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Commit a7dde2e8 authored by Eino-Ville Talvala's avatar Eino-Ville Talvala Committed by Android (Google) Code Review
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Merge "Camera: Fix depth documentation issues" into mnc-dev

parents d9eef347 abf0b8b0

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

+16 −10
Original line number Diff line number Diff line
@@ -1003,13 +1003,13 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
    /**

     * <p>The orientation of the camera relative to the sensor

     * coordinate system.</p>

     * <p>The four coefficients that describe the quarternion

     * <p>The four coefficients that describe the quaternion

     * rotation from the Android sensor coordinate system to a

     * camera-aligned coordinate system where the X-axis is

     * aligned with the long side of the image sensor, the Y-axis

     * is aligned with the short side of the image sensor, and

     * the Z-axis is aligned with the optical axis of the sensor.</p>

     * <p>To convert from the quarternion coefficients <code>(x,y,z,w)</code>

     * <p>To convert from the quaternion coefficients <code>(x,y,z,w)</code>

     * to the axis of rotation <code>(a_x, a_y, a_z)</code> and rotation

     * amount <code>theta</code>, the following formulas can be used:</p>

     * <pre><code> theta = 2 * acos(w)
@@ -1018,7 +1018,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * a_z = z / sin(theta/2)

     * </code></pre>

     * <p>To create a 3x3 rotation matrix that applies the rotation

     * defined by this quarternion, the following matrix can be

     * defined by this quaternion, the following matrix can be

     * used:</p>

     * <pre><code>R = [ 1 - 2y^2 - 2z^2,       2xy - 2zw,       2xz + 2yw,

     *            2xy + 2zw, 1 - 2x^2 - 2z^2,       2yz - 2xw,
@@ -1030,7 +1030,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <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><b>Units</b>:

     * Quarternion coefficients</p>

     * Quaternion coefficients</p>

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

     */

    @PublicKey
@@ -1052,13 +1052,13 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * user's perspective) will report <code>(0.03, 0, 0)</code>.</p>

     * <p>To transform a pixel coordinates between two cameras

     * facing the same direction, first the source camera

     * android.lens.radialDistortion must be corrected for.  Then

     * the source camera android.lens.intrinsicCalibration needs

     * {@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion} must be corrected for.  Then

     * the source camera {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration} needs

     * to be applied, followed by the {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}

     * of the source camera, the translation of the source camera

     * relative to the destination camera, the

     * {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} of the destination camera, and

     * finally the inverse of android.lens.intrinsicCalibration

     * finally the inverse of {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration}

     * of the destination camera. This obtains a

     * radial-distortion-free coordinate in the destination

     * camera pixel coordinates.</p>
@@ -1069,7 +1069,9 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p><b>Units</b>: Meters</p>

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

     *

     * @see CameraCharacteristics#LENS_INTRINSIC_CALIBRATION

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_TRANSLATION =
@@ -1115,7 +1117,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * where <code>(0,0)</code> is the top-left of the

     * preCorrectionActiveArraySize rectangle. Once the pose and

     * intrinsic calibration transforms have been applied to a

     * world point, then the android.lens.radialDistortion

     * world point, then the {@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion}

     * transform needs to be applied, and the result adjusted to

     * be in the {@link CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE android.sensor.info.activeArraySize} coordinate

     * system (where <code>(0, 0)</code> is the top-left of the
@@ -1130,6 +1132,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

     */
@@ -1156,7 +1159,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * </code></pre>

     * <p>The pixel coordinates are defined in a normalized

     * coordinate system related to the

     * android.lens.intrinsicCalibration calibration fields.

     * {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration} calibration fields.

     * Both <code>[x_i, y_i]</code> and <code>[x_c, y_c]</code> have <code>(0,0)</code> at the

     * lens optical center <code>[c_x, c_y]</code>. The maximum magnitudes

     * of both x and y coordinates are normalized to be 1 at the
@@ -1169,6 +1172,8 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p><b>Units</b>:

     * Unitless coefficients.</p>

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

     *

     * @see CameraCharacteristics#LENS_INTRINSIC_CALIBRATION

     */

    @PublicKey

    public static final Key<float[]> LENS_RADIAL_DISTORTION =
@@ -2262,7 +2267,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * {@link CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE android.sensor.info.activeArraySize}.</p>

     * <p>The currently supported fields that correct for geometric distortion are:</p>

     * <ol>

     * <li>android.lens.radialDistortion.</li>

     * <li>{@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion}.</li>

     * </ol>

     * <p>If all of the geometric distortion fields are no-ops, this rectangle will be the same

     * as the post-distortion-corrected rectangle given in
@@ -2275,6 +2280,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p><b>Units</b>: Pixel coordinates on the image sensor</p>

     * <p>This key is available on all devices.</p>

     *

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PIXEL_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

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

+4 −2
Original line number Diff line number Diff line
@@ -647,8 +647,8 @@ public abstract class CameraMetadata<TKey> { 
     *   {@link android.hardware.camera2.CaptureResult }:<ul>

     * <li>{@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}</li>

     * <li>{@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}</li>

     * <li>android.lens.intrinsicCalibration</li>

     * <li>android.lens.radialDistortion</li>

     * <li>{@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration}</li>

     * <li>{@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion}</li>

     * </ul>

     * </li>

     * <li>The {@link CameraCharacteristics#DEPTH_DEPTH_IS_EXCLUSIVE android.depth.depthIsExclusive} entry is listed by this device.</li>
@@ -667,8 +667,10 @@ public abstract class CameraMetadata<TKey> { 
     *

     * @see CameraCharacteristics#DEPTH_DEPTH_IS_EXCLUSIVE

     * @see CameraCharacteristics#LENS_FACING

     * @see CameraCharacteristics#LENS_INTRINSIC_CALIBRATION

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     * @see CameraCharacteristics#REQUEST_AVAILABLE_CAPABILITIES

     */

    public static final int REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT = 8;

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

+14 −9
Original line number Diff line number Diff line
@@ -2602,13 +2602,13 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
    /**

     * <p>The orientation of the camera relative to the sensor

     * coordinate system.</p>

     * <p>The four coefficients that describe the quarternion

     * <p>The four coefficients that describe the quaternion

     * rotation from the Android sensor coordinate system to a

     * camera-aligned coordinate system where the X-axis is

     * aligned with the long side of the image sensor, the Y-axis

     * is aligned with the short side of the image sensor, and

     * the Z-axis is aligned with the optical axis of the sensor.</p>

     * <p>To convert from the quarternion coefficients <code>(x,y,z,w)</code>

     * <p>To convert from the quaternion coefficients <code>(x,y,z,w)</code>

     * to the axis of rotation <code>(a_x, a_y, a_z)</code> and rotation

     * amount <code>theta</code>, the following formulas can be used:</p>

     * <pre><code> theta = 2 * acos(w)
@@ -2617,7 +2617,7 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * a_z = z / sin(theta/2)

     * </code></pre>

     * <p>To create a 3x3 rotation matrix that applies the rotation

     * defined by this quarternion, the following matrix can be

     * defined by this quaternion, the following matrix can be

     * used:</p>

     * <pre><code>R = [ 1 - 2y^2 - 2z^2,       2xy - 2zw,       2xz + 2yw,

     *            2xy + 2zw, 1 - 2x^2 - 2z^2,       2yz - 2xw,
@@ -2629,7 +2629,7 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <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><b>Units</b>:

     * Quarternion coefficients</p>

     * Quaternion coefficients</p>

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

     */

    @PublicKey
@@ -2651,13 +2651,13 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * user's perspective) will report <code>(0.03, 0, 0)</code>.</p>

     * <p>To transform a pixel coordinates between two cameras

     * facing the same direction, first the source camera

     * android.lens.radialDistortion must be corrected for.  Then

     * the source camera android.lens.intrinsicCalibration needs

     * {@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion} must be corrected for.  Then

     * the source camera {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration} needs

     * to be applied, followed by the {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}

     * of the source camera, the translation of the source camera

     * relative to the destination camera, the

     * {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} of the destination camera, and

     * finally the inverse of android.lens.intrinsicCalibration

     * finally the inverse of {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration}

     * of the destination camera. This obtains a

     * radial-distortion-free coordinate in the destination

     * camera pixel coordinates.</p>
@@ -2668,7 +2668,9 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <p><b>Units</b>: Meters</p>

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

     *

     * @see CameraCharacteristics#LENS_INTRINSIC_CALIBRATION

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_TRANSLATION =
@@ -2714,7 +2716,7 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * where <code>(0,0)</code> is the top-left of the

     * preCorrectionActiveArraySize rectangle. Once the pose and

     * intrinsic calibration transforms have been applied to a

     * world point, then the android.lens.radialDistortion

     * world point, then the {@link CameraCharacteristics#LENS_RADIAL_DISTORTION android.lens.radialDistortion}

     * transform needs to be applied, and the result adjusted to

     * be in the {@link CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE android.sensor.info.activeArraySize} coordinate

     * system (where <code>(0, 0)</code> is the top-left of the
@@ -2729,6 +2731,7 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#LENS_RADIAL_DISTORTION

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

     */
@@ -2755,7 +2758,7 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * </code></pre>

     * <p>The pixel coordinates are defined in a normalized

     * coordinate system related to the

     * android.lens.intrinsicCalibration calibration fields.

     * {@link CameraCharacteristics#LENS_INTRINSIC_CALIBRATION android.lens.intrinsicCalibration} calibration fields.

     * Both <code>[x_i, y_i]</code> and <code>[x_c, y_c]</code> have <code>(0,0)</code> at the

     * lens optical center <code>[c_x, c_y]</code>. The maximum magnitudes

     * of both x and y coordinates are normalized to be 1 at the
@@ -2768,6 +2771,8 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <p><b>Units</b>:

     * Unitless coefficients.</p>

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

     *

     * @see CameraCharacteristics#LENS_INTRINSIC_CALIBRATION

     */

    @PublicKey

    public static final Key<float[]> LENS_RADIAL_DISTORTION =