/*
 * Copyright (C) 2012 The Android Open Source Project
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

//#define LOG_NDEBUG 0
//#define LOG_NNDEBUG 0
#define LOG_TAG "EmulatedCamera2_Sensor"
#define ATRACE_TAG ATRACE_TAG_CAMERA

#ifdef LOG_NNDEBUG
#define ALOGVV(...) ALOGV(__VA_ARGS__)
#else
#define ALOGVV(...) ((void)0)
#endif

#include <log/log.h>
#include <utils/Trace.h>

#include "../EmulatedFakeCamera2.h"
#include "Sensor.h"
#include <cmath>
#include <cstdlib>
#include "system/camera_metadata.h"

namespace android {

//const nsecs_t Sensor::kExposureTimeRange[2] =
//    {1000L, 30000000000L} ; // 1 us - 30 sec
//const nsecs_t Sensor::kFrameDurationRange[2] =
//    {33331760L, 30000000000L}; // ~1/30 s - 30 sec
const nsecs_t Sensor::kExposureTimeRange[2] =
    {1000L, 300000000L} ; // 1 us - 0.3 sec
const nsecs_t Sensor::kFrameDurationRange[2] =
    {33331760L, 300000000L}; // ~1/30 s - 0.3 sec

const nsecs_t Sensor::kMinVerticalBlank = 10000L;

const uint8_t Sensor::kColorFilterArrangement =
    ANDROID_SENSOR_INFO_COLOR_FILTER_ARRANGEMENT_RGGB;

// Output image data characteristics
const uint32_t Sensor::kMaxRawValue = 4000;
const uint32_t Sensor::kBlackLevel  = 1000;

// Sensor sensitivity
const float Sensor::kSaturationVoltage      = 0.520f;
const uint32_t Sensor::kSaturationElectrons = 2000;
const float Sensor::kVoltsPerLuxSecond      = 0.100f;

const float Sensor::kElectronsPerLuxSecond =
        Sensor::kSaturationElectrons / Sensor::kSaturationVoltage
        * Sensor::kVoltsPerLuxSecond;

const float Sensor::kBaseGainFactor = (float)Sensor::kMaxRawValue /
            Sensor::kSaturationElectrons;

const float Sensor::kReadNoiseStddevBeforeGain = 1.177; // in electrons
const float Sensor::kReadNoiseStddevAfterGain =  2.100; // in digital counts
const float Sensor::kReadNoiseVarBeforeGain =
            Sensor::kReadNoiseStddevBeforeGain *
            Sensor::kReadNoiseStddevBeforeGain;
const float Sensor::kReadNoiseVarAfterGain =
            Sensor::kReadNoiseStddevAfterGain *
            Sensor::kReadNoiseStddevAfterGain;

const int32_t Sensor::kSensitivityRange[2] = {100, 1600};
const uint32_t Sensor::kDefaultSensitivity = 100;


/** A few utility functions for math, normal distributions */

// Take advantage of IEEE floating-point format to calculate an approximate
// square root. Accurate to within +-3.6%
float sqrtf_approx(float r) {
    // Modifier is based on IEEE floating-point representation; the
    // manipulations boil down to finding approximate log2, dividing by two, and
    // then inverting the log2. A bias is added to make the relative error
    // symmetric about the real answer.
    const int32_t modifier = 0x1FBB4000;

    int32_t r_i = *(int32_t*)(&r);
    r_i = (r_i >> 1) + modifier;

    return *(float*)(&r_i);
}



Sensor::Sensor(uint32_t width, uint32_t height):
        Thread(false),
        mResolution{width, height},
        mActiveArray{0, 0, width, height},
        mRowReadoutTime(kFrameDurationRange[0] / height),
        mGotVSync(false),
        mExposureTime(kFrameDurationRange[0]-kMinVerticalBlank),
        mFrameDuration(kFrameDurationRange[0]),
        mGainFactor(kDefaultSensitivity),
        mNextBuffers(NULL),
        mFrameNumber(0),
        mCapturedBuffers(NULL),
        mListener(NULL),
        mSceneWidth((width < Scene::kMaxWidth) ? width : Scene::kMaxWidth),
        mSceneHeight((height < Scene::kMaxHeight) ? height : Scene::kMaxHeight),
        mScene(mSceneWidth, mSceneHeight, kElectronsPerLuxSecond)
{
    ALOGV("Sensor created with pixel array %d x %d", width, height);
}

Sensor::~Sensor() {
    shutDown();
}

status_t Sensor::startUp() {
    ALOGV("%s: E", __FUNCTION__);

    int res;
    mCapturedBuffers = NULL;
    res = run("EmulatedFakeCamera2::Sensor",
            ANDROID_PRIORITY_URGENT_DISPLAY);

    if (res != OK) {
        ALOGE("Unable to start up sensor capture thread: %d", res);
    }
    return res;
}

status_t Sensor::shutDown() {
    ALOGV("%s: E", __FUNCTION__);

    int res;
    res = requestExitAndWait();
    if (res != OK) {
        ALOGE("Unable to shut down sensor capture thread: %d", res);
    }
    return res;
}

Scene &Sensor::getScene() {
    return mScene;
}

void Sensor::setExposureTime(uint64_t ns) {
    Mutex::Autolock lock(mControlMutex);
    ALOGVV("Exposure set to %f", ns/1000000.f);
    mExposureTime = ns;
}

void Sensor::setFrameDuration(uint64_t ns) {
    Mutex::Autolock lock(mControlMutex);
    ALOGVV("Frame duration set to %f", ns/1000000.f);
    mFrameDuration = ns;
}

void Sensor::setSensitivity(uint32_t gain) {
    Mutex::Autolock lock(mControlMutex);
    ALOGVV("Gain set to %d", gain);
    mGainFactor = gain;
}

void Sensor::setDestinationBuffers(Buffers *buffers) {
    Mutex::Autolock lock(mControlMutex);
    mNextBuffers = buffers;
}

void Sensor::setFrameNumber(uint32_t frameNumber) {
    Mutex::Autolock lock(mControlMutex);
    mFrameNumber = frameNumber;
}

bool Sensor::waitForVSync(nsecs_t reltime) {
    int res;
    Mutex::Autolock lock(mControlMutex);

    mGotVSync = false;
    res = mVSync.waitRelative(mControlMutex, reltime);
    if (res != OK && res != TIMED_OUT) {
        ALOGE("%s: Error waiting for VSync signal: %d", __FUNCTION__, res);
        return false;
    }
    return mGotVSync;
}

bool Sensor::waitForNewFrame(nsecs_t reltime,
        nsecs_t *captureTime) {
    Mutex::Autolock lock(mReadoutMutex);
    if (mCapturedBuffers == NULL) {
        int res;
        res = mReadoutAvailable.waitRelative(mReadoutMutex, reltime);
        if (res == TIMED_OUT) {
            return false;
        } else if (res != OK || mCapturedBuffers == NULL) {
            ALOGE("Error waiting for sensor readout signal: %d", res);
            return false;
        }
    }
    mReadoutComplete.signal();

    *captureTime = mCaptureTime;
    mCapturedBuffers = NULL;
    return true;
}

Sensor::SensorListener::~SensorListener() {
}

void Sensor::setSensorListener(SensorListener *listener) {
    Mutex::Autolock lock(mControlMutex);
    mListener = listener;
}

status_t Sensor::readyToRun() {
    ALOGV("Starting up sensor thread");
    mStartupTime = systemTime();
    mNextCaptureTime = 0;
    mNextCapturedBuffers = NULL;
    return OK;
}

bool Sensor::threadLoop() {
    ATRACE_CALL();
    /**
     * Sensor capture operation main loop.
     *
     * Stages are out-of-order relative to a single frame's processing, but
     * in-order in time.
     */

    /**
     * Stage 1: Read in latest control parameters
     */
    uint64_t exposureDuration;
    uint64_t frameDuration;
    uint32_t gain;
    Buffers *nextBuffers;
    uint32_t frameNumber;
    SensorListener *listener = NULL;
    {
        Mutex::Autolock lock(mControlMutex);
        exposureDuration = mExposureTime;
        frameDuration    = mFrameDuration;
        gain             = mGainFactor;
        nextBuffers      = mNextBuffers;
        frameNumber      = mFrameNumber;
        listener         = mListener;
        // Don't reuse a buffer set
        mNextBuffers = NULL;

        // Signal VSync for start of readout
        ALOGVV("Sensor VSync");
        mGotVSync = true;
        mVSync.signal();
    }

    /**
     * Stage 3: Read out latest captured image
     */

    Buffers *capturedBuffers = NULL;
    nsecs_t captureTime = 0;

    nsecs_t startRealTime  = systemTime();
    // Stagefright cares about system time for timestamps, so base simulated
    // time on that.
    nsecs_t simulatedTime    = startRealTime;
    nsecs_t frameEndRealTime = startRealTime + frameDuration;

    if (mNextCapturedBuffers != NULL) {
        ALOGVV("Sensor starting readout");
        // Pretend we're doing readout now; will signal once enough time has elapsed
        capturedBuffers = mNextCapturedBuffers;
        captureTime    = mNextCaptureTime;
    }
    simulatedTime += mRowReadoutTime + kMinVerticalBlank;

    // TODO: Move this signal to another thread to simulate readout
    // time properly
    if (capturedBuffers != NULL) {
        ALOGVV("Sensor readout complete");
        Mutex::Autolock lock(mReadoutMutex);
        if (mCapturedBuffers != NULL) {
            ALOGV("Waiting for readout thread to catch up!");
            mReadoutComplete.wait(mReadoutMutex);
        }

        mCapturedBuffers = capturedBuffers;
        mCaptureTime = captureTime;
        mReadoutAvailable.signal();
        capturedBuffers = NULL;
    }

    /**
     * Stage 2: Capture new image
     */
    mNextCaptureTime = simulatedTime;
    mNextCapturedBuffers = nextBuffers;

    if (mNextCapturedBuffers != NULL) {
        if (listener != NULL) {
            listener->onSensorEvent(frameNumber, SensorListener::EXPOSURE_START,
                    mNextCaptureTime);
        }
        ALOGVV("Starting next capture: Exposure: %f ms, gain: %d",
                (float)exposureDuration/1e6, gain);
        mScene.setExposureDuration((float)exposureDuration/1e9);
        mScene.calculateScene(mNextCaptureTime);

        // Might be adding more buffers, so size isn't constant
        for (size_t i = 0; i < mNextCapturedBuffers->size(); i++) {
            const StreamBuffer &b = (*mNextCapturedBuffers)[i];
            ALOGVV("Sensor capturing buffer %d: stream %d,"
                    " %d x %d, format %x, stride %d, buf %p, img %p",
                    i, b.streamId, b.width, b.height, b.format, b.stride,
                    b.buffer, b.img);
            switch(b.format) {
                case HAL_PIXEL_FORMAT_RAW16:
                    captureRaw(b.img, gain, b.stride);
                    break;
                case HAL_PIXEL_FORMAT_RGB_888:
                    captureRGB(b.img, gain, b.width, b.height);
                    break;
                case HAL_PIXEL_FORMAT_RGBA_8888:
                    captureRGBA(b.img, gain, b.width, b.height);
                    break;
                case HAL_PIXEL_FORMAT_BLOB:
                    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_YCbCr_420_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_YCbCr_420_888:
                    captureYU12(b.img, gain, b.width, b.height);
                   break;
                case HAL_PIXEL_FORMAT_YV12:
                    // TODO:
                    ALOGE("%s: Format %x is TODO", __FUNCTION__, b.format);
                    break;
                case HAL_PIXEL_FORMAT_Y16:
                    captureDepth(b.img, gain, b.width, b.height);
                    break;
                default:
                    ALOGE("%s: Unknown format %x, no output", __FUNCTION__,
                            b.format);
                    break;
            }
        }
    }

    ALOGVV("Sensor vertical blanking interval");
    nsecs_t workDoneRealTime = systemTime();
    const nsecs_t timeAccuracy = 2e6; // 2 ms of imprecision is ok
    if (workDoneRealTime < frameEndRealTime - timeAccuracy) {
        timespec t;
        t.tv_sec = (frameEndRealTime - workDoneRealTime)  / 1000000000L;
        t.tv_nsec = (frameEndRealTime - workDoneRealTime) % 1000000000L;

        int ret;
        do {
            ret = nanosleep(&t, &t);
        } while (ret != 0);
    }
    ALOGVV("Frame cycle took %d ms, target %d ms",
            (int)((systemTime() - startRealTime)/1000000),
            (int)(frameDuration / 1000000));
    return true;
};

void Sensor::captureRaw(uint8_t *img, uint32_t gain, uint32_t stride) {
    ATRACE_CALL();
    float totalGain = gain/100.0 * kBaseGainFactor;
    float noiseVarGain =  totalGain * totalGain;
    float readNoiseVar = kReadNoiseVarBeforeGain * noiseVarGain
            + kReadNoiseVarAfterGain;

    int bayerSelect[4] = {Scene::R, Scene::Gr, Scene::Gb, Scene::B}; // RGGB
    mScene.setReadoutPixel(0,0);
    for (unsigned int y = 0; y < mResolution[1]; y++ ) {
        int *bayerRow = bayerSelect + (y & 0x1) * 2;
        uint16_t *px = (uint16_t*)img + y * stride;
        for (unsigned int x = 0; x < mResolution[0]; x++) {
            uint32_t electronCount;
            electronCount = mScene.getPixelElectrons()[bayerRow[x & 0x1]];

            // TODO: Better pixel saturation curve?
            electronCount = (electronCount < kSaturationElectrons) ?
                    electronCount : kSaturationElectrons;

            // TODO: Better A/D saturation curve?
            uint16_t rawCount = electronCount * totalGain;
            rawCount = (rawCount < kMaxRawValue) ? rawCount : kMaxRawValue;

            // Calculate noise value
            // TODO: Use more-correct Gaussian instead of uniform noise
            float photonNoiseVar = electronCount * noiseVarGain;
            float noiseStddev = sqrtf_approx(readNoiseVar + photonNoiseVar);
            // Scaled to roughly match gaussian/uniform noise stddev
            float noiseSample = std::rand() * (2.5 / (1.0 + RAND_MAX)) - 1.25;

            rawCount += kBlackLevel;
            rawCount += noiseStddev * noiseSample;

            *px++ = rawCount;
        }
        // TODO: Handle this better
        //simulatedTime += mRowReadoutTime;
    }
    ALOGVV("Raw sensor image captured");
}

void Sensor::captureRGBA(uint8_t *img, uint32_t gain, uint32_t width, uint32_t height) {
    ATRACE_CALL();
    float totalGain = gain/100.0 * kBaseGainFactor;
    // In fixed-point math, calculate total scaling from electrons to 8bpp
    int scale64x = 64 * totalGain * 255 / kMaxRawValue;
    unsigned int DivH= (float)mSceneHeight/height * (0x1 << 10);
    unsigned int DivW = (float)mSceneWidth/width * (0x1 << 10);

    for (unsigned int outY = 0; outY < height; outY++) {
        unsigned int y = outY * DivH >> 10;
        uint8_t *px = img + outY * width * 4;
        mScene.setReadoutPixel(0, y);
        unsigned int lastX = 0;
        const uint32_t *pixel = mScene.getPixelElectrons();
        for (unsigned int outX = 0; outX < width; outX++) {
            uint32_t rCount, gCount, bCount;
            unsigned int x = outX * DivW >> 10;
            if (x - lastX > 0) {
                for (unsigned int k = 0; k < (x-lastX); k++) {
                     pixel = mScene.getPixelElectrons();
                }
            }
            lastX = x;
            // TODO: Perfect demosaicing is a cheat
            rCount = pixel[Scene::R]  * scale64x;
            gCount = pixel[Scene::Gr] * scale64x;
            bCount = pixel[Scene::B]  * scale64x;

            *px++ = rCount < 255*64 ? rCount / 64 : 255;
            *px++ = gCount < 255*64 ? gCount / 64 : 255;
            *px++ = bCount < 255*64 ? bCount / 64 : 255;
            *px++ = 255;
         }
        // TODO: Handle this better
        //simulatedTime += mRowReadoutTime;
    }
    ALOGVV("RGBA sensor image captured");
}

void Sensor::captureRGB(uint8_t *img, uint32_t gain, uint32_t width, uint32_t height) {
    ATRACE_CALL();
    float totalGain = gain/100.0 * kBaseGainFactor;
    // In fixed-point math, calculate total scaling from electrons to 8bpp
    int scale64x = 64 * totalGain * 255 / kMaxRawValue;
    unsigned int DivH= (float)mSceneHeight/height * (0x1 << 10);
    unsigned int DivW = (float)mSceneWidth/width * (0x1 << 10);

    for (unsigned int outY = 0; outY < height; outY++) {
        unsigned int y = outY * DivH >> 10;
        uint8_t *px = img + outY * width * 3;
        mScene.setReadoutPixel(0, y);
        unsigned int lastX = 0;
        const uint32_t *pixel = mScene.getPixelElectrons();
        for (unsigned int outX = 0; outX < width; outX++) {
            uint32_t rCount, gCount, bCount;
            unsigned int x = outX * DivW >> 10;
            if (x - lastX > 0) {
                for (unsigned int k = 0; k < (x-lastX); k++) {
                    pixel = mScene.getPixelElectrons();
                }
            }
            lastX = x;
           // TODO: Perfect demosaicing is a cheat
            rCount = pixel[Scene::R]  * scale64x;
            gCount = pixel[Scene::Gr] * scale64x;
            bCount = pixel[Scene::B]  * scale64x;

            *px++ = rCount < 255*64 ? rCount / 64 : 255;
            *px++ = gCount < 255*64 ? gCount / 64 : 255;
            *px++ = bCount < 255*64 ? bCount / 64 : 255;
         }
    }
    ALOGVV("RGB sensor image captured");
}

void Sensor::captureYU12(uint8_t *img, uint32_t gain, uint32_t width, uint32_t height) {
    ATRACE_CALL();
    float totalGain = gain/100.0 * kBaseGainFactor;
    // Using fixed-point math with 6 bits of fractional precision.
    // In fixed-point math, calculate total scaling from electrons to 8bpp
    const int scale64x = 64 * totalGain * 255 / kMaxRawValue;
    // In fixed-point math, saturation point of sensor after gain
    const int saturationPoint = 64 * 255;
    // Fixed-point coefficients for RGB-YUV transform
    // Based on JFIF RGB->YUV transform.
    // Cb/Cr offset scaled by 64x twice since they're applied post-multiply
    float rgbToY[]  = {19.0, 37.0, 7.0, 0.0};
    float rgbToCb[] = {-10.0,-21.0, 32.0, 524288.0};
    float rgbToCr[] = {32.0,-26.0, -5.0, 524288.0};
    // Scale back to 8bpp non-fixed-point
    const int scaleOut = 64;
    const int scaleOutSq = scaleOut * scaleOut; // after multiplies
    const double invscaleOutSq = 1.0/scaleOutSq;
    for (int i=0; i < 4; ++i) {
        rgbToY[i] *= invscaleOutSq;
        rgbToCb[i] *= invscaleOutSq;
        rgbToCr[i] *= invscaleOutSq;
    }

    unsigned int DivH= (float)mSceneHeight/height * (0x1 << 10);
    unsigned int DivW = (float)mSceneWidth/width * (0x1 << 10);
    for (unsigned int outY = 0; outY < height; outY++) {
        unsigned int y = outY * DivH >> 10;
        uint8_t *pxY = img + outY * width;
        uint8_t *pxU = img + height * width + (outY / 2) * (width / 2);
        uint8_t *pxV = pxU + (height / 2) * (width / 2);
        mScene.setReadoutPixel(0, y);
        unsigned int lastX = 0;
        const uint32_t *pixel = mScene.getPixelElectrons();
         for (unsigned int outX = 0; outX < width; outX++) {
            int32_t rCount, gCount, bCount;
            unsigned int x = outX * DivW >> 10;
            if (x - lastX > 0) {
                for (unsigned int k = 0; k < (x-lastX); k++) {
                     pixel = mScene.getPixelElectrons();
                }
            }
            lastX = x;
            rCount = pixel[Scene::R]  * scale64x;
            rCount = rCount < saturationPoint ? rCount : saturationPoint;
            gCount = pixel[Scene::Gr] * scale64x;
            gCount = gCount < saturationPoint ? gCount : saturationPoint;
            bCount = pixel[Scene::B]  * scale64x;
            bCount = bCount < saturationPoint ? bCount : saturationPoint;
            *pxY++ = (rgbToY[0] * rCount + rgbToY[1] * gCount + rgbToY[2] * bCount);
            if (outY % 2 == 0 && outX % 2 == 0) {
                *pxV++ = (rgbToCr[0] * rCount + rgbToCr[1] * gCount + rgbToCr[2] * bCount + rgbToCr[3]);
                *pxU++ = (rgbToCb[0] * rCount + rgbToCb[1] * gCount + rgbToCb[2] * bCount + rgbToCb[3]);
            }
        }
    }
    ALOGVV("YU21 sensor image captured");
}

void Sensor::captureDepth(uint8_t *img, uint32_t gain, uint32_t width, uint32_t height) {
    ATRACE_CALL();
    float totalGain = gain/100.0 * kBaseGainFactor;
    // In fixed-point math, calculate scaling factor to 13bpp millimeters
    int scale64x = 64 * totalGain * 8191 / kMaxRawValue;
    unsigned int DivH= (float)mSceneHeight/height * (0x1 << 10);
    unsigned int DivW = (float)mSceneWidth/width * (0x1 << 10);

    for (unsigned int outY = 0; outY < height; outY++) {
        unsigned int y = outY * DivH >> 10;
        uint16_t *px = ((uint16_t*)img) + outY * width;
        mScene.setReadoutPixel(0, y);
        unsigned int lastX = 0;
        const uint32_t *pixel = mScene.getPixelElectrons();
        for (unsigned int outX = 0; outX < width; outX++) {
            uint32_t depthCount;
            unsigned int x = outX * DivW >> 10;
            if (x - lastX > 0) {
                for (unsigned int k = 0; k < (x-lastX); k++) {
                     pixel = mScene.getPixelElectrons();
                }
            }
            lastX = x;
            depthCount = pixel[Scene::Gr] * scale64x;
            *px++ = depthCount < 8191*64 ? depthCount / 64 : 0;
        }
        // TODO: Handle this better
        //simulatedTime += mRowReadoutTime;
    }
    ALOGVV("Depth sensor image captured");
}

void Sensor::captureDepthCloud(uint8_t *img) {
    ATRACE_CALL();
    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