1 /*
2  * Copyright (C) 2017 The Android Open Source Project
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  *      http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CAR_EVS_APP_RENDERTOPVIEW_H
18 #define CAR_EVS_APP_RENDERTOPVIEW_H
19 
20 #include "ConfigManager.h"
21 #include "RenderBase.h"
22 #include "VideoTex.h"
23 
24 #include <aidl/android/hardware/automotive/evs/BufferDesc.h>
25 #include <aidl/android/hardware/automotive/evs/IEvsEnumerator.h>
26 #include <math/mat4.h>
27 
28 /*
29  * Combines the views from all available cameras into one reprojected top down view.
30  */
31 class RenderTopView final : public RenderBase {
32 public:
33     RenderTopView(
34             std::shared_ptr<aidl::android::hardware::automotive::evs::IEvsEnumerator> enumerator,
35             const std::vector<ConfigManager::CameraInfo>& camList, const ConfigManager& config);
36 
37     virtual bool activate() override;
38     virtual void deactivate() override;
39 
40     virtual bool drawFrame(const aidl::android::hardware::automotive::evs::BufferDesc& tgtBuffer);
41 
42 protected:
43     struct ActiveCamera {
44         const ConfigManager::CameraInfo& info;
45         std::unique_ptr<VideoTex> tex;
46 
ActiveCameraActiveCamera47         ActiveCamera(const ConfigManager::CameraInfo& c) : info(c) {};
48     };
49 
50     void renderCarTopView();
51     void renderCameraOntoGroundPlane(const ActiveCamera& cam);
52 
53     std::shared_ptr<aidl::android::hardware::automotive::evs::IEvsEnumerator> mEnumerator;
54     const ConfigManager& mConfig;
55     std::vector<ActiveCamera> mActiveCameras;
56 
57     struct {
58         std::unique_ptr<TexWrapper> checkerBoard;
59         std::unique_ptr<TexWrapper> carTopView;
60     } mTexAssets;
61 
62     struct {
63         GLuint simpleTexture;
64         GLuint projectedTexture;
65     } mPgmAssets;
66 
67     android::mat4 orthoMatrix;
68 };
69 
70 #endif  // CAR_EVS_APP_RENDERTOPVIEW_H
71