Merge "Graphics depth formats: Add confidence values" into mnc-dev

     * When used with ANativeWindow, the dataSpace field describes the color

     * space of the buffer, except that dataSpace field

     * HAL_DATASPACE_DEPTH indicates that this buffer contains a depth

     * image where each sample is a distance value measured by a depth camera.

     * image where each sample is a distance value measured by a depth camera,

     * plus an associated confidence value.

     */

    HAL_PIXEL_FORMAT_Y16    = 0x20363159,

 * When locking a native buffer of the above format and dataSpace value,

 * the vaddr pointer can be cast to this structure.

 *

 * A variable-length list of (x,y,z) 3D points, as floats.

 * A variable-length list of (x,y,z, confidence) 3D points, as floats.  (x, y,

 * z) represents a measured point's position, with the coordinate system defined

 * by the data source.  Confidence represents the estimated likelihood that this

 * measurement is correct. It is between 0.f and 1.f, inclusive, with 1.f ==

 * 100% confidence.

 *

 * @num_points is the number of points in the list

 *

 * @xyz_points is the flexible array of floating-point values.

 *   It contains (num_points) * 3 floats.

 *   It contains (num_points) * 4 floats.

 *

 *   For example:

 *     android_depth_points d = get_depth_buffer();

 *     struct {

 *       float x; float y; float z;

 *       float x; float y; float z; float confidence;

 *     } firstPoint, lastPoint;

 *

 *     firstPoint.x = d.xyz_points[0];

 *     firstPoint.y = d.xyz_points[1];

 *     firstPoint.z = d.xyz_points[2];

 *     lastPoint.x = d.xyz_points[(d.num_points - 1) * 3 + 0];

 *     lastPoint.y = d.xyz_points[(d.num_points - 1) * 3 + 1];

 *     lastPoint.z = d.xyz_points[(d.num_points - 1) * 3 + 2];

 *     firstPoint.x = d.xyzc_points[0];

 *     firstPoint.y = d.xyzc_points[1];

 *     firstPoint.z = d.xyzc_points[2];

 *     firstPoint.confidence = d.xyzc_points[3];

 *     lastPoint.x = d.xyzc_points[(d.num_points - 1) * 4 + 0];

 *     lastPoint.y = d.xyzc_points[(d.num_points - 1) * 4 + 1];

 *     lastPoint.z = d.xyzc_points[(d.num_points - 1) * 4 + 2];

 *     lastPoint.confidence = d.xyzc_points[(d.num_points - 1) * 4 + 3];

 */

struct android_depth_points {

    /** reserved for future use, set to 0 by gralloc's (*lock)() */

    uint32_t reserved[8];

    float xyz_points[];

    float xyzc_points[];

};

/**

    /*

     * The buffer contains depth ranging measurements from a depth camera.

     * This value is valid with formats:

     *    HAL_PIXEL_FORMAT_Y16: 16-bit single channel depth image.

     *    HAL_PIXEL_FORMAT_Y16: 16-bit samples, consisting of a depth measurement

     *       and an associated confidence value. The 3 MSBs of the sample make

     *       up the confidence value, and the low 13 LSBs of the sample make up

     *       the depth measurement.

     *       For the confidence section, 0 means 100% confidence, 1 means 0%

     *       confidence. The mapping to a linear float confidence value between

     *       0.f and 1.f can be obtained with

     *         float confidence = (((depthSample >> 13) - 1) & 0x7) / 7.0f;

     *       The depth measurement can be extracted simply with

     *         uint16_t range = (depthSample & 0x1FFF);

     *    HAL_PIXEL_FORMAT_BLOB: A depth point cloud, as

     *       a variable-length float (x,y,z) coordinate point list.

     *       a variable-length float (x,y,z, confidence) coordinate point list.

     *       The point cloud will be represented with the android_depth_points

     *       structure.

     */