1<?xml version='1.0' encoding='utf-8'?>
2<!-- Copyright (C) 2019 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     Unless required by applicable law or agreed to in writing, software
10     distributed under the License is distributed on an "AS IS" BASIS,
11     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12     See the License for the specific language governing permissions and
13     limitations under the License.
14-->
15
16<!-- Exterior View System Example Configuration
17
18     Android Automotive axes are used to define coordinates.
19     See https://source.android.com/devices/sensors/sensor-types#auto_axes
20
21     Use evs_configuration.dtd with xmllint tool, to validate XML configuration file
22-->
23
24<configuration>
25    <!-- system configuration -->
26    <system>
27        <!-- number of cameras available to EVS -->
28        <num_cameras value='2'/>
29    </system>
30
31    <!-- camera device information -->
32    <camera>
33        <!-- camera group 0 -->
34        <group id='group0' synchronized='CALIBRATED'>
35            <caps>
36                <!-- list of supported controls supported by all physical devices -->
37                <supported_controls>
38                    <control name='BRIGHTNESS' min='0' max='255'/>
39                    <control name='CONTRAST' min='0' max='255'/>
40                </supported_controls>
41
42                <!-- list of stream configuration supported by all physical devices -->
43                <stream id='0' width='640' height='480' format='RGBA_8888' framerate='30'/>
44            </caps>
45
46            <!-- list of parameters -->
47            <characteristics>
48                <parameter
49                    name='REQUEST_AVAILABLE_CAPABILITIES'
50                    type='enum'
51                    size='1'
52                    value='LOGICAL_MULTI_CAMERA'
53                />
54                <parameter
55                    name='LOGICAL_MULTI_CAMERA_PHYSICAL_IDS'
56                    type='byte[]'
57                    size='2'
58                    value='/dev/video10,/dev/video11'
59                />
60            </characteristics>
61        </group>
62
63        <!-- camera device starts -->
64        <device id='/dev/video3' position='rear'>
65            <caps>
66                <!-- list of supported controls -->
67                <supported_controls>
68                    <control name='BRIGHTNESS' min='0' max='255'/>
69                    <control name='CONTRAST' min='0' max='255'/>
70                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
71                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
72                    <control name='SHARPNESS' min='0' max='255'/>
73                    <control name='AUTO_FOCUS' min='0' max='1'/>
74                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
75                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
76                </supported_controls>
77
78                <!-- list of supported stream configurations -->
79                <!-- below configurations were taken from v4l2-ctrl query on Logitech Webcam C930e device -->
80                <stream id='0' width='1920' height='1080' format='RGBA_8888' framerate='5'/>
81                <stream id='1' width='2304' height='1296' format='RGBA_8888' framerate='2'/>
82                <stream id='2' width='2304' height='1536' format='RGBA_8888' framerate='2'/>
83                <stream id='4' width='1280' height='720'  format='RGBA_8888' framerate='10'/>
84                <stream id='4' width='1024' height='576'  format='RGBA_8888' framerate='15'/>
85                <stream id='5' width='960'  height='540'  format='RGBA_8888' framerate='15'/>
86                <stream id='6' width='848'  height='480'  format='RGBA_8888' framerate='30'/>
87                <stream id='7' width='640'  height='360'  format='RGBA_8888' framerate='30'/>
88                <stream id='8' width='480'  height='270'  format='RGBA_8888' framerate='30'/>
89                <stream id='9' width='160'  height='120'  format='RGBA_8888' framerate='30'/>
90            </caps>
91
92            <!-- list of parameters -->
93            <characteristics>
94                <!-- Lens distortion information. See
95                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
96                -->
97                <parameter
98                    name='LENS_DISTORTION'
99                    type='float'
100                    size='5'
101                    value='0.0,0.0,0.0,0.0,0.0'
102                />
103
104                <!-- Camera intrinsic calibration matrix. See
105                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
106                -->
107                <parameter
108                    name='LENS_INTRINSIC_CALIBRATION'
109                    type='float'
110                    size='5'
111                    value='0.0,0.0,0.0,0.0,0.0'
112                />
113
114                <!-- Camera pose translation and rotation.  See
115                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
116                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
117                -->
118                <parameter
119                    name='LENS_POSE_TRANSLATION'
120                    type='float'
121                    size='3'
122                    value='0.0,0.0,0.0'
123                />
124                <parameter
125                    name='LENS_POSE_ROTATION'
126                    type='float'
127                    size='4'
128                    value='0.0,0.0,0.0,0.0'
129                />
130            </characteristics>
131        </device>
132        <device id='/dev/video4' position='front'>
133            <caps>
134                <!-- list of supported controls -->
135                <supported_controls>
136                    <control name='BRIGHTNESS' min='0' max='255'/>
137                    <control name='CONTRAST' min='0' max='255'/>
138                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
139                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
140                    <control name='SHARPNESS' min='0' max='255'/>
141                    <control name='AUTO_FOCUS' min='0' max='1'/>
142                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
143                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
144                </supported_controls>
145
146                <!-- list of supported stream configurations -->
147                <!-- below configurations were taken from v4l2-ctrl query on Logitech Webcam C930e device -->
148                <stream id='0' width='1920' height='1080' format='RGBA_8888' framerate='5'/>
149                <stream id='1' width='2304' height='1296' format='RGBA_8888' framerate='2'/>
150                <stream id='2' width='2304' height='1536' format='RGBA_8888' framerate='2'/>
151                <stream id='4' width='1280' height='720'  format='RGBA_8888' framerate='10'/>
152                <stream id='4' width='1024' height='576'  format='RGBA_8888' framerate='15'/>
153                <stream id='5' width='960'  height='540'  format='RGBA_8888' framerate='15'/>
154                <stream id='6' width='848'  height='480'  format='RGBA_8888' framerate='30'/>
155                <stream id='7' width='640'  height='360'  format='RGBA_8888' framerate='30'/>
156                <stream id='8' width='480'  height='270'  format='RGBA_8888' framerate='30'/>
157                <stream id='9' width='160'  height='120'  format='RGBA_8888' framerate='30'/>
158            </caps>
159
160            <!-- list of parameters -->
161            <characteristics>
162                <!-- Lens distortion information. See
163                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
164                -->
165                <parameter
166                    name='LENS_DISTORTION'
167                    type='float'
168                    size='5'
169                    value='0.0,0.0,0.0,0.0,0.0'
170                />
171
172                <!-- Camera intrinsic calibration matrix. See
173                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
174                -->
175                <parameter
176                    name='LENS_INTRINSIC_CALIBRATION'
177                    type='float'
178                    size='5'
179                    value='0.0,0.0,0.0,0.0,0.0'
180                />
181
182                <!-- Camera pose translation and rotation.  See
183                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
184                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
185                -->
186                <parameter
187                    name='LENS_POSE_TRANSLATION'
188                    type='float'
189                    size='3'
190                    value='0.0,0.0,0.0'
191                />
192                <parameter
193                    name='LENS_POSE_ROTATION'
194                    type='float'
195                    size='4'
196                    value='0.0,0.0,0.0,0.0'
197                />
198            </characteristics>
199        </device>
200
201        <!-- vivid emulated video devices -->
202        <device id='/dev/video10' position='rear'>
203            <caps>
204                <!-- list of supported controls -->
205                <supported_controls>
206                    <control name='BRIGHTNESS' min='0' max='255'/>
207                    <control name='CONTRAST' min='0' max='255'/>
208                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
209                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
210                    <control name='SHARPNESS' min='0' max='255'/>
211                    <control name='AUTO_FOCUS' min='0' max='1'/>
212                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
213                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
214                </supported_controls>
215
216                <!-- list of supported stream configurations -->
217                <!-- vivid webcam input support below three resolutions -->
218                <stream id='0' width='1280' height='720' format='RGBA_8888' framerate='5'/>
219                <stream id='1' width='640' height='360' format='RGBA_8888' framerate='15'/>
220                <stream id='2' width='360' height='180' format='RGBA_8888' framerate='30'/>
221            </caps>
222
223            <!-- list of parameters -->
224            <characteristics/>
225        </device>
226        <device id='/dev/video11' position='left'>
227            <caps>
228                <!-- list of supported controls -->
229                <supported_controls>
230                    <control name='BRIGHTNESS' min='0' max='255'/>
231                    <control name='CONTRAST' min='0' max='255'/>
232                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
233                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
234                    <control name='SHARPNESS' min='0' max='255'/>
235                    <control name='AUTO_FOCUS' min='0' max='1'/>
236                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
237                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
238                </supported_controls>
239
240                <!-- list of supported stream configurations -->
241                <!-- vivid webcam input support below three resolutions -->
242                <stream id='0' width='1280' height='720' format='RGBA_8888' framerate='5'/>
243                <stream id='1' width='640' height='360' format='RGBA_8888' framerate='15'/>
244                <stream id='2' width='360' height='180' format='RGBA_8888' framerate='30'/>
245            </caps>
246
247            <!-- list of parameters -->
248            <characteristics/>
249        </device>
250        <device id='/dev/video12' position='right'>
251            <caps>
252                <!-- list of supported controls -->
253                <supported_controls>
254                    <control name='BRIGHTNESS' min='0' max='255'/>
255                    <control name='CONTRAST' min='0' max='255'/>
256                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
257                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
258                    <control name='SHARPNESS' min='0' max='255'/>
259                    <control name='AUTO_FOCUS' min='0' max='1'/>
260                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
261                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
262                </supported_controls>
263
264                <!-- list of supported stream configurations -->
265                <!-- vivid webcam input support below three resolutions -->
266                <stream id='0' width='1280' height='720' format='RGBA_8888' framerate='5'/>
267                <stream id='1' width='640' height='360' format='RGBA_8888' framerate='15'/>
268                <stream id='2' width='360' height='180' format='RGBA_8888' framerate='30'/>
269            </caps>
270
271            <!-- list of parameters -->
272            <characteristics/>
273        </device>
274        <device id='/dev/video13' position='front'>
275            <caps>
276                <!-- list of supported controls -->
277                <supported_controls>
278                    <control name='BRIGHTNESS' min='0' max='255'/>
279                    <control name='CONTRAST' min='0' max='255'/>
280                    <control name='AUTO_WHITE_BALANCE' min='0' max='1'/>
281                    <control name='WHITE_BALANCE_TEMPERATURE' min='2000' max='7500'/>
282                    <control name='SHARPNESS' min='0' max='255'/>
283                    <control name='AUTO_FOCUS' min='0' max='1'/>
284                    <control name='ABSOLUTE_FOCUS' min='0' max='255' step='5'/>
285                    <control name='ABSOLUTE_ZOOM' min='100' max='400'/>
286                </supported_controls>
287
288                <!-- list of supported stream configurations -->
289                <!-- vivid webcam input support below three resolutions -->
290                <stream id='0' width='1280' height='720' format='RGBA_8888' framerate='5'/>
291                <stream id='1' width='640' height='360' format='RGBA_8888' framerate='15'/>
292                <stream id='2' width='360' height='180' format='RGBA_8888' framerate='30'/>
293            </caps>
294
295            <!-- list of parameters -->
296            <characteristics/>
297        </device>
298
299        <!-- camera device information for v4l2loopback devices -->
300        <!-- camera group v4l2loopback_group0 -->
301        <group id='v4l2loopback_group0' synchronized='CALIBRATED'>
302            <caps>
303                <!-- list of stream configuration supported by all physical devices -->
304                <stream id='0' width='1920' height='1024' format='RGBA_8888' framerate='30'/>
305            </caps>
306
307            <!-- list of parameters -->
308            <characteristics>
309                <parameter
310                    name='REQUEST_AVAILABLE_CAPABILITIES'
311                    type='enum'
312                    size='1'
313                    value='LOGICAL_MULTI_CAMERA'
314                />
315                <parameter
316                    name='LOGICAL_MULTI_CAMERA_PHYSICAL_IDS'
317                    type='byte[]'
318                    size='4'
319                    value='/dev/video60,/dev/video61,/dev/video62,/dev/video63'
320                />
321            </characteristics>
322        </group>
323
324        <!-- camera device starts  -->
325        <!-- /dev/video6[0-3]$ were reserved for experimental purposes with v4l2loopback devices -->
326        <!-- The following calibration parameters are for the sample camera images in packages/services/Car/surround_view/service-impl/test_data/ -->
327        <device id='/dev/video60' position='front'>
328            <caps>
329                <!-- list of supported stream configurations -->
330                <stream id='0' width='1920' height='1024' format='RGBA_8888' framerate='30'/>
331            </caps>
332
333            <!-- list of parameters -->
334            <characteristics>
335                <!-- Lens distortion information. See
336                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
337                -->
338                <parameter
339                    name='LENS_DISTORTION'
340                    type='float'
341                    size='5'
342                    value='-0.03711481733589263,-0.0014805627895442888,-0.00030212056866592464,-0.00020149538570397933,0.0'
343                />
344
345                <!-- Camera intrinsic calibration matrix. See
346                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
347                -->
348                <parameter
349                    name='LENS_INTRINSIC_CALIBRATION'
350                    type='float'
351                    size='5'
352                    value='608.0026093794693,608.205469489769,968.699544102168,476.38843298898996,0.0'
353                />
354
355                <!-- Camera pose translation and rotation.  See
356                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
357                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
358                -->
359                <parameter
360                    name='LENS_POSE_TRANSLATION'
361                    type='float'
362                    size='3'
363                    value='-7.8028875403817685e-02,1.4537396465103221e+00,-8.4197165554645001e-02'
364                />
365                <parameter
366                    name='LENS_POSE_ROTATION'
367                    type='float'
368                    size='4'
369                    value='0.9049874,0.0153074,-0.0088196,0.4250714'
370                />
371            </characteristics>
372        </device>
373        <device id='/dev/video61' position='right'>
374            <caps>
375                <!-- list of supported stream configurations -->
376                <stream id='0' width='1920' height='1024' format='RGBA_8888' framerate='30'/>
377            </caps>
378
379            <!-- list of parameters -->
380            <characteristics>
381                <!-- Lens distortion information. See
382                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
383                -->
384                <parameter
385                    name='LENS_DISTORTION'
386                    type='float'
387                    size='5'
388                    value='-0.040116809827977926,0.0028769489398543014,-0.002651039958977229,0.00024260630476736675,0.0'
389                />
390
391                <!-- Camera intrinsic calibration matrix. See
392                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
393                -->
394                <parameter
395                    name='LENS_INTRINSIC_CALIBRATION'
396                    type='float'
397                    size='5'
398                    value='607.8691721095306,608.0112887189435,975.5686146375716,481.1938786570715,0.0'
399                />
400
401                <!-- Camera pose translation and rotation.  See
402                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
403                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
404                -->
405                <parameter
406                    name='LENS_POSE_TRANSLATION'
407                    type='float'
408                    size='3'
409                    value='2.9715052384687407e-01,1.1407102692699396e+00,3.0074545273489206e-01'
410                />
411                <parameter
412                    name='LENS_POSE_ROTATION'
413                    type='float'
414                    size='4'
415                    value='0.6293863,-0.6544242,0.2967697,0.2958542'
416                />
417            </characteristics>
418        </device>
419        <device id='/dev/video62' position='rear'>
420            <caps>
421                <!-- list of supported stream configurations -->
422                <stream id='0' width='1920' height='1024' format='RGBA_8888' framerate='30'/>
423            </caps>
424
425            <!-- list of parameters -->
426            <characteristics>
427                <!-- Lens distortion information. See
428                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
429                -->
430                <parameter
431                    name='LENS_DISTORTION'
432                    type='float'
433                    size='5'
434                    value='-0.03998488563470043,0.0024786686909103388,-0.002354736769480817,0.00018369619088506146,0.0'
435                />
436
437                <!-- Camera intrinsic calibration matrix. See
438                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
439                -->
440                <parameter
441                    name='LENS_INTRINSIC_CALIBRATION'
442                    type='float'
443                    size='5'
444                    value='608.557299289448,608.8093878512448,960.1949354417656,474.74744054048256,0.0'
445                />
446
447                <!-- Camera pose translation and rotation.  See
448                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
449                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
450                -->
451                <parameter
452                    name='LENS_POSE_TRANSLATION'
453                    type='float'
454                    size='3'
455                    value='1.7115269161259747e-01,1.4376160762596599e+00,-1.9028844233159006e-02'
456                />
457                <parameter
458                    name='LENS_POSE_ROTATION'
459                    type='float'
460                    size='4'
461                    value='-0.0341381,-0.9101571,0.4126677,0.0124103'
462                />
463            </characteristics>
464        </device>
465        <device id='/dev/video63' position='left'>
466            <caps>
467                <!-- list of supported stream configurations -->
468                <stream id='0' width='1920' height='1024' format='RGBA_8888' framerate='30'/>
469            </caps>
470
471            <!-- list of parameters -->
472            <characteristics>
473                <!-- Lens distortion information. See
474                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_DISTORTION
475                -->
476                <parameter
477                    name='LENS_DISTORTION'
478                    type='float'
479                    size='5'
480                    value='-0.038096507459563965,0.0004008114278766646,-0.0013549275607082035,-5.9961182248325556e-06,0.0'
481                />
482
483                <!-- Camera intrinsic calibration matrix. See
484                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_INTRINSIC_CALIBRATION
485                -->
486                <parameter
487                    name='LENS_INTRINSIC_CALIBRATION'
488                    type='float'
489                    size='5'
490                    value='608.1221963545495,608.0523818661524,943.6280444638576,474.8564698210861,0.0'
491                />
492
493                <!-- Camera pose translation and rotation.  See
494                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_TRANSLATION
495                     https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics.html#LENS_POSE_ROTATION
496                -->
497                <parameter
498                    name='LENS_POSE_TRANSLATION'
499                    type='float'
500                    size='3'
501                    value='-3.0842691427126512e-01,1.0884122033556984e+00,3.4419058255954926e-01'
502                />
503                <parameter
504                    name='LENS_POSE_ROTATION'
505                    type='float'
506                    size='4'
507                    value='0.612825,0.6634091,-0.3112416,0.2957406'
508                />
509            </characteristics>
510        </device>
511    </camera>
512
513    <!-- display device starts -->
514    <display>
515        <device id='display0' position='driver'>
516            <caps>
517                <!-- list of supported inpu stream configurations -->
518                <stream id='0' width='1280' height='720' format='RGBA_8888' framerate='30'/>
519            </caps>
520        </device>
521    </display>
522</configuration>
523
524