Camera2: Add DEPTH_OUTPUT capability verification
Verify DEPTH_OUTPUT-capable devices have necessary
static characteristics included, and do some basic sanity checks of their values.
Also cross-check that DEPTH_OUTPUT is listed when the necessary
characteristics and outputs are supported
Bug: 20537722
Change-Id: Idd3cffce3d4ec578815631be687c68d7cce35745
diff --git a/tests/tests/hardware/src/android/hardware/camera2/cts/CaptureResultTest.java b/tests/tests/hardware/src/android/hardware/camera2/cts/CaptureResultTest.java
index b752c07..dc499ba 100644
--- a/tests/tests/hardware/src/android/hardware/camera2/cts/CaptureResultTest.java
+++ b/tests/tests/hardware/src/android/hardware/camera2/cts/CaptureResultTest.java
@@ -748,10 +748,10 @@
resultKeys.add(CaptureResult.LENS_OPTICAL_STABILIZATION_MODE);
resultKeys.add(CaptureResult.LENS_POSE_ROTATION);
resultKeys.add(CaptureResult.LENS_POSE_TRANSLATION);
- resultKeys.add(CaptureResult.LENS_INTRINSIC_CALIBRATION);
- resultKeys.add(CaptureResult.LENS_RADIAL_DISTORTION);
resultKeys.add(CaptureResult.LENS_FOCUS_RANGE);
resultKeys.add(CaptureResult.LENS_STATE);
+ resultKeys.add(CaptureResult.LENS_INTRINSIC_CALIBRATION);
+ resultKeys.add(CaptureResult.LENS_RADIAL_DISTORTION);
resultKeys.add(CaptureResult.NOISE_REDUCTION_MODE);
resultKeys.add(CaptureResult.REQUEST_PIPELINE_DEPTH);
resultKeys.add(CaptureResult.SCALER_CROP_REGION);
diff --git a/tests/tests/hardware/src/android/hardware/camera2/cts/ExtendedCameraCharacteristicsTest.java b/tests/tests/hardware/src/android/hardware/camera2/cts/ExtendedCameraCharacteristicsTest.java
index 80cd288..6d62067 100644
--- a/tests/tests/hardware/src/android/hardware/camera2/cts/ExtendedCameraCharacteristicsTest.java
+++ b/tests/tests/hardware/src/android/hardware/camera2/cts/ExtendedCameraCharacteristicsTest.java
@@ -738,6 +738,157 @@
}
/**
+ * Check depth output capability
+ */
+ public void testDepthOutputCharacteristics() {
+ int counter = 0;
+
+ for (CameraCharacteristics c : mCharacteristics) {
+ Log.i(TAG, "testDepthOutputCharacteristics: Testing camera ID " + mIds[counter]);
+
+ int[] capabilities = c.get(CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES);
+ assertNotNull("android.request.availableCapabilities must never be null",
+ capabilities);
+ boolean supportDepth = arrayContains(capabilities,
+ CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT);
+ StreamConfigurationMap configs =
+ c.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP);
+
+ int[] outputFormats = configs.getOutputFormats();
+ boolean hasDepth16 = arrayContains(outputFormats, ImageFormat.DEPTH16);
+
+ Boolean depthIsExclusive = c.get(CameraCharacteristics.DEPTH_DEPTH_IS_EXCLUSIVE);
+
+ float[] poseRotation = c.get(CameraCharacteristics.LENS_POSE_ROTATION);
+ float[] poseTranslation = c.get(CameraCharacteristics.LENS_POSE_TRANSLATION);
+ float[] cameraIntrinsics = c.get(CameraCharacteristics.LENS_INTRINSIC_CALIBRATION);
+ float[] radialDistortion = c.get(CameraCharacteristics.LENS_RADIAL_DISTORTION);
+
+ if (supportDepth) {
+ mCollector.expectTrue("Supports DEPTH_OUTPUT but does not support DEPTH16",
+ hasDepth16);
+ if (hasDepth16) {
+ Size[] depthSizes = configs.getOutputSizes(ImageFormat.DEPTH16);
+ mCollector.expectTrue("Supports DEPTH_OUTPUT but no sizes for DEPTH16 supported!",
+ depthSizes != null && depthSizes.length > 0);
+ if (depthSizes != null) {
+ for (Size depthSize : depthSizes) {
+ mCollector.expectTrue("All depth16 sizes must be positive",
+ depthSize.getWidth() > 0 && depthSize.getHeight() > 0);
+ long minFrameDuration = configs.getOutputMinFrameDuration(
+ ImageFormat.DEPTH16, depthSize);
+ mCollector.expectTrue("Non-negative min frame duration for depth size "
+ + depthSize + " expected, got " + minFrameDuration,
+ minFrameDuration >= 0);
+ long stallDuration = configs.getOutputStallDuration(
+ ImageFormat.DEPTH16, depthSize);
+ mCollector.expectTrue("Non-negative stall duration for depth size "
+ + depthSize + " expected, got " + stallDuration,
+ stallDuration >= 0);
+ }
+ }
+ }
+ if (arrayContains(outputFormats, ImageFormat.DEPTH_POINT_CLOUD)) {
+ Size[] depthCloudSizes = configs.getOutputSizes(ImageFormat.DEPTH_POINT_CLOUD);
+ mCollector.expectTrue("Supports DEPTH_POINT_CLOUD " +
+ "but no sizes for DEPTH_POINT_CLOUD supported!",
+ depthCloudSizes != null && depthCloudSizes.length > 0);
+ if (depthCloudSizes != null) {
+ for (Size depthCloudSize : depthCloudSizes) {
+ mCollector.expectTrue("All depth point cloud sizes must be nonzero",
+ depthCloudSize.getWidth() > 0);
+ mCollector.expectTrue("All depth point cloud sizes must be N x 1",
+ depthCloudSize.getHeight() == 1);
+ long minFrameDuration = configs.getOutputMinFrameDuration(
+ ImageFormat.DEPTH_POINT_CLOUD, depthCloudSize);
+ mCollector.expectTrue("Non-negative min frame duration for depth size "
+ + depthCloudSize + " expected, got " + minFrameDuration,
+ minFrameDuration >= 0);
+ long stallDuration = configs.getOutputStallDuration(
+ ImageFormat.DEPTH_POINT_CLOUD, depthCloudSize);
+ mCollector.expectTrue("Non-negative stall duration for depth size "
+ + depthCloudSize + " expected, got " + stallDuration,
+ stallDuration >= 0);
+ }
+ }
+ }
+
+ mCollector.expectTrue("Supports DEPTH_OUTPUT but DEPTH_IS_EXCLUSIVE is not defined",
+ depthIsExclusive != null);
+
+ mCollector.expectTrue(
+ "Supports DEPTH_OUTPUT but LENS_POSE_ROTATION not right size",
+ poseRotation != null && poseRotation.length == 4);
+ mCollector.expectTrue(
+ "Supports DEPTH_OUTPUT but LENS_POSE_TRANSLATION not right size",
+ poseTranslation != null && poseTranslation.length == 3);
+ mCollector.expectTrue(
+ "Supports DEPTH_OUTPUT but LENS_INTRINSIC_CALIBRATION not right size",
+ cameraIntrinsics != null && cameraIntrinsics.length == 5);
+ mCollector.expectTrue(
+ "Supports DEPTH_OUTPUT but LENS_RADIAL_DISTORTION not right size",
+ radialDistortion != null && radialDistortion.length == 6);
+
+ if (poseRotation != null && poseRotation.length == 4) {
+ float normSq =
+ poseRotation[0] * poseRotation[0] +
+ poseRotation[1] * poseRotation[1] +
+ poseRotation[2] * poseRotation[2] +
+ poseRotation[3] * poseRotation[3];
+ mCollector.expectTrue(
+ "LENS_POSE_ROTATION quarternion must be unit-length",
+ 0.9999f < normSq && normSq < 1.0001f);
+
+ // TODO: Cross-validate orientation/facing and poseRotation
+ Integer orientation = c.get(CameraCharacteristics.SENSOR_ORIENTATION);
+ Integer facing = c.get(CameraCharacteristics.LENS_FACING);
+ }
+
+ if (poseTranslation != null && poseTranslation.length == 3) {
+ float normSq =
+ poseTranslation[0] * poseTranslation[0] +
+ poseTranslation[1] * poseTranslation[1] +
+ poseTranslation[2] * poseTranslation[2];
+ mCollector.expectTrue("Pose translation is larger than 1 m",
+ normSq < 1.f);
+ }
+
+ Rect precorrectionArray =
+ c.get(CameraCharacteristics.SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE);
+ mCollector.expectTrue("Supports DEPTH_OUTPUT but does not have " +
+ "precorrection active array defined", precorrectionArray != null);
+
+ if (cameraIntrinsics != null && precorrectionArray != null) {
+ float fx = cameraIntrinsics[0];
+ float fy = cameraIntrinsics[1];
+ float cx = cameraIntrinsics[2];
+ float cy = cameraIntrinsics[3];
+ float s = cameraIntrinsics[4];
+ mCollector.expectTrue("Optical center expected to be within precorrection array",
+ 0 <= cx && cx < precorrectionArray.width() &&
+ 0 <= cy && cy < precorrectionArray.height());
+
+ // TODO: Verify focal lengths and skew are reasonable
+ }
+
+ if (radialDistortion != null) {
+ // TODO: Verify radial distortion
+ }
+
+ } else {
+ boolean hasFields =
+ hasDepth16 && (poseTranslation != null) &&
+ (poseRotation != null) && (cameraIntrinsics != null) &&
+ (radialDistortion != null) && (depthIsExclusive != null);
+
+ mCollector.expectTrue(
+ "All necessary depth fields defined, but DEPTH_OUTPUT capability is not listed",
+ !hasFields);
+ }
+ }
+ }
+
+ /**
* Cross-check StreamConfigurationMap output
*/
public void testStreamConfigurationMap() throws Exception {
diff --git a/tests/tests/hardware/src/android/hardware/camera2/cts/StaticMetadataTest.java b/tests/tests/hardware/src/android/hardware/camera2/cts/StaticMetadataTest.java
index 4415ecc..3e3e81e 100644
--- a/tests/tests/hardware/src/android/hardware/camera2/cts/StaticMetadataTest.java
+++ b/tests/tests/hardware/src/android/hardware/camera2/cts/StaticMetadataTest.java
@@ -397,6 +397,9 @@
case REQUEST_AVAILABLE_CAPABILITIES_PRIVATE_REPROCESSING:
// Tested in ExtendedCameraCharacteristicsTest
return;
+ case REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT:
+ // Tested in ExtendedCameracharacteristicsTest
+ return;
default:
capabilityName = "Unknown";
assertTrue(String.format("Unknown capability set: %d", capability),
