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Commit da1e6411 authored by Eino-Ville Talvala's avatar Eino-Ville Talvala
Browse files

Camera2: Add camera pose and distortion fields 

- android.lens.info.poseRotation
- android.lens.info.poseTranslation
- android.lens.info.intrinsicCalibration
- android.lens.info.radialDistortion

Change-Id: I3f8cf258b600bc58d0743e44aa6c456cd4b8a906
parent 2a39aef4

api/current.txt

+8 −0
Original line number Diff line number Diff line
@@ -13020,6 +13020,10 @@ package android.hardware.camera2 { 
    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Integer> LENS_INFO_FOCUS_DISTANCE_CALIBRATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Float> LENS_INFO_HYPERFOCAL_DISTANCE;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Float> LENS_INFO_MINIMUM_FOCUS_DISTANCE;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_INTRINSIC_CALIBRATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_POSE_ROTATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_POSE_TRANSLATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_RADIAL_DISTORTION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<int[]> NOISE_REDUCTION_AVAILABLE_NOISE_REDUCTION_MODES;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<int[]> REQUEST_AVAILABLE_CAPABILITIES;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Integer> REQUEST_MAX_NUM_INPUT_STREAMS;
@@ -13439,7 +13443,11 @@ package android.hardware.camera2 { 
    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> LENS_FOCAL_LENGTH;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> LENS_FOCUS_DISTANCE;

    field public static final android.hardware.camera2.CaptureResult.Key<android.util.Pair<java.lang.Float, java.lang.Float>> LENS_FOCUS_RANGE;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_INTRINSIC_CALIBRATION;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> LENS_OPTICAL_STABILIZATION_MODE;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_POSE_ROTATION;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_POSE_TRANSLATION;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_RADIAL_DISTORTION;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> LENS_STATE;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> NOISE_REDUCTION_MODE;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> REPROCESS_EFFECTIVE_EXPOSURE_FACTOR;

api/system-current.txt

+8 −0
Original line number Diff line number Diff line
@@ -13312,6 +13312,10 @@ package android.hardware.camera2 { 
    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Integer> LENS_INFO_FOCUS_DISTANCE_CALIBRATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Float> LENS_INFO_HYPERFOCAL_DISTANCE;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Float> LENS_INFO_MINIMUM_FOCUS_DISTANCE;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_INTRINSIC_CALIBRATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_POSE_ROTATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_POSE_TRANSLATION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<float[]> LENS_RADIAL_DISTORTION;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<int[]> NOISE_REDUCTION_AVAILABLE_NOISE_REDUCTION_MODES;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<int[]> REQUEST_AVAILABLE_CAPABILITIES;

    field public static final android.hardware.camera2.CameraCharacteristics.Key<java.lang.Integer> REQUEST_MAX_NUM_INPUT_STREAMS;
@@ -13731,7 +13735,11 @@ package android.hardware.camera2 { 
    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> LENS_FOCAL_LENGTH;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> LENS_FOCUS_DISTANCE;

    field public static final android.hardware.camera2.CaptureResult.Key<android.util.Pair<java.lang.Float, java.lang.Float>> LENS_FOCUS_RANGE;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_INTRINSIC_CALIBRATION;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> LENS_OPTICAL_STABILIZATION_MODE;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_POSE_ROTATION;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_POSE_TRANSLATION;

    field public static final android.hardware.camera2.CaptureResult.Key<float[]> LENS_RADIAL_DISTORTION;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> LENS_STATE;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Integer> NOISE_REDUCTION_MODE;

    field public static final android.hardware.camera2.CaptureResult.Key<java.lang.Float> REPROCESS_EFFECTIVE_EXPOSURE_FACTOR;

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

+123 −0
Original line number Diff line number Diff line
@@ -938,6 +938,129 @@ public final class CameraCharacteristics extends CameraMetadata<CameraCharacteri 
    public static final Key<Integer> LENS_FACING =

            new Key<Integer>("android.lens.facing", int.class);



    /**

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

     * coordinate system.</p>

     * <p>The four coefficients that describe the quarternion

     * 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>

     * 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)

     * a_x = x / sin(theta/2)

     * a_y = y / sin(theta/2)

     * 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

     * used:</p>

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

     *            2xy + 2zw, 1 - 2x^2 - 2z^2,       2yz - 2xw,

     *            2xz - 2yw,       2yz + 2xw, 1 - 2x^2 - 2y^2 ]

     * </code></pre>

     * <p>This matrix can then be used to apply the rotation to a

     *  column vector point with</p>

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

     * Quarternion coefficients</p>

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

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_ROTATION =

            new Key<float[]>("android.lens.poseRotation", float[].class);



    /**

     * <p>Position of the camera optical center.</p>

     * <p>As measured in the device sensor coordinate system, the

     * position of the camera device's optical center, as a

     * three-dimensional vector <code>(x,y,z)</code>.</p>

     * <p>To transform a world position to a camera-device centered

     * coordinate system, the position must be translated by this

     * vector and then rotated by {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}.</p>

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

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

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_TRANSLATION =

            new Key<float[]>("android.lens.poseTranslation", float[].class);



    /**

     * <p>The parameters for this camera device's intrinsic

     * calibration.</p>

     * <p>The five calibration parameters that describe the

     * transform from camera-centric 3D coordinates to sensor

     * pixel coordinates:</p>

     * <pre><code>[f_x, f_y, c_x, c_y, s]

     * </code></pre>

     * <p>Where <code>f_x</code> and <code>f_y</code> are the horizontal and vertical

     * focal lengths, <code>[c_x, c_y]</code> is the position of the optical

     * axis, and <code>s</code> is a skew parameter for the sensor plane not

     * being aligned with the lens plane.</p>

     * <p>These are typically used within a transformation matrix K:</p>

     * <pre><code>K = [ f_x,   s, c_x,

     *        0, f_y, c_y,

     *        0    0,   1 ]

     * </code></pre>

     * <p>which can then be combined with the camera pose rotation

     * <code>R</code> and translation <code>t</code> ({@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} and

     * {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}, respective) to calculate the

     * complete transform from world coordinates to pixel

     * coordinates:</p>

     * <pre><code>P = [ K 0   * [ R t

     *      0 1 ]     0 1 ]

     * </code></pre>

     * <p>and with <code>p_w</code> being a point in the world coordinate system

     * and <code>p_s</code> being a point in the camera active pixel array

     * coordinate system, and with the mapping including the

     * homogeneous division by z:</p>

     * <pre><code> p_h = (x_h, y_h, z_h) = P p_w

     * p_s = p_h / z_h

     * </code></pre>

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

     * Pixels in the android.sensor.activeArraySize 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

     */

    @PublicKey

    public static final Key<float[]> LENS_INTRINSIC_CALIBRATION =

            new Key<float[]>("android.lens.intrinsicCalibration", float[].class);



    /**

     * <p>The correction coefficients to correct for this camera device's

     * radial lens distortion.</p>

     * <p>Three cofficients <code>[kappa_1, kappa_2, kappa_3]</code> that

     * can be used to correct the lens's radial geometric

     * distortion with the mapping equations:</p>

     * <pre><code> x_c = x_i * ( 1 + kappa_1 * r^2 + kappa_2 * r^4 + kappa_3 * r^6 )

     * y_c = y_i * ( 1 + kappa_1 * r^2 + kappa_2 * r^4 + kappa_3 * r^6 )

     * </code></pre>

     * <p>where <code>[x_i, y_i]</code> are normalized coordinates with <code>(0,0)</code>

     * at the lens optical center, and <code>[-1, 1]</code> are the edges of

     * the active pixel array; and where <code>[x_c, y_c]</code> are the

     * corrected normalized coordinates with radial distortion

     * removed; and <code>r^2 = x_i^2 + y_i^2</code>.</p>

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

     * Coefficients for a 6th-degree even radial polynomial.</p>

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

     */

    @PublicKey

    public static final Key<float[]> LENS_RADIAL_DISTORTION =

            new Key<float[]>("android.lens.radialDistortion", float[].class);



    /**

     * <p>List of noise reduction modes for {@link CaptureRequest#NOISE_REDUCTION_MODE android.noiseReduction.mode} that are supported

     * by this camera device.</p>

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

+123 −0
Original line number Diff line number Diff line
@@ -2531,6 +2531,129 @@ public class CaptureResult extends CameraMetadata<CaptureResult.Key<?>> { 
    public static final Key<Integer> LENS_STATE =

            new Key<Integer>("android.lens.state", int.class);



    /**

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

     * coordinate system.</p>

     * <p>The four coefficients that describe the quarternion

     * 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>

     * 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)

     * a_x = x / sin(theta/2)

     * a_y = y / sin(theta/2)

     * 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

     * used:</p>

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

     *            2xy + 2zw, 1 - 2x^2 - 2z^2,       2yz - 2xw,

     *            2xz - 2yw,       2yz + 2xw, 1 - 2x^2 - 2y^2 ]

     * </code></pre>

     * <p>This matrix can then be used to apply the rotation to a

     *  column vector point with</p>

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

     * Quarternion coefficients</p>

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

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_ROTATION =

            new Key<float[]>("android.lens.poseRotation", float[].class);



    /**

     * <p>Position of the camera optical center.</p>

     * <p>As measured in the device sensor coordinate system, the

     * position of the camera device's optical center, as a

     * three-dimensional vector <code>(x,y,z)</code>.</p>

     * <p>To transform a world position to a camera-device centered

     * coordinate system, the position must be translated by this

     * vector and then rotated by {@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation}.</p>

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

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

     *

     * @see CameraCharacteristics#LENS_POSE_ROTATION

     */

    @PublicKey

    public static final Key<float[]> LENS_POSE_TRANSLATION =

            new Key<float[]>("android.lens.poseTranslation", float[].class);



    /**

     * <p>The parameters for this camera device's intrinsic

     * calibration.</p>

     * <p>The five calibration parameters that describe the

     * transform from camera-centric 3D coordinates to sensor

     * pixel coordinates:</p>

     * <pre><code>[f_x, f_y, c_x, c_y, s]

     * </code></pre>

     * <p>Where <code>f_x</code> and <code>f_y</code> are the horizontal and vertical

     * focal lengths, <code>[c_x, c_y]</code> is the position of the optical

     * axis, and <code>s</code> is a skew parameter for the sensor plane not

     * being aligned with the lens plane.</p>

     * <p>These are typically used within a transformation matrix K:</p>

     * <pre><code>K = [ f_x,   s, c_x,

     *        0, f_y, c_y,

     *        0    0,   1 ]

     * </code></pre>

     * <p>which can then be combined with the camera pose rotation

     * <code>R</code> and translation <code>t</code> ({@link CameraCharacteristics#LENS_POSE_ROTATION android.lens.poseRotation} and

     * {@link CameraCharacteristics#LENS_POSE_TRANSLATION android.lens.poseTranslation}, respective) to calculate the

     * complete transform from world coordinates to pixel

     * coordinates:</p>

     * <pre><code>P = [ K 0   * [ R t

     *      0 1 ]     0 1 ]

     * </code></pre>

     * <p>and with <code>p_w</code> being a point in the world coordinate system

     * and <code>p_s</code> being a point in the camera active pixel array

     * coordinate system, and with the mapping including the

     * homogeneous division by z:</p>

     * <pre><code> p_h = (x_h, y_h, z_h) = P p_w

     * p_s = p_h / z_h

     * </code></pre>

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

     * Pixels in the android.sensor.activeArraySize 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

     */

    @PublicKey

    public static final Key<float[]> LENS_INTRINSIC_CALIBRATION =

            new Key<float[]>("android.lens.intrinsicCalibration", float[].class);



    /**

     * <p>The correction coefficients to correct for this camera device's

     * radial lens distortion.</p>

     * <p>Three cofficients <code>[kappa_1, kappa_2, kappa_3]</code> that

     * can be used to correct the lens's radial geometric

     * distortion with the mapping equations:</p>

     * <pre><code> x_c = x_i * ( 1 + kappa_1 * r^2 + kappa_2 * r^4 + kappa_3 * r^6 )

     * y_c = y_i * ( 1 + kappa_1 * r^2 + kappa_2 * r^4 + kappa_3 * r^6 )

     * </code></pre>

     * <p>where <code>[x_i, y_i]</code> are normalized coordinates with <code>(0,0)</code>

     * at the lens optical center, and <code>[-1, 1]</code> are the edges of

     * the active pixel array; and where <code>[x_c, y_c]</code> are the

     * corrected normalized coordinates with radial distortion

     * removed; and <code>r^2 = x_i^2 + y_i^2</code>.</p>

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

     * Coefficients for a 6th-degree even radial polynomial.</p>

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

     */

    @PublicKey

    public static final Key<float[]> LENS_RADIAL_DISTORTION =

            new Key<float[]>("android.lens.radialDistortion", float[].class);



    /**

     * <p>Mode of operation for the noise reduction algorithm.</p>

     * <p>The noise reduction algorithm attempts to improve image quality by removing