The configuration file must reside where it can be accessible to the ADAS library on your target.
Unless your target system allows for it, modify the configuration file on your host, and then build it into your image. When you call adas_initialize() from your ADAS application, the ADAS library processes the configuration file.
The ADAS library configuration file is a text-based file whose content is in JSON format. For more inforamtion, see www.json.org/. Keywords in the file are case-sensitive. The content of this file must adhere to JSON format to define the following:
See “Algorithm.”
See “Camera Layout.”
See “Display.”
See “Input.”
See “Viewer.”
Within each of the entries of your configuration file, you specify the corresponding attributes. For reference purposes, the complete list of attributes by configuration entry is as follows:
A typical ADAS library 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
}
}