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Commit b8bd8ab1 authored by Eino-Ville Talvala's avatar Eino-Ville Talvala
Browse files

Camera: Adjust intrinsic transform coordinate system. 

Needs to be in the pre-correction active array coordinates
for consistency.

Bug: 20491394
Change-Id: I7a28499fec59219a0f8d85c1fc37867aed90f4c0
parent dd862aeb

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

+20 −5
Original line number Diff line number Diff line
@@ -1093,14 +1093,28 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * <p>so <code>[x_s, y_s]</code> is the pixel coordinates of the world

     * point, <code>z_s = 1</code>, and <code>w_s</code> is a measurement of disparity

     * (depth) in pixel coordinates.</p>

     * <p>Note that the coordinate system for this transform is the

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize} system,

     * 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

     * 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

     * activeArraySize rectangle), to determine the final pixel

     * coordinate of the world point for processed (non-RAW)

     * output buffers.</p>

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

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

     * system.</p>

     * Pixels in the

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize}

     * coordinate system.</p>

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

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

     */

    @PublicKey

    public static final Key<float[]> LENS_INTRINSIC_CALIBRATION =
@@ -2006,19 +2020,19 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     * {@link CameraCharacteristics#SENSOR_INFO_PIXEL_ARRAY_SIZE android.sensor.info.pixelArraySize}:</p>

     * <ol>

     * <li>Choose a pixel (x', y') within the active array region of the raw buffer given in

     * android.sensor.info.preCorrectedActiveArraySize, otherwise this pixel is considered

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize}, otherwise this pixel is considered

     * to be outside of the FOV, and will not be shown in the processed output image.</li>

     * <li>Apply geometric distortion correction to get the post-distortion pixel coordinate,

     * (x_i, y_i). When applying geometric correction metadata, note that metadata for raw

     * buffers is defined relative to the top, left of the

     * android.sensor.info.preCorrectedActiveArraySize rectangle.</li>

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize} rectangle.</li>

     * <li>If the resulting corrected pixel coordinate is within the region given in

     * {@link CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE android.sensor.info.activeArraySize}, then the position of this pixel in the

     * processed output image buffer is <code>(x_i - activeArray.left, y_i - activeArray.top)</code>,

     * when the top, left coordinate of that buffer is treated as (0, 0).</li>

     * </ol>

     * <p>Thus, for pixel x',y' = (25, 25) on a sensor where {@link CameraCharacteristics#SENSOR_INFO_PIXEL_ARRAY_SIZE android.sensor.info.pixelArraySize}

     * is (100,100), android.sensor.info.preCorrectedActiveArraySize is (10, 10, 100, 100),

     * is (100,100), {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize} is (10, 10, 100, 100),

     * {@link CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE android.sensor.info.activeArraySize} is (20, 20, 80, 80), and the geometric distortion

     * correction doesn't change the pixel coordinate, the resulting pixel selected in

     * pixel coordinates would be x,y = (25, 25) relative to the top,left of the raw buffer
@@ -2042,6 +2056,7 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
     *

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PIXEL_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

     */

    @PublicKey

    public static final Key<android.graphics.Rect> SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE =

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

+16 −2
Original line number Diff line number Diff line
@@ -2655,14 +2655,28 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
     * <p>so <code>[x_s, y_s]</code> is the pixel coordinates of the world

     * point, <code>z_s = 1</code>, and <code>w_s</code> is a measurement of disparity

     * (depth) in pixel coordinates.</p>

     * <p>Note that the coordinate system for this transform is the

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize} system,

     * 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

     * 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

     * activeArraySize rectangle), to determine the final pixel

     * coordinate of the world point for processed (non-RAW)

     * output buffers.</p>

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

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

     * system.</p>

     * Pixels in the

     * {@link CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE android.sensor.info.preCorrectionActiveArraySize}

     * coordinate system.</p>

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

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     * @see CameraCharacteristics#LENS_POSE_TRANSLATION

     * @see CameraCharacteristics#SENSOR_INFO_ACTIVE_ARRAY_SIZE

     * @see CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

     */

    @PublicKey

    public static final Key<float[]> LENS_INTRINSIC_CALIBRATION =