Configuring the ADAS Library

The configuration file is a JSON-formatted text file. For more information about JSON, see www.json.org/. Keywords in this configuration file are case-sensitive. The content of this file must adhere to JSON format and define the following:

Algorithms

The algorithms that you want to run in your application. See “Algorithms.”

Camera layouts

The supported camera layouts that can be used by a camera viewer. See “Camera Layout.”

Display

The display to use. See “Display.”

Inputs

The sensors that are available to your applications. These sensors must correspond to the sensors in the sensor and data configuration files that the Sensor service starts with. See “Inputs.”

Overlay layouts

The supported overlay layouts that can be used by an overlay viewer. See “Overlay Layout.”

Viewers

The viewers that the application uses. See “Viewer.”

Viewer sequences

A list of modifications for the viewers to apply sequentially with an optional delay between each list entry. For example, you can switch the view, visibility, and zoom of viewers to demonstrate different options without the need for user intervention. The viewer sequence is applied continuously, such that when the last element of the list is reached, the sequence restarts from the first element. See “Viewer Sequence.”

Within each entry of your configuration file, you can specify the corresponding properties. The complete array of properties by configuration entry is as follows:

Algorithm:

• id
• input
• output

Camera layout:

• destination or destination_type
• input
• rotations
• theta
• source or source_type

Display:

• instance

Input:

• id
• instance
• name
• orientation
• record
• source
• type

Overlay layout:

• height
• width
• x
• y
• type
• path (image)
• rotation (image)
• string (label)
• font_size (label)
• bold (label)
• text_color (label)
• corner_radius (rectangle)
• line_width (rectangle)
• line_color (rectangle)
• fill_color (rectangle)
• path (widget)
• length (widget)

Viewer:

• background_color
• type
• view
• visible
• zoom_factor
• z_order
• layouts (camera viewer)
• enable_hud (overlay viewer)
• input (overlay viewer)
• layouts (overlay viewer)
• parent (overlay viewer)
• position (point cloud viewer)
• dimensions (point cloud viewer)
• input (point cloud viewer)
• persistence (point cloud viewer)
• range (point cloud viewer)

Viewer Sequence:

• instance
• sleep_ms
• view
• visible
• zoom_factor

A typical ADAS library configuration file may look something like this:

{
    "input": [
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_1",
            "id": "forward_camera"
        },
        {
            "source": "sensor",
            "name": "vlp-16",
            "id": "front_lidar"
        },
        {
            "source": "sensor",
            "type": "radar",
            "id": "front_radar"
        },
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_4",
            "id": "side_lidar"
        },
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_5",
            "id": "primary_gps"
        },
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_6",
            "id": "primary_imu"
        },
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_7",
            "id": "secondary_gps"
        },
        {
            "source": "sensor",
            "instance": "SENSOR_UNIT_8",
            "id": "secondary_imu"
        }
    ],
    "camera_layout_1": [
        {
            "input": "forward_camera",
            "theta": 100,
            "rotation": {
                "yaw": 0,
                "pitch": 0,
                "roll": 0
            },
            "source_type": "texture",
            "destination_type": "full_screen"
        }
    ],
    "overlay_layout_1": [
        {
            "type": "widget",
            "path": "/usr/share/images/car.png",
            "width": 18000,
            "length": 45000,
            "height": 15000
       }
    ],
    "overlay_layout_2": [
        {
            "type": "widget",
            "path": "/usr/share/images/car.png",
            "width": 18000,
            "length": 45000,
            "height": 15000
       }
    ],
    "overlay_layout_3": [
        {
            "type": "rectangle",
            "corner_radius": 10,
            "line_width": 5,
            "line_color": {
                "red": 0.8,
                "green": 0.8,
                "blue": 0.8,
                "alpha": 1.0
            },
            "fill_color": {
                "red": 0.3,
                "green": 0.3,
                "blue": 0.3,
                "alpha": 1.0
            },
            "x": 0.37,
            "y": 0.02,
            "width": 0.26,
            "height": 0.08
        },
        {
            "type": "label",
            "string": "Front",
            "font_size": 40,
            "bold": true,
            "text_color": {
                "red": 1.0,
                "green": 1.0,
                "blue": 1.0,
                "alpha": 1.0
            },
            "x": 0.46,
            "y": 0.08,
            "width": 0.25,
            "height": 0.2
        }
    ],
    "overlay_layout_4": [
        {
            "type": "rectangle",
            "corner_radius": 10,
            "line_width": 5,
            "line_color": {
                "red": 0.8,
                "green": 0.8,
                "blue": 0.8,
                "alpha": 1.0
            },
            "fill_color": {
                "red": 0.3,
                "green": 0.3,
                "blue": 0.3,
                "alpha": 1.0
            },
            "x": 0.37,
            "y": 0.02,
            "width": 0.26,
            "height": 0.08
        },
        {
            "type": "label",
            "string": "Driver",
            "font_size": 40,
            "bold": true,
            "text_color": {
                "red": 1.0,
                "green": 1.0,
                "blue": 1.0,
                "alpha": 1.0
            },
            "x": 0.46,
            "y": 0.08,
            "width": 0.25,
            "height": 0.2
        }
    ],
    "viewer": [
        {
            "type": "ADAS_VIEWER_CAMERA",
            "view": "ADAS_VIEW_FORWARD",
            "zoom_factor": 1,
            "background_color": {
               "red": 0.2,
                "green": 0.2,
                "blue": 0.2,
                "alpha": 1.0
            },
            "z_order": 0,
            "visible": true,
            "layouts" : [
                {
                    "view": "ADAS_VIEW_FORWARD",
                    "layout": "camera_layout_1"
                },
                {
                    "view": "ADAS_VIEW_DRIVER",
                    "layout": "camera_layout_1"
                },
                {
                    "view": "ADAS_VIEW_RADAR",
                    "layout": "camera_layout_1"
                },
                {
                    "view": "ADAS_VIEW_NAVIGATION",
                    "layout": "camera_layout_1"
                }
            ]
        },
        {
            "type": "ADAS_VIEWER_POINT_CLOUD",
            "input": [
                {
                    "id": "front_lidar"
                }
            ],
            "view": "ADAS_VIEW_ISOMETRIC",
            "zoom_factor": 2,
            "z_order": 0,
            "visible": false,
            "range": {
                "x": 10000,
                "y": 5625,
                "z": 5000
            },
            "persistence": 1000,
            "avatar_position": {
                "x": -1245,
                "y": -932,
                "z": 0
            },
            "avatar_dimensions": {
                "width": 1864,
                "height": 1475,
                "depth": 4925
            }
        },
        {
            "type": "ADAS_VIEWER_OVERLAY",
            "input": [
                {
                    "id": "primary_gps"
                },
                {
                    "id": "primary_imu"
                }
            ],
            "view": "ADAS_VIEW_ISOMETRIC",
            "zoom_factor": 2,
            "z_order": 1,
            "visible": false,
            "enable_hud": false,
            "parent": 2,
            "layouts" : [
                {
                    "view": "ADAS_VIEW_RADAR",
                    "layout": "overlay_layout_1"
                },
                {
                    "view": "ADAS_VIEW_NAVIGATION",
                    "layout": "overlay_layout_2"
                }
            ]
        },
        {
            "type": "ADAS_VIEWER_OVERLAY",
            "input": [
                {
                    "id": "secondary_gps"
                },
                {
                    "id": "secondary_imu"
                }
            ],
            "view": "ADAS_VIEW_FORWARD",
            "zoom_factor": 1,
            "z_order": 1,
            "visible": true,
            "enable_hud": true,
            "parent": 1,
            "layouts" : [
                {
                    "view": "ADAS_VIEW_FORWARD",
                    "layout": "overlay_layout_3"
                },
                {
                    "view": "ADAS_VIEW_DRIVER",
                    "layout": "overlay_layout_4"
                },
                {
                    "view": "ADAS_VIEW_RADAR",
                    "layout": "overlay_layout_1"
                },
                {
                    "view": "ADAS_VIEW_NAVIGATION",
                    "layout": "overlay_layout_2"
                }
            ]
        }
    ],
    "algorithm": [
        {
            "id": "ADAS_ALGO_MOTION_DETECTION",
            "input": [
                {
                    "id": "forward_camera"
                }
            ],
            "output": [
                {
                    "type": "viewer",
                    "instance": 4
                }
            ]
        },
        {
            "id": "ADAS_ALGO_LIDAR_GROUPING",
            "input": [
                {
                    "id": "side_lidar"
                }
            ],
            "output": [
                {
                    "type": "viewer",
                    "instance": 3
                }
            ]
        },
        {
            "id": "ADAS_ALGO_RADAR_GROUPING",
            "input": [
                {
                    "id": "front_radar"
                }
            ],
            "output": [
                {
                    "type": "viewer",
                    "instance": 2
                }
            ]
        }
    ],
    "viewer_sequence_1": [
        {
            "instance": 1,
            "visible": false
        },
        {
            "instance": 4,
            "visible": false
        },
        {
            "instance": 2,
            "view": "ADAS_VIEW_ISOMETRIC",
            "zoom_factor": 2
        },
        {
            "instance": 2,
            "visible": true
        },
        {
            "instance": 3,
            "visible": true,
            "sleep_ms": 10000
        },
        {
            "instance": 2,
            "view": "ADAS_VIEW_ISOMETRIC",
            "zoom_factor": 4,
            "sleep_ms": 6000
        },
        {
            "instance": 2,
            "view": "ADAS_VIEW_BIRDSEYE",
            "zoom_factor": 2,
            "sleep_ms": 6000
        },
        {
            "instance": 2,
            "view": "ADAS_VIEW_BIRDSEYE",
            "zoom_factor": 1,
            "sleep_ms": 6000
        },
        {
            "instance": 2,
            "visible": false
        },
        {
            "instance": 3,
            "visible": false
        },
        {
            "instance": 1,
            "view": "ADAS_VIEW_FORWARD",
            "zoom_factor": 1
        },
        {
            "instance": 1,
            "visible": true
        },
        {
            "instance": 4,
            "visible": true,
            "sleep_ms": 15000
        },
        {
            "instance": 1,
            "view": "ADAS_VIEW_RADAR",
            "zoom_factor": 1,
            "sleep_ms": 6000
        },
        {
            "instance": 1,
            "view": "ADAS_VIEW_NAVIGATION",
            "zoom_factor": 2,
            "sleep_ms": 6000
        }
    ],
    "display" : {
        "instance": 0
    }
}