diff options
Diffstat (limited to 'camera/fake-pipeline2/Sensor.cpp')
| -rw-r--r-- | camera/fake-pipeline2/Sensor.cpp | 90 |
1 files changed, 77 insertions, 13 deletions
diff --git a/camera/fake-pipeline2/Sensor.cpp b/camera/fake-pipeline2/Sensor.cpp index ac3961f..61c7f28 100644 --- a/camera/fake-pipeline2/Sensor.cpp +++ b/camera/fake-pipeline2/Sensor.cpp @@ -339,19 +339,23 @@ bool Sensor::threadLoop() { captureRGBA(b.img, gain, b.stride); break; case HAL_PIXEL_FORMAT_BLOB: - // Add auxillary buffer of the right size - // Assumes only one BLOB (JPEG) buffer in - // mNextCapturedBuffers - StreamBuffer bAux; - bAux.streamId = 0; - bAux.width = b.width; - bAux.height = b.height; - bAux.format = HAL_PIXEL_FORMAT_RGB_888; - bAux.stride = b.width; - bAux.buffer = NULL; - // TODO: Reuse these - bAux.img = new uint8_t[b.width * b.height * 3]; - mNextCapturedBuffers->push_back(bAux); + if (b.dataSpace != HAL_DATASPACE_DEPTH) { + // Add auxillary buffer of the right size + // Assumes only one BLOB (JPEG) buffer in + // mNextCapturedBuffers + StreamBuffer bAux; + bAux.streamId = 0; + bAux.width = b.width; + bAux.height = b.height; + bAux.format = HAL_PIXEL_FORMAT_RGB_888; + bAux.stride = b.width; + bAux.buffer = NULL; + // TODO: Reuse these + bAux.img = new uint8_t[b.width * b.height * 3]; + mNextCapturedBuffers->push_back(bAux); + } else { + captureDepthCloud(b.img); + } break; case HAL_PIXEL_FORMAT_YCrCb_420_SP: captureNV21(b.img, gain, b.stride); @@ -360,6 +364,9 @@ bool Sensor::threadLoop() { // TODO: ALOGE("%s: Format %x is TODO", __FUNCTION__, b.format); break; + case HAL_PIXEL_FORMAT_Y16: + captureDepth(b.img, gain, b.stride); + break; default: ALOGE("%s: Unknown format %x, no output", __FUNCTION__, b.format); @@ -543,4 +550,61 @@ void Sensor::captureNV21(uint8_t *img, uint32_t gain, uint32_t stride) { ALOGVV("NV21 sensor image captured"); } +void Sensor::captureDepth(uint8_t *img, uint32_t gain, uint32_t stride) { + float totalGain = gain/100.0 * kBaseGainFactor; + // In fixed-point math, calculate scaling factor to 13bpp millimeters + int scale64x = 64 * totalGain * 8191 / kMaxRawValue; + uint32_t inc = kResolution[0] / stride; + + for (unsigned int y = 0, outY = 0; y < kResolution[1]; y += inc, outY++ ) { + mScene.setReadoutPixel(0, y); + uint16_t *px = ((uint16_t*)img) + outY * stride; + for (unsigned int x = 0; x < kResolution[0]; x += inc) { + uint32_t depthCount; + // TODO: Make up real depth scene instead of using green channel + // as depth + const uint32_t *pixel = mScene.getPixelElectrons(); + depthCount = pixel[Scene::Gr] * scale64x; + + *px++ = depthCount < 8191*64 ? depthCount / 64 : 0; + for (unsigned int j = 1; j < inc; j++) + mScene.getPixelElectrons(); + } + // TODO: Handle this better + //simulatedTime += kRowReadoutTime; + } + ALOGVV("Depth sensor image captured"); +} + +void Sensor::captureDepthCloud(uint8_t *img) { + + android_depth_points *cloud = reinterpret_cast<android_depth_points*>(img); + + cloud->num_points = 16; + + // TODO: Create point cloud values that match RGB scene + const int FLOATS_PER_POINT = 4; + const float JITTER_STDDEV = 0.1f; + for (size_t y = 0, i = 0; y < 4; y++) { + for (size_t x = 0; x < 4; x++, i++) { + float randSampleX = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f; + randSampleX *= JITTER_STDDEV; + + float randSampleY = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f; + randSampleY *= JITTER_STDDEV; + + float randSampleZ = std::rand() * (2.5f / (1.0f + RAND_MAX)) - 1.25f; + randSampleZ *= JITTER_STDDEV; + + cloud->xyzc_points[i * FLOATS_PER_POINT + 0] = x - 1.5f + randSampleX; + cloud->xyzc_points[i * FLOATS_PER_POINT + 1] = y - 1.5f + randSampleY; + cloud->xyzc_points[i * FLOATS_PER_POINT + 2] = 3.f + randSampleZ; + cloud->xyzc_points[i * FLOATS_PER_POINT + 3] = 0.8f; + } + } + + ALOGVV("Depth point cloud captured"); + +} + } // namespace android |