;
     74     float d;
     75     float e;
     76     uint32_t poly_length;
     77 
     78     float poly_coeff[XCAM_INTRINSIC_MAX_POLY_SIZE];
     79 
     80     IntrinsicParameter ()
     81         : xc (0.0f), yc (0.0f), c(0.0f), d (0.0f), e (0.0f), poly_length (0)
     82     {
     83         xcam_mem_clear (poly_coeff);
     84     }
     85 };
     86 
     87 struct ExtrinsicParameter {
     88     float trans_x;
     89     float trans_y;
     90     float trans_z;
     91 
     92     // angle degree
     93     float roll;
     94     float pitch;
     95     float yaw;
     96 
     97     ExtrinsicParameter ()
     98         : trans_x (0.0f), trans_y (0.0f), trans_z (0.0f)
     99         , roll (0.0f), pitch (0.0f), yaw (0.0f)
    100     {}
    101 };
    102 
    103 template <typename T>
    104 struct Point2DT {
    105     T x, y;
    106     Point2DT () : x (0), y(0) {}
    107     Point2DT (const T px, const T py) : x (px), y(py) {}
    108 };
    109 
    110 template <typename T>
    111 struct Point3DT {
    112     T x, y, z;
    113     Point3DT () : x (0), y(0), z(0) {}
    114     Point3DT (const T px, const T py, const T pz) : x (px), y(py), z(pz) {}
    115 };
    116 
    117 typedef Point2DT<int32_t> PointInt2;
    118 typedef Point2DT<float> PointFloat2;
    119 
    120 typedef Point3DT<int32_t> PointInt3;
    121 typedef Point3DT<float> PointFloat3;
    122 
    123 /*
    124  * Ellipsoid model
    125  *  x^2 / a^2 + y^2 / b^2 + (z-center_z)^2 / c^2 = 1
    126  * ground : z = 0
    127  * x_axis : front direction
    128  * y_axis : left direction
    129  * z_axis : up direction
    130  * wall_height : bowl height inside of view
    131  * ground_length: left direction distance from ellipsoid bottom edge to nearest side of the car in the view
    132  */
    133 struct BowlDataConfig {
    134     float a, b, c;
    135     float angle_start, angle_end; // angle degree
    136 
    137     // unit mm
    138     float center_z;
    139     float wall_height;
    140     float ground_length;
    141 
    142     BowlDataConfig ()
    143         : a (6060.0f), b (4388.0f), c (3003.4f)
    144         , angle_start (90.0f), angle_end (270.0f)
    145         , center_z (1500.0f)
    146         , wall_height (3000.0f)
    147         , ground_length (2801.0f)
    148     {
    149         XCAM_ASSERT (fabs(center_z) <= c);
    150         XCAM_ASSERT (a > 0.0f && b > 0.0f && c > 0.0f);
    151         XCAM_ASSERT (wall_height >= 0.0f && ground_length >= 0.0f);
    152         XCAM_ASSERT (ground_length <= b * sqrt(1.0f - center_z * center_z / (c * c)));
    153         XCAM_ASSERT (wall_height <= center_z + c);
    154     }
    155 };
    156 
    157 }
    158 
    159 #endif //XCAM_INTERFACE_DATA_TYPES_H
    160