Camera: Adjust intrinsic transform coordinate system.
Needs to be in the pre-correction active array coordinates
for consistency.
Bug: 20491394
Change-Id: I7a28499fec59219a0f8d85c1fc37867aed90f4c0
diff --git a/core/java/android/hardware/camera2/CameraCharacteristics.java b/core/java/android/hardware/camera2/CameraCharacteristics.java
index 152bc22..27d14b3 100644
--- a/core/java/android/hardware/camera2/CameraCharacteristics.java
+++ b/core/java/android/hardware/camera2/CameraCharacteristics.java
@@ -1093,14 +1093,28 @@
* <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 @@
* {@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 @@
*
* @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 =
diff --git a/core/java/android/hardware/camera2/CaptureResult.java b/core/java/android/hardware/camera2/CaptureResult.java
index 479583c..da216aa 100644
--- a/core/java/android/hardware/camera2/CaptureResult.java
+++ b/core/java/android/hardware/camera2/CaptureResult.java
@@ -2655,14 +2655,28 @@
* <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 =
