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Commit 2071f2e9 authored by Shuzhen Wang's avatar Shuzhen Wang
Browse files

Camera: Add new UNDEFINED pose reference enum 

The newly added UNDEFINED pose reference is used for a camera device
that cannot accurately measure its pose rotation and translation.
One such example is a camera on a foldable phone.

Bug: 119325027
Test: Camera CTS, and test_multi_camera_alignment
Change-Id: I0da7638e2bce31886f9dbf33dd2f74800d8768f7
parent f800e435

api/current.txt

+1 −0
Original line number Diff line number Diff line
@@ -17259,6 +17259,7 @@ package android.hardware.camera2 { 
    field public static final int LENS_OPTICAL_STABILIZATION_MODE_ON = 1; // 0x1

    field public static final int LENS_POSE_REFERENCE_GYROSCOPE = 1; // 0x1

    field public static final int LENS_POSE_REFERENCE_PRIMARY_CAMERA = 0; // 0x0

    field public static final int LENS_POSE_REFERENCE_UNDEFINED = 2; // 0x2

    field public static final int LENS_STATE_MOVING = 1; // 0x1

    field public static final int LENS_STATE_STATIONARY = 0; // 0x0

    field public static final int LOGICAL_MULTI_CAMERA_SENSOR_SYNC_TYPE_APPROXIMATE = 0; // 0x0

core/java/android/hardware/camera2/CameraCharacteristics.java

+12 −1
Original line number Diff line number Diff line
@@ -1539,10 +1539,15 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p><code>p' = Rp</code></p>

     * <p>where <code>p</code> is in the device sensor coordinate system, and

     *  <code>p'</code> is in the camera-oriented coordinate system.</p>

     * <p>If {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is UNDEFINED, the quaternion rotation cannot

     *  be accurately represented by the camera device, and will be represented by

     *  default values matching its default facing.</p>

     * <p><b>Units</b>:

     * Quaternion coefficients</p>

     * <p><b>Optional</b> - The value for this key may be {@code null} on some devices.</p>

     * <p><b>Permission {@link android.Manifest.permission#CAMERA } is needed to access this property</b></p>

     *

     * @see CameraCharacteristics#LENS_POSE_REFERENCE

     */

    @PublicKey

    @NonNull
@@ -1577,6 +1582,8 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p>When {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is GYROSCOPE, then this position is relative to

     * the center of the primary gyroscope on the device. The axis definitions are the same as

     * with PRIMARY_CAMERA.</p>

     * <p>When {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is UNDEFINED, this position cannot be accurately

     * represented by the camera device, and will be represented as <code>(0, 0, 0)</code>.</p>

     * <p><b>Units</b>: Meters</p>

     * <p><b>Optional</b> - The value for this key may be {@code null} on some devices.</p>

     * <p><b>Permission {@link android.Manifest.permission#CAMERA } is needed to access this property</b></p>
@@ -1714,20 +1721,24 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
            new Key<float[]>("android.lens.radialDistortion", float[].class);



    /**

     * <p>The origin for {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}.</p>

     * <p>The origin for {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}, and the accuracy of

     * {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation} and {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}.</p>

     * <p>Different calibration methods and use cases can produce better or worse results

     * depending on the selected coordinate origin.</p>

     * <p><b>Possible values:</b>

     * <ul>

     *   <li>{@link #LENS_POSE_REFERENCE_PRIMARY_CAMERA PRIMARY_CAMERA}</li>

     *   <li>{@link #LENS_POSE_REFERENCE_GYROSCOPE GYROSCOPE}</li>

     *   <li>{@link #LENS_POSE_REFERENCE_UNDEFINED UNDEFINED}</li>

     * </ul></p>

     * <p><b>Optional</b> - The value for this key may be {@code null} on some devices.</p>

     * <p><b>Permission {@link android.Manifest.permission#CAMERA } is needed to access this property</b></p>

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see #LENS_POSE_REFERENCE_PRIMARY_CAMERA

     * @see #LENS_POSE_REFERENCE_GYROSCOPE

     * @see #LENS_POSE_REFERENCE_UNDEFINED

     */

    @PublicKey

    @NonNull

core/java/android/hardware/camera2/CameraMetadata.java

+14 −0
Original line number Diff line number Diff line
@@ -366,6 +366,20 @@ public abstract class CameraMetadata<TKey> { 
     */

    public static final int LENS_POSE_REFERENCE_GYROSCOPE = 1;



    /**

     * <p>The camera device cannot represent the values of {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}

     * and {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} accurately enough. One such example is a camera device

     * on the cover of a foldable phone: in order to measure the pose translation and rotation,

     * some kind of hinge position sensor would be needed.</p>

     * <p>The value of {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation} must be all zeros, and

     * {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} must be values matching its default facing.</p>

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#LENS_POSE_REFERENCE

     */

    public static final int LENS_POSE_REFERENCE_UNDEFINED = 2;



    //

    // Enumeration values for CameraCharacteristics#REQUEST_AVAILABLE_CAPABILITIES

    //

core/java/android/hardware/camera2/CaptureResult.java

+7 −0
Original line number Diff line number Diff line
@@ -3027,10 +3027,15 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <p><code>p' = Rp</code></p>

     * <p>where <code>p</code> is in the device sensor coordinate system, and

     *  <code>p'</code> is in the camera-oriented coordinate system.</p>

     * <p>If {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is UNDEFINED, the quaternion rotation cannot

     *  be accurately represented by the camera device, and will be represented by

     *  default values matching its default facing.</p>

     * <p><b>Units</b>:

     * Quaternion coefficients</p>

     * <p><b>Optional</b> - The value for this key may be {@code null} on some devices.</p>

     * <p><b>Permission {@link android.Manifest.permission#CAMERA } is needed to access this property</b></p>

     *

     * @see CameraCharacteristics#LENS_POSE_REFERENCE

     */

    @PublicKey

    @NonNull
@@ -3065,6 +3070,8 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <p>When {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is GYROSCOPE, then this position is relative to

     * the center of the primary gyroscope on the device. The axis definitions are the same as

     * with PRIMARY_CAMERA.</p>

     * <p>When {@link CameraCharacteristics#LENS_POSE_REFERENCE android.lens.poseReference} is UNDEFINED, this position cannot be accurately

     * represented by the camera device, and will be represented as <code>(0, 0, 0)</code>.</p>

     * <p><b>Units</b>: Meters</p>

     * <p><b>Optional</b> - The value for this key may be {@code null} on some devices.</p>

     * <p><b>Permission {@link android.Manifest.permission#CAMERA } is needed to access this property</b></p>