Add depth support for ImageReader target
- Add display support for DEPTH16
- Add saving support for DEPTH16, DEPTH_POINT_CLOUD
diff --git a/apps/TestingCamera2/src/com/android/testingcamera2/ImageReaderSubPane.java b/apps/TestingCamera2/src/com/android/testingcamera2/ImageReaderSubPane.java
index d8b41c5..aef751d 100644
--- a/apps/TestingCamera2/src/com/android/testingcamera2/ImageReaderSubPane.java
+++ b/apps/TestingCamera2/src/com/android/testingcamera2/ImageReaderSubPane.java
@@ -25,8 +25,10 @@
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.OutputStream;
+import java.io.OutputStreamWriter;
import java.nio.ByteBuffer;
import java.nio.ShortBuffer;
+import java.nio.FloatBuffer;
import java.nio.channels.Channels;
import java.nio.channels.WritableByteChannel;
import java.text.SimpleDateFormat;
@@ -69,7 +71,9 @@
JPEG(ImageFormat.JPEG),
RAW16(ImageFormat.RAW_SENSOR),
RAW10(ImageFormat.RAW10),
- YUV_420_888(ImageFormat.YUV_420_888);
+ YUV_420_888(ImageFormat.YUV_420_888),
+ DEPTH16(ImageFormat.DEPTH16),
+ DEPTH_POINT_CLOUD(ImageFormat.DEPTH_POINT_CLOUD);
public final int imageFormat;
@@ -184,6 +188,9 @@
for (OutputFormat format : OutputFormat.values()) {
if (streamConfigMap.isOutputSupportedFor(format.imageFormat)) {
mFormats.add(format);
+ TLog.i("Format " + format + " supported");
+ } else {
+ TLog.i("Format " + format + " not supported");
}
}
@@ -361,6 +368,29 @@
TLog.e("RAW10 viewing not implemented");
break;
}
+ case ImageFormat.DEPTH16: {
+ ShortBuffer y16Buffer = img.getPlanes()[0].getBuffer().asShortBuffer();
+ y16Buffer.rewind();
+ // Very rough nearest-neighbor downsample for display
+ int w = img.getWidth() / SCALE_FACTOR;
+ int h = img.getHeight() / SCALE_FACTOR;
+ int stride = img.getPlanes()[0].getRowStride();
+ short[] yRow = new short[img.getWidth()];
+ int[] imgArray = new int[w * h];
+ for (int y = 0, j = 0; y < h; y++) {
+ // Align to start of red row in the pair to sample from
+ y16Buffer.position(
+ y * SCALE_FACTOR * stride);
+ y16Buffer.get(yRow);
+ for (int x = 0, i = 0; x < w; x++, i += SCALE_FACTOR, j++) {
+ int d = (yRow[i] >> 8) & 0xFF;
+ imgArray[j] = Color.rgb(d,d,d);
+ }
+ }
+ imgBitmap = Bitmap.createBitmap(imgArray, w, h, Bitmap.Config.ARGB_8888);
+ break;
+
+ }
}
if (imgBitmap != null) {
mImageView.setImageBitmap(imgBitmap);
@@ -502,6 +532,14 @@
TLog.e("RAW10 saving not implemented");
break;
}
+ case ImageFormat.DEPTH16: {
+ writeDepth16Image(img, out);
+ break;
+ }
+ case ImageFormat.DEPTH_POINT_CLOUD: {
+ writeDepthPointImage(img, out);
+ break;
+ }
}
}
return output.getName();
@@ -587,6 +625,53 @@
}
}
+ // This saves a 16-bpp depth image as a PNG, with the low bits in the
+ // red channel and the high bits in the blue
+ private void writeDepth16Image(Image img, OutputStream out) throws IOException {
+ if (img.getFormat() != ImageFormat.DEPTH16) {
+ throw new IOException(
+ String.format("Unexpected Image format: %d, expected ImageFormat.DEPTH16",
+ img.getFormat()));
+ }
+ int w = img.getWidth();
+ int h = img.getHeight();
+ int rowStride = img.getPlanes()[0].getRowStride() / 2; // in shorts
+ int[] rgbData = new int[w * h];
+ short[] yRow = new short[w];
+ ShortBuffer y16Data = img.getPlanes()[0].getBuffer().asShortBuffer();
+ int rgbIndex = 0;
+
+ for (int y = 0; y < h; y++) {
+ y16Data.position(y * rowStride);
+ y16Data.get(yRow, 0, w);
+ for (int x = 0; x < w; x++) {
+ short y16 = yRow[x];
+ rgbData[rgbIndex++] =
+ Color.rgb(y16 & 0x00FF, (y16 >> 8) & 0x00FF, 0);
+ }
+ }
+
+ Bitmap rgbImage = Bitmap.createBitmap(rgbData, w, h, Bitmap.Config.ARGB_8888);
+ rgbImage.compress(Bitmap.CompressFormat.PNG, 100, out);
+ }
+
+ // This saves a text file of float values for a point cloud
+ private void writeDepthPointImage(Image img, OutputStream out) throws IOException {
+ if (img.getFormat() != ImageFormat.DEPTH_POINT_CLOUD) {
+ throw new IOException(
+ String.format("Unexpected Image format: %d, expected ImageFormat.DEPTH16",
+ img.getFormat()));
+ }
+ FloatBuffer pointList = img.getPlanes()[0].getBuffer().asFloatBuffer();
+ int pointCount = pointList.limit() / 3;
+ OutputStreamWriter writer = new OutputStreamWriter(out);
+ for (int i = 0; i < pointCount; i++) {
+ String pt = String.format("%f, %f, %f\n",
+ pointList.get(), pointList.get(),pointList.get());
+ writer.write(pt, 0, pt.length());
+ }
+ }
+
File getOutputImageFile(int type, long timestamp){
// To be safe, you should check that the SDCard is mounted
// using Environment.getExternalStorageState() before doing this.
@@ -640,6 +725,13 @@
mediaFile = new File(mediaStorageDir.getPath() + File.separator +
"IMG_"+ timeStamp + ".raw10");
break;
+ case ImageFormat.DEPTH16:
+ mediaFile = new File(mediaStorageDir.getPath() + File.separator +
+ "IMG_"+ timeStamp + "_depth.png");
+ case ImageFormat.DEPTH_POINT_CLOUD:
+ mediaFile = new File(mediaStorageDir.getPath() + File.separator +
+ "IMG_"+ timeStamp + "_depth_points.txt");
+
}
return mediaFile;
