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