Configuring the ADAS Library
The ADAS library configuration file must reside where it can be accessed by the ADAS library on your target.
Configuration file
Unless your target system allows for it, we recommend that you modify the ADAS library configuration file on your host, then build it into your image. When you call adas_initialize() from an application, the ADAS library processes the configuration file.
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.
Configuration properties
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:
- Camera layout:
- Display:
- Input:
- Overlay layout:
- 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:
Configuration example
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
}
}
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