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49 lines
2.9 KiB
49 lines
2.9 KiB
4 months ago
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// With comments included, this file is no longer legal JSON, but serves to illustrate
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// the format of the configuration file the evs_app expects to read at startup to configure itself
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// for a specific car.
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// In addition to the configuration file, an image to be used to represent the car is expected
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// to be provided in CarFromTop.png.
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// Throughout this file, units of length are arbitrary, but must all be the same units.
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// X is right, Y is forward, Z is up (right handed coordinate system).
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// The origin is at the center of the read axel at ground level.
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// Units for angles are in degrees.
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// Yaw is measured from the front of the car, positive to the left (postive Z rotation).
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// Pitch is measured from the horizon, positive upward (postive X rotation).
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// Roll is always assumed to be zero.
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{
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"car" : { // This section describes the geometry of the car
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"width" : 76.7, // The width of the car body
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"wheelBase" : 117.9, // The distance between the front and read axel
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"frontExtent" : 44.7, // The extent of the car body ahead of the front axel
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"rearExtent" : 40 // The extent of the car body behind the read axel
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},
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"displays" : [ // This configures the dimensions of the surround view display
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{ // The first display will be used as the default display
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"displayPort" : 1 // Display port number, the target display is connected to.
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"frontRange" : 100, // How far to render the view in front of the front bumper
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"rearRange" : 100 // How far the view extends behind the rear bumper
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}
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],
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"graphic" : { // This maps the car texture into the projected view space
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"frontPixel" : 23, // The pixel row in CarFromTop.png at which the front bumper appears
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"rearPixel" : 223 // The pixel row in CarFromTop.png at which the back bumper ends
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},
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"cameras" : [ // This describes the cameras potentially available on the car
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{
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"cameraId" : "/dev/video32", // Camera ID exposed by EVS HAL
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"function" : "reverse,park", // set of modes to which this camera contributes
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"x" : 0.0, // Optical center distance right of vehicle center
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"y" : -40.0, // Optical center distance forward of rear axel
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"z" : 48, // Optical center distance above ground
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"yaw" : 180, // Optical axis degrees to the left of straight ahead
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"pitch" : -30, // Optical axis degrees above the horizon
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"roll" : 0, // Rotation degrees around the optical axis
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"hfov" : 125, // Horizontal field of view in degrees
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"vfov" :103, // Vertical field of view in degrees
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"hflip" : true, // Flip the view horizontally
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"vflip" : true, // Flip the view vertically
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}
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]
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}
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