Merge "Camera: Prune depth samples with low confidence" into qt-dev (1b10af80) · Commits · e / os / android_frameworks_av

services/camera/libcameraservice/common/DepthPhotoProcessor.cpp

+13 −2

Original line number	Diff line number	Diff line
		@@ -64,6 +64,10 @@ using dynamic_depth::Profiles;
		namespace android {
		namespace camera3 {

		// Depth samples with low confidence can skew the
		// near/far values and impact the range inverse coding.
		static const float CONFIDENCE_THRESHOLD = .15f;

		ExifOrientation getExifOrientation(const unsigned char *jpegBuffer, size_t jpegBufferSize) {
		if ((jpegBuffer == nullptr) \|\| (jpegBufferSize == 0)) {
		return ExifOrientation::ORIENTATION_UNDEFINED;
		@@ -238,6 +242,9 @@ inline void unpackDepth16(uint16_t value, std::vector<float> points /out*/,
		auto conf = (value >> 13) & 0x7;
		float normConfidence = (conf == 0) ? 1.f : (static_cast<float>(conf) - 1) / 7.f;
		confidence->push_back(normConfidence);
		if (normConfidence < CONFIDENCE_THRESHOLD) {
		return;
		}

		if (*near > point) {
		*near = point;
		@@ -358,8 +365,12 @@ std::unique_ptr<dynamic_depth::DepthMap> processDepthMapFrame(DepthPhotoInputFra
		auto pointIt = points.begin();
		auto confidenceIt = confidence.begin();
		while ((pointIt != points.end()) && (confidenceIt != confidence.end())) {
		pointsQuantized.push_back(floorf(((far * (*pointIt - near)) /
		(pointIt (far - near))) * 255.0f));
		auto point = *pointIt;
		if ((*confidenceIt) < CONFIDENCE_THRESHOLD) {
		point = std::clamp(point, near, far);
		}
		pointsQuantized.push_back(floorf(((far * (point - near)) /
		(point * (far - near))) * 255.0f));
		confidenceQuantized.push_back(floorf(confidenceIt 255.0f));
		confidenceIt++; pointIt++;
		}