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Graphics depth formats: Add confidence values 

Supplement the dense and sparse depth image formats with
confidence values.

For {HAL_PIXEL_FORMAT_Y_16, HAL_DATASPACE_DEPTH}, use the 3 MSBs
for confidence.

For {HAL_PIXEL_FORMAT_BLOB, HAL_DATASPACE_DEPTH}, add a 4th float
value for confidence.

Bug: 20123879
Change-Id: Idc27081efec682a712ce77ccfec59328f298b944
This commit is contained in:
Eino-Ville Talvala 2015-05-21 15:17:05 -07:00
parent 91cf41cf43
commit 20651b5c7d
1 changed files with 29 additions and 13 deletions
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42
include/system/graphics.h
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@ -147,7 +147,8 @@ enum {
* 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,
@ -481,25 +482,31 @@ struct android_ycbcr {
* 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 {
@ -508,7 +515,7 @@ 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[];
};
/**
@ -730,9 +737,18 @@ typedef enum android_dataspace {
/*
* 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.
*/