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114 lines
5.5 KiB
114 lines
5.5 KiB
/*
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* Copyright 2020 The Android Open Source Project
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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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package android.hardware.automotive.sv@1.0;
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import ISurroundViewSession;
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/**
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* Interface representing a surround view 3d session.
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*
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* Surround view 3d provides a virtual view from any desired position in the 3d space around the
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* car. Surround view 3d creates an approximate 3d surface around the car to match the surrounds
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* and provides a virtual view as seen on this surface.
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*/
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interface ISurroundView3dSession extends ISurroundViewSession {
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/**
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* Sets the desired views of surround view 3d.
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*
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* Surround view 3d takes a list of desired virtual view points and provides an output frame
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* for each view. Default view list is a single view from behind the car front facing in the
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* front direction.
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* A call to setViews() results in the views set by a previous call to be discarded.
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* Each view set is identified by an Id which is returned with the corresponding output frame
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* of that view.
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* Clients can call setViews() at any stage of the session (before/after startStream). Client
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* may continue to receive frames of previous views after setViews() call for a while and can
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* identify updated set of views once effective using the view Id provided in the updated
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* views frames.
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*
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* @param views List of desired views to generate output frames.
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* @return svResult Returns OK if successful, appropriate error result otherwise.
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*/
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setViews(vec<View3d> views) generates (SvResult svResult);
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/**
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* Sets the configuration of 3d surround view.
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*
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* Configuration is used for supported different target use-cases of the surround view eg.
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* fullscreen view or preview. A set config call can be performed at anytime (before or after
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* startStream) of the session.
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* Once config change is complete, a CONFIG_CHANGED event is sent, after which
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* all frames received will be of the updated config.
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*
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* @param sv3dConfig Configuration to set.
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* @return svResult Returns OK if successful, appropriate error result otherwise.
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*/
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set3dConfig(Sv3dConfig sv3dConfig) generates (SvResult svResult);
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/**
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* Gets the current configuration of the 3d surround view.
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*
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* Configuration is used for supported different target use-cases of the surround view eg.
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* fullscreen view or preview. Use setConfig call to set a configuration.
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*
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* @return sv3dConfig The current active configuration of the 3d session.
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*/
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get3dConfig() generates (Sv3dConfig sv3dConfig);
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/**
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* Updates 3d overlays in scene.
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*
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* updateOverlays() provides a way to set a 3d overlay object in the scene. An overlay is an
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* 3d object in the scene which can be a visual indicator to provide additional information eg.
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* parking sensor distance indicators or overlays for objects in scene.
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*
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* An overlay object is defined by a set of points (forming triangles) with some color and
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* transparency values and each overlay is identified by an overlay Id.
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* When an overlay with a new Id is passed, a new overlay is added to the scene.
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* When an overlay with previous id is passed, its vertices/color are updated with passed data.
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* If the overlay data is empty, the overlay is removed from the scene.
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*
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* @param overlaysData Object with shared memory containing overlays to add/update in the
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* scene. Refer to OverlaysData structure for layout in shared memory.
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* @return svResult Returns OK if successful, appropriate error result otherwise.
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*/
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updateOverlays(OverlaysData overlaysData) generates (SvResult svResult);
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/**
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* Projects points on camera image to surround view 3D surface.
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*
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* Useful for mapping points detected on individual camera frames onto the surround view 3D
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* surface, these 3d points can then be used to set overlays using the updateOverlays() for
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* the detected objects in the scene.
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* Note:
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* 3d points returned are projected on an approximate 3d surface and do not provide the exact
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* 3d location.
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*
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* @param cameraPoints List of camera pixel points to be projected in range including (0, 0)
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* and (width - 1, height -1) of camera frame. If point is outside camera
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frame INVALID_ARG error is returned.
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* @param cameraId Id of the EvsCamera to use for projecting points. Id must be one of the
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* cameras as returned by getCameraIds() else INVALID_ARG error is returned
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* @return points3d Returns a list of 3d points on the approximate 3d surface in the
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* automotive coordinate system in the same order as cameraPoints.
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* Points that do not project to 3d surface are set with inValid true.
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*/
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projectCameraPointsTo3dSurface(vec<Point2dInt> cameraPoints, string cameraId) generates (
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vec<Point3dFloat> points3d);
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};
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