diff --git a/media/extractors/mp4/MPEG4Extractor.cpp b/media/extractors/mp4/MPEG4Extractor.cpp
index 1a56edc..7b3b81d 100644
--- a/media/extractors/mp4/MPEG4Extractor.cpp
+++ b/media/extractors/mp4/MPEG4Extractor.cpp
@@ -1023,7 +1023,9 @@
                     break;
                 }
             }
-            mLastTrack->meta.setInt32(kKeyCryptoMode, mode);
+            if (mode != kCryptoModeUnencrypted) {
+                mLastTrack->meta.setInt32(kKeyCryptoMode, mode);
+            }
             break;
         }
 
diff --git a/media/libstagefright/codecs/xaacdec/SoftXAAC.cpp b/media/libstagefright/codecs/xaacdec/SoftXAAC.cpp
index b3aefa8..2dd7d69 100644
--- a/media/libstagefright/codecs/xaacdec/SoftXAAC.cpp
+++ b/media/libstagefright/codecs/xaacdec/SoftXAAC.cpp
@@ -44,7 +44,6 @@
 #define PROP_DRC_OVERRIDE_HEAVY      "aac_drc_heavy"
 #define PROP_DRC_OVERRIDE_ENC_LEVEL "aac_drc_enc_target_level"
 #define PROP_DRC_OVERRIDE_EFFECT_TYPE "ro.aac_drc_effect_type"
-#define PROP_DRC_OVERRIDE_LOUDNESS_LEVEL "aac_drc_loudness_level"
 
 #define MAX_CHANNEL_COUNT            8  /* maximum number of audio channels that can be decoded */
 
@@ -216,18 +215,8 @@
     RETURN_IF_NE(err_code, IA_NO_ERROR, err_code, "IA_ENHAACPLUS_DEC_CONFIG_PARAM_DRC_TARGET_LEVEL");
 #ifdef     ENABLE_MPEG_D_DRC
 
-    if (property_get(PROP_DRC_OVERRIDE_LOUDNESS_LEVEL, value, NULL))
-    {
-        ui_drc_val = atoi(value);
-        ALOGV("AAC decoder using desired DRC target reference level of %d instead of %d",ui_drc_val,
-                DRC_DEFAULT_MOBILE_LOUDNESS_LEVEL);
-    }
-    else
-    {
-        ui_drc_val= DRC_DEFAULT_MOBILE_LOUDNESS_LEVEL;
-    }
-
-
+    /* Use ui_drc_val from PROP_DRC_OVERRIDE_REF_LEVEL or DRC_DEFAULT_MOBILE_REF_LEVEL
+     * for IA_ENHAACPLUS_DEC_DRC_TARGET_LOUDNESS too */
     err_code = ixheaacd_dec_api(mXheaacCodecHandle,
                                 IA_API_CMD_SET_CONFIG_PARAM,
                                 IA_ENHAACPLUS_DEC_DRC_TARGET_LOUDNESS,
@@ -1330,30 +1319,6 @@
         IA_ENHAACPLUS_DEC_CONFIG_PARAM_SBR_MODE, &i_sbr_mode);
         RETURN_IF_NE(err_code, IA_NO_ERROR , err_code,"IA_ENHAACPLUS_DEC_CONFIG_PARAM_SBR_MODE");
 
-
-    if(i_sbr_mode!=0)
-    {
-        WORD32 frame_length;
-        if (i_sbr_mode==1)
-        {
-            frame_length=2048;
-        }
-        else if(i_sbr_mode==3)
-        {
-            frame_length=4096;
-        }
-        else
-        {
-            frame_length=1024;
-        }
-        err_code =
-            ia_drc_dec_api(mMpegDDrcHandle, IA_API_CMD_SET_CONFIG_PARAM,
-                IA_DRC_DEC_CONFIG_PARAM_FRAME_SIZE, &frame_length);
-        RETURN_IF_NE(err_code, IA_NO_ERROR, err_code, "IA_DRC_DEC_CONFIG_PARAM_FRAME_SIZE");
-
-    }
-
-
     err_code = ia_drc_dec_api(mMpegDDrcHandle, IA_API_CMD_INIT,
                               IA_CMD_TYPE_INIT_API_POST_CONFIG_PARAMS, NULL);
 
@@ -1528,6 +1493,33 @@
       if(mpegd_drc_present==1){
 
         WORD32 interface_is_present = 1;
+        WORD32 frame_length;
+
+        if(i_sbr_mode != 0)
+        {
+            if (i_sbr_mode == 1)
+            {
+                frame_length = 2048;
+            }
+            else if(i_sbr_mode == 3)
+            {
+                frame_length = 4096;
+            }
+            else
+            {
+                frame_length = 1024;
+            }
+        }
+        else
+        {
+            frame_length = 4096;
+        }
+
+        err_code =
+            ia_drc_dec_api(mMpegDDrcHandle, IA_API_CMD_SET_CONFIG_PARAM,
+                IA_DRC_DEC_CONFIG_PARAM_FRAME_SIZE, &frame_length);
+        RETURN_IF_NE(err_code, IA_NO_ERROR, err_code, "IA_DRC_DEC_CONFIG_PARAM_FRAME_SIZE");
+
 
 
         err_code = ia_drc_dec_api(
diff --git a/media/libstagefright/httplive/M3UParser.cpp b/media/libstagefright/httplive/M3UParser.cpp
index 9bdf895..52791b9 100644
--- a/media/libstagefright/httplive/M3UParser.cpp
+++ b/media/libstagefright/httplive/M3UParser.cpp
@@ -57,7 +57,7 @@
             const char *language,
             uint32_t flags);
 
-    bool getActiveURI(AString *uri) const;
+    bool getActiveURI(AString *uri, const char *baseURL) const;
 
     void pickRandomMediaItems();
     status_t selectTrack(size_t index, bool select);
@@ -76,6 +76,7 @@
         AString mURI;
         AString mLanguage;
         uint32_t mFlags;
+        AString makeURL(const char *baseURL) const;
     };
 
     Type mType;
@@ -228,12 +229,12 @@
     return format;
 }
 
-bool M3UParser::MediaGroup::getActiveURI(AString *uri) const {
+bool M3UParser::MediaGroup::getActiveURI(AString *uri, const char *baseURL) const {
     for (size_t i = 0; i < mMediaItems.size(); ++i) {
         if (mSelectedIndex >= 0 && i == (size_t)mSelectedIndex) {
             const Media &item = mMediaItems.itemAt(i);
 
-            *uri = item.mURI;
+            *uri = item.makeURL(baseURL);
             return true;
         }
     }
@@ -322,7 +323,7 @@
     }
 
     if (uri) {
-        *uri = mItems.itemAt(index).mURI;
+        *uri = mItems.itemAt(index).makeURL(mBaseURI.c_str());
     }
 
     if (meta) {
@@ -428,7 +429,7 @@
     AString groupID;
     if (!meta->findString(key, &groupID)) {
         if (uri != NULL) {
-            *uri = mItems.itemAt(index).mURI;
+            *uri = mItems.itemAt(index).makeURL(mBaseURI.c_str());
         }
 
         AString codecs;
@@ -459,7 +460,7 @@
     // don't care about the active URI (or if there is an active one)
     if (uri != NULL) {
         sp<MediaGroup> group = mMediaGroups.valueFor(groupID);
-        if (!group->getActiveURI(uri)) {
+        if (!group->getActiveURI(uri, mBaseURI.c_str())) {
             return false;
         }
 
@@ -548,6 +549,18 @@
     return true;
 }
 
+AString M3UParser::Item::makeURL(const char *baseURL) const {
+    AString out;
+    CHECK(MakeURL(baseURL, mURI.c_str(), &out));
+    return out;
+}
+
+AString M3UParser::MediaGroup::Media::makeURL(const char *baseURL) const {
+    AString out;
+    CHECK(MakeURL(baseURL, mURI.c_str(), &out));
+    return out;
+}
+
 status_t M3UParser::parse(const void *_data, size_t size) {
     int32_t lineNo = 0;
 
@@ -678,7 +691,7 @@
             mItems.push();
             Item *item = &mItems.editItemAt(mItems.size() - 1);
 
-            CHECK(MakeURL(mBaseURI.c_str(), line.c_str(), &item->mURI));
+            item->mURI = line;
 
             item->mMeta = itemMeta;
 
@@ -1190,9 +1203,7 @@
 
             AString tmp(val, 1, val.size() - 2);
 
-            if (!MakeURL(mBaseURI.c_str(), tmp.c_str(), &groupURI)) {
-                ALOGI("Failed to make absolute URI from '%s'.", tmp.c_str());
-            }
+            groupURI = tmp;
 
             haveGroupURI = true;
         }
diff --git a/media/libstagefright/httplive/M3UParser.h b/media/libstagefright/httplive/M3UParser.h
index fa648ed..c85335a 100644
--- a/media/libstagefright/httplive/M3UParser.h
+++ b/media/libstagefright/httplive/M3UParser.h
@@ -64,6 +64,7 @@
     struct Item {
         AString mURI;
         sp<AMessage> mMeta;
+        AString makeURL(const char *baseURL) const;
     };
 
     status_t mInitCheck;
diff --git a/media/libstagefright/id3/ID3.cpp b/media/libstagefright/id3/ID3.cpp
index f615500..a0a62f4 100644
--- a/media/libstagefright/id3/ID3.cpp
+++ b/media/libstagefright/id3/ID3.cpp
@@ -607,6 +607,9 @@
         // UCS-2
         // API wants number of characters, not number of bytes...
         int len = n / 2;
+        if (len == 0) {
+            return;
+        }
         const char16_t *framedata = (const char16_t *) (frameData + 1);
         char16_t *framedatacopy = NULL;
         if (*framedata == 0xfffe) {
diff --git a/media/libstagefright/omx/OMXNodeInstance.cpp b/media/libstagefright/omx/OMXNodeInstance.cpp
index cc67834..7d2c2dd 100644
--- a/media/libstagefright/omx/OMXNodeInstance.cpp
+++ b/media/libstagefright/omx/OMXNodeInstance.cpp
@@ -1077,7 +1077,8 @@
         }
 
         case OMXBuffer::kBufferTypeSharedMem: {
-            if (mPortMode[portIndex] != IOMX::kPortModePresetByteBuffer) {
+            if (mPortMode[portIndex] != IOMX::kPortModePresetByteBuffer
+                    && mPortMode[portIndex] != IOMX::kPortModeDynamicANWBuffer) {
                 break;
             }
             return useBuffer_l(portIndex, omxBuffer.mMem, NULL, buffer);
@@ -1092,7 +1093,8 @@
 
         case OMXBuffer::kBufferTypeHidlMemory: {
                 if (mPortMode[portIndex] != IOMX::kPortModePresetByteBuffer
-                        && mPortMode[portIndex] != IOMX::kPortModeDynamicANWBuffer) {
+                        && mPortMode[portIndex] != IOMX::kPortModeDynamicANWBuffer
+                        && mPortMode[portIndex] != IOMX::kPortModeDynamicNativeHandle) {
                     break;
                 }
                 sp<IHidlMemory> hidlMemory = mapMemory(omxBuffer.mHidlMemory);
@@ -1107,7 +1109,8 @@
             break;
     }
 
-    ALOGE("b/77486542");
+    ALOGE("b/77486542 : bufferType = %d vs. portMode = %d",
+          omxBuffer.mBufferType, mPortMode[portIndex]);
     android_errorWriteLog(0x534e4554, "77486542");
     return INVALID_OPERATION;
 }
diff --git a/services/audioflinger/PatchPanel.cpp b/services/audioflinger/PatchPanel.cpp
index 3d688fb..c2927ba 100644
--- a/services/audioflinger/PatchPanel.cpp
+++ b/services/audioflinger/PatchPanel.cpp
@@ -475,11 +475,48 @@
     mPlayback.closeConnections(panel);
 }
 
+status_t AudioFlinger::PatchPanel::Patch::getLatencyMs(double *latencyMs) const
+{
+    if (!isSoftware()) return INVALID_OPERATION;
+
+    auto recordTrack = mRecord.const_track();
+    if (recordTrack.get() == nullptr) return INVALID_OPERATION;
+
+    auto playbackTrack = mPlayback.const_track();
+    if (playbackTrack.get() == nullptr) return INVALID_OPERATION;
+
+    // Latency information for tracks may be called without obtaining
+    // the underlying thread lock.
+    //
+    // We use record server latency + playback track latency (generally smaller than the
+    // reverse due to internal biases).
+    //
+    // TODO: is this stable enough? Consider a PatchTrack synchronized version of this.
+    double recordServerLatencyMs;
+    if (recordTrack->getServerLatencyMs(&recordServerLatencyMs) != OK) return INVALID_OPERATION;
+
+    double playbackTrackLatencyMs;
+    if (playbackTrack->getTrackLatencyMs(&playbackTrackLatencyMs) != OK) return INVALID_OPERATION;
+
+    *latencyMs = recordServerLatencyMs + playbackTrackLatencyMs;
+    return OK;
+}
+
 String8 AudioFlinger::PatchPanel::Patch::dump(audio_patch_handle_t myHandle)
 {
     String8 result;
-    result.appendFormat("Patch %d: thread %p => thread %p\n",
+
+    // TODO: Consider table dump form for patches, just like tracks.
+    result.appendFormat("Patch %d: thread %p => thread %p",
             myHandle, mRecord.thread().get(), mPlayback.thread().get());
+
+    // add latency if it exists
+    double latencyMs;
+    if (getLatencyMs(&latencyMs) == OK) {
+        result.appendFormat("  latency: %.2lf", latencyMs);
+    }
+
+    result.append("\n");
     return result;
 }
 
diff --git a/services/audioflinger/PatchPanel.h b/services/audioflinger/PatchPanel.h
index dff8ad2..5d6bf00 100644
--- a/services/audioflinger/PatchPanel.h
+++ b/services/audioflinger/PatchPanel.h
@@ -65,6 +65,7 @@
         audio_patch_handle_t handle() const { return mHandle; }
         sp<ThreadType> thread() { return mThread; }
         sp<TrackType> track() { return mTrack; }
+        sp<const TrackType> const_track() const { return mTrack; }
 
         void closeConnections(PatchPanel *panel) {
             if (mHandle != AUDIO_PATCH_HANDLE_NONE) {
@@ -118,6 +119,9 @@
             return mRecord.handle() != AUDIO_PATCH_HANDLE_NONE ||
                     mPlayback.handle() != AUDIO_PATCH_HANDLE_NONE; }
 
+        // returns the latency of the patch (from record to playback).
+        status_t getLatencyMs(double *latencyMs) const;
+
         String8 dump(audio_patch_handle_t myHandle);
 
         // Note that audio_patch::id is only unique within a HAL module
diff --git a/services/audioflinger/PlaybackTracks.h b/services/audioflinger/PlaybackTracks.h
index 9a8a154..3381e77 100644
--- a/services/audioflinger/PlaybackTracks.h
+++ b/services/audioflinger/PlaybackTracks.h
@@ -94,10 +94,9 @@
 
     virtual bool        isFastTrack() const { return (mFlags & AUDIO_OUTPUT_FLAG_FAST) != 0; }
 
-    virtual double bufferLatencyMs() {
-        return isStatic() ? 0.
-                : (double)mAudioTrackServerProxy->framesReadySafe() * 1000 / sampleRate();
-    }
+            double      bufferLatencyMs() const override {
+                            return isStatic() ? 0. : TrackBase::bufferLatencyMs();
+                        }
 
 // implement volume handling.
     media::VolumeShaper::Status applyVolumeShaper(
@@ -152,7 +151,7 @@
     bool isResumePending();
     void resumeAck();
     void updateTrackFrameInfo(int64_t trackFramesReleased, int64_t sinkFramesWritten,
-            const ExtendedTimestamp &timeStamp);
+            uint32_t halSampleRate, const ExtendedTimestamp &timeStamp);
 
     sp<IMemory> sharedBuffer() const { return mSharedBuffer; }
 
@@ -200,7 +199,6 @@
 
     sp<media::VolumeHandler>  mVolumeHandler; // handles multiple VolumeShaper configs and operations
 
-    bool               mDumpLatency = false; // true if track supports latency dumps.
 private:
     // The following fields are only for fast tracks, and should be in a subclass
     int                 mFastIndex; // index within FastMixerState::mFastTracks[];
diff --git a/services/audioflinger/RecordTracks.h b/services/audioflinger/RecordTracks.h
index fc2dbbb..43b6391 100644
--- a/services/audioflinger/RecordTracks.h
+++ b/services/audioflinger/RecordTracks.h
@@ -51,7 +51,7 @@
             bool        setOverflow() { bool tmp = mOverflow; mOverflow = true;
                                                 return tmp; }
 
-    static  void        appendDumpHeader(String8& result);
+            void        appendDumpHeader(String8& result);
             void        appendDump(String8& result, bool active);
 
             void        handleSyncStartEvent(const sp<SyncEvent>& event);
diff --git a/services/audioflinger/Threads.cpp b/services/audioflinger/Threads.cpp
index 27d3919..d61b1f0 100644
--- a/services/audioflinger/Threads.cpp
+++ b/services/audioflinger/Threads.cpp
@@ -3265,6 +3265,7 @@
                         t->updateTrackFrameInfo(
                                 t->mAudioTrackServerProxy->framesReleased(),
                                 mFramesWritten,
+                                mSampleRate,
                                 mTimestamp);
                     }
                 }
@@ -5059,8 +5060,10 @@
     dprintf(fd, "  AudioMixer tracks: %s\n", mAudioMixer->trackNames().c_str());
     dprintf(fd, "  Master mono: %s\n", mMasterMono ? "on" : "off");
     const double latencyMs = mTimestamp.getOutputServerLatencyMs(mSampleRate);
-    if (latencyMs > 0.) {
+    if (latencyMs != 0.) {
         dprintf(fd, "  NormalMixer latency ms: %.2lf\n", latencyMs);
+    } else {
+        dprintf(fd, "  NormalMixer latency ms: unavail\n");
     }
 
     if (hasFastMixer()) {
@@ -7363,7 +7366,7 @@
     if (numtracks) {
         dprintf(fd, " of which %zu are active\n", numactive);
         result.append(prefix);
-        RecordTrack::appendDumpHeader(result);
+        mTracks[0]->appendDumpHeader(result);
         for (size_t i = 0; i < numtracks ; ++i) {
             sp<RecordTrack> track = mTracks[i];
             if (track != 0) {
@@ -7383,7 +7386,7 @@
         result.append("  The following tracks are in the active list but"
                 " not in the track list\n");
         result.append(prefix);
-        RecordTrack::appendDumpHeader(result);
+        mActiveTracks[0]->appendDumpHeader(result);
         for (size_t i = 0; i < numactive; ++i) {
             sp<RecordTrack> track = mActiveTracks[i];
             if (mTracks.indexOf(track) < 0) {
diff --git a/services/audioflinger/TrackBase.h b/services/audioflinger/TrackBase.h
index 9f17c3c..dafba1e 100644
--- a/services/audioflinger/TrackBase.h
+++ b/services/audioflinger/TrackBase.h
@@ -106,6 +106,86 @@
                         }
 #endif
 
+            /** returns the buffer contents size converted to time in milliseconds
+             * for PCM Playback or Record streaming tracks. The return value is zero for
+             * PCM static tracks and not defined for non-PCM tracks.
+             *
+             * This may be called without the thread lock.
+             */
+    virtual double      bufferLatencyMs() const {
+                            return mServerProxy->framesReadySafe() * 1000 / sampleRate();
+                        }
+
+            /** returns whether the track supports server latency computation.
+             * This is set in the constructor and constant throughout the track lifetime.
+             */
+
+            bool        isServerLatencySupported() const { return mServerLatencySupported; }
+
+            /** computes the server latency for PCM Playback or Record track
+             * to the device sink/source.  This is the time for the next frame in the track buffer
+             * written or read from the server thread to the device source or sink.
+             *
+             * This may be called without the thread lock, but latencyMs and fromTrack
+             * may be not be synchronized. For example PatchPanel may not obtain the
+             * thread lock before calling.
+             *
+             * \param latencyMs on success is set to the latency in milliseconds of the
+             *        next frame written/read by the server thread to/from the track buffer
+             *        from the device source/sink.
+             * \param fromTrack on success is set to true if latency was computed directly
+             *        from the track timestamp; otherwise set to false if latency was
+             *        estimated from the server timestamp.
+             *        fromTrack may be nullptr or omitted if not required.
+             *
+             * \returns OK or INVALID_OPERATION on failure.
+             */
+            status_t    getServerLatencyMs(double *latencyMs, bool *fromTrack = nullptr) const {
+                            if (!isServerLatencySupported()) {
+                                return INVALID_OPERATION;
+                            }
+
+                            // if no thread lock is acquired, these atomics are not
+                            // synchronized with each other, considered a benign race.
+
+                            const double serverLatencyMs = mServerLatencyMs.load();
+                            if (serverLatencyMs == 0.) {
+                                return INVALID_OPERATION;
+                            }
+                            if (fromTrack != nullptr) {
+                                *fromTrack = mServerLatencyFromTrack.load();
+                            }
+                            *latencyMs = serverLatencyMs;
+                            return OK;
+                        }
+
+            /** computes the total client latency for PCM Playback or Record tracks
+             * for the next client app access to the device sink/source; i.e. the
+             * server latency plus the buffer latency.
+             *
+             * This may be called without the thread lock, but latencyMs and fromTrack
+             * may be not be synchronized. For example PatchPanel may not obtain the
+             * thread lock before calling.
+             *
+             * \param latencyMs on success is set to the latency in milliseconds of the
+             *        next frame written/read by the client app to/from the track buffer
+             *        from the device sink/source.
+             * \param fromTrack on success is set to true if latency was computed directly
+             *        from the track timestamp; otherwise set to false if latency was
+             *        estimated from the server timestamp.
+             *        fromTrack may be nullptr or omitted if not required.
+             *
+             * \returns OK or INVALID_OPERATION on failure.
+             */
+            status_t    getTrackLatencyMs(double *latencyMs, bool *fromTrack = nullptr) const {
+                            double serverLatencyMs;
+                            status_t status = getServerLatencyMs(&serverLatencyMs, fromTrack);
+                            if (status == OK) {
+                                *latencyMs = serverLatencyMs + bufferLatencyMs();
+                            }
+                            return status;
+                        }
+
 protected:
     DISALLOW_COPY_AND_ASSIGN(TrackBase);
 
@@ -222,6 +302,10 @@
     audio_io_handle_t   mThreadIoHandle; // I/O handle of the thread the track is attached to
     audio_port_handle_t mPortId; // unique ID for this track used by audio policy
     bool                mIsInvalid; // non-resettable latch, set by invalidate()
+
+    bool                mServerLatencySupported = false;
+    std::atomic<bool>   mServerLatencyFromTrack{}; // latency from track or server timestamp.
+    std::atomic<double> mServerLatencyMs{};        // last latency pushed from server thread.
 };
 
 // PatchProxyBufferProvider interface is implemented by PatchTrack and PatchRecord.
diff --git a/services/audioflinger/Tracks.cpp b/services/audioflinger/Tracks.cpp
index 6953ebf..5966f85 100644
--- a/services/audioflinger/Tracks.cpp
+++ b/services/audioflinger/Tracks.cpp
@@ -435,7 +435,7 @@
     }
     mName = TRACK_NAME_PENDING;
 
-    mDumpLatency = thread->type() == ThreadBase::MIXER;
+    mServerLatencySupported = thread->type() == ThreadBase::MIXER;
 #ifdef TEE_SINK
     mTee.setId(std::string("_") + std::to_string(mThreadIoHandle)
             + "_" + std::to_string(mId) +
@@ -497,7 +497,7 @@
                   "ST  L dB  R dB  VS dB "
                   "  Server FrmCnt  FrmRdy F Underruns  Flushed"
                   "%s\n",
-                  mDumpLatency ? " Latency" : "");
+                  isServerLatencySupported() ? "   Latency" : "");
 }
 
 void AudioFlinger::PlaybackThread::Track::appendDump(String8& result, bool active)
@@ -593,7 +593,7 @@
 
             mFormat,
             mChannelMask,
-            mAudioTrackServerProxy->getSampleRate(),
+            sampleRate(),
 
             mStreamType,
             20.0 * log10(float_from_gain(gain_minifloat_unpack_left(vlr))),
@@ -610,14 +610,16 @@
             nowInUnderrun,
             (unsigned)mAudioTrackServerProxy->framesFlushed() % 10000000
             );
-    if (mDumpLatency) {
-        double latencyMs =
-                mAudioTrackServerProxy->getTimestamp().getOutputServerLatencyMs(mSampleRate);
-        if (latencyMs > 0.) {
-            latencyMs += bufferLatencyMs();
-            result.appendFormat(" %7.3f", latencyMs);
+
+    if (isServerLatencySupported()) {
+        double latencyMs;
+        bool fromTrack;
+        if (getTrackLatencyMs(&latencyMs, &fromTrack) == OK) {
+            // Show latency in msec, followed by 't' if from track timestamp (the most accurate)
+            // or 'k' if estimated from kernel because track frames haven't been presented yet.
+            result.appendFormat(" %7.2lf %c", latencyMs, fromTrack ? 't' : 'k');
         } else {
-            result.appendFormat(" Unknown");
+            result.appendFormat("%10s", mCblk->mServer != 0 ? "unavail" : "new");
         }
     }
     result.append("\n");
@@ -677,6 +679,13 @@
     mAudioTrackServerProxy->setTimestamp(timestamp);
 
     // We do not set drained here, as FastTrack timestamp may not go to very last frame.
+
+    // Compute latency.
+    // TODO: Consider whether the server latency may be passed in by FastMixer
+    // as a constant for all active FastTracks.
+    const double latencyMs = timestamp.getOutputServerLatencyMs(sampleRate());
+    mServerLatencyFromTrack.store(true);
+    mServerLatencyMs.store(latencyMs);
 }
 
 // Don't call for fast tracks; the framesReady() could result in priority inversion
@@ -1241,7 +1250,7 @@
 //To be called with thread lock held
 void AudioFlinger::PlaybackThread::Track::updateTrackFrameInfo(
         int64_t trackFramesReleased, int64_t sinkFramesWritten,
-        const ExtendedTimestamp &timeStamp) {
+        uint32_t halSampleRate, const ExtendedTimestamp &timeStamp) {
     //update frame map
     mFrameMap.push(trackFramesReleased, sinkFramesWritten);
 
@@ -1250,6 +1259,7 @@
     // Our timestamps are only updated when the track is on the Thread active list.
     // We need to ensure that tracks are not removed before full drain.
     ExtendedTimestamp local = timeStamp;
+    bool drained = true; // default assume drained, if no server info found
     bool checked = false;
     for (int i = ExtendedTimestamp::LOCATION_MAX - 1;
             i >= ExtendedTimestamp::LOCATION_SERVER; --i) {
@@ -1258,18 +1268,25 @@
             local.mPosition[i] = mFrameMap.findX(local.mPosition[i]);
             // check drain state from the latest stage in the pipeline.
             if (!checked && i <= ExtendedTimestamp::LOCATION_KERNEL) {
-                mAudioTrackServerProxy->setDrained(
-                        local.mPosition[i] >= mAudioTrackServerProxy->framesReleased());
+                drained = local.mPosition[i] >= mAudioTrackServerProxy->framesReleased();
                 checked = true;
             }
         }
     }
-    if (!checked) { // no server info, assume drained.
-        mAudioTrackServerProxy->setDrained(true);
-    }
+
+    mAudioTrackServerProxy->setDrained(drained);
     // Set correction for flushed frames that are not accounted for in released.
     local.mFlushed = mAudioTrackServerProxy->framesFlushed();
     mServerProxy->setTimestamp(local);
+
+    // Compute latency info.
+    const bool useTrackTimestamp = !drained;
+    const double latencyMs = useTrackTimestamp
+            ? local.getOutputServerLatencyMs(sampleRate())
+            : timeStamp.getOutputServerLatencyMs(halSampleRate);
+
+    mServerLatencyFromTrack.store(useTrackTimestamp);
+    mServerLatencyMs.store(latencyMs);
 }
 
 // ----------------------------------------------------------------------------
@@ -1689,6 +1706,9 @@
     if (flags & AUDIO_INPUT_FLAG_FAST) {
         ALOG_ASSERT(thread->mFastTrackAvail);
         thread->mFastTrackAvail = false;
+    } else {
+        // TODO: only Normal Record has timestamps (Fast Record does not).
+        mServerLatencySupported = true;
     }
 #ifdef TEE_SINK
     mTee.setId(std::string("_") + std::to_string(mThreadIoHandle)
@@ -1783,16 +1803,17 @@
 }
 
 
-/*static*/ void AudioFlinger::RecordThread::RecordTrack::appendDumpHeader(String8& result)
+void AudioFlinger::RecordThread::RecordTrack::appendDumpHeader(String8& result)
 {
-    result.append("Active Client Session S  Flags   Format Chn mask  SRate   Server FrmCnt Sil\n");
+    result.appendFormat("Active Client Session S  Flags   Format Chn mask  SRate   Server"
+            " FrmCnt FrmRdy Sil%s\n", isServerLatencySupported() ? "   Latency" : "");
 }
 
 void AudioFlinger::RecordThread::RecordTrack::appendDump(String8& result, bool active)
 {
     result.appendFormat("%c%5s %6u %7u %2s 0x%03X "
             "%08X %08X %6u "
-            "%08X %6zu %3c\n",
+            "%08X %6zu %6zu %3c",
             isFastTrack() ? 'F' : ' ',
             active ? "yes" : "no",
             (mClient == 0) ? getpid() : mClient->pid(),
@@ -1806,8 +1827,21 @@
 
             mCblk->mServer,
             mFrameCount,
+            mServerProxy->framesReadySafe(),
             isSilenced() ? 's' : 'n'
             );
+    if (isServerLatencySupported()) {
+        double latencyMs;
+        bool fromTrack;
+        if (getTrackLatencyMs(&latencyMs, &fromTrack) == OK) {
+            // Show latency in msec, followed by 't' if from track timestamp (the most accurate)
+            // or 'k' if estimated from kernel (usually for debugging).
+            result.appendFormat(" %7.2lf %c", latencyMs, fromTrack ? 't' : 'k');
+        } else {
+            result.appendFormat("%10s", mCblk->mServer != 0 ? "unavail" : "new");
+        }
+    }
+    result.append("\n");
 }
 
 void AudioFlinger::RecordThread::RecordTrack::handleSyncStartEvent(const sp<SyncEvent>& event)
@@ -1850,6 +1884,15 @@
         }
     }
     mServerProxy->setTimestamp(local);
+
+    // Compute latency info.
+    const bool useTrackTimestamp = true; // use track unless debugging.
+    const double latencyMs = - (useTrackTimestamp
+            ? local.getOutputServerLatencyMs(sampleRate())
+            : timestamp.getOutputServerLatencyMs(halSampleRate));
+
+    mServerLatencyFromTrack.store(useTrackTimestamp);
+    mServerLatencyMs.store(latencyMs);
 }
 
 status_t AudioFlinger::RecordThread::RecordTrack::getActiveMicrophones(
diff --git a/services/camera/libcameraservice/Android.mk b/services/camera/libcameraservice/Android.mk
index 7b86180..96261ab 100644
--- a/services/camera/libcameraservice/Android.mk
+++ b/services/camera/libcameraservice/Android.mk
@@ -51,6 +51,7 @@
     device3/StatusTracker.cpp \
     device3/Camera3BufferManager.cpp \
     device3/Camera3StreamSplitter.cpp \
+    device3/DistortionMapper.cpp \
     gui/RingBufferConsumer.cpp \
     utils/CameraTraces.cpp \
     utils/AutoConditionLock.cpp \
@@ -96,3 +97,8 @@
 LOCAL_MODULE:= libcameraservice
 
 include $(BUILD_SHARED_LIBRARY)
+
+# Build tests too
+
+include $(LOCAL_PATH)/tests/Android.mk
+
diff --git a/services/camera/libcameraservice/api1/client2/FrameProcessor.cpp b/services/camera/libcameraservice/api1/client2/FrameProcessor.cpp
index 187bea9..0c738e7 100644
--- a/services/camera/libcameraservice/api1/client2/FrameProcessor.cpp
+++ b/services/camera/libcameraservice/api1/client2/FrameProcessor.cpp
@@ -197,7 +197,6 @@
                                 faceRects[i*4 + 2], scalerCrop);
             face.rect[3] = l.mParameters.arrayYToNormalizedWithCrop(
                                 faceRects[i*4 + 3], scalerCrop);
-
             face.score = faceScores[i];
             if (faceDetectMode == ANDROID_STATISTICS_FACE_DETECT_MODE_FULL) {
                 face.id = faceIds[i];
diff --git a/services/camera/libcameraservice/api1/client2/Parameters.cpp b/services/camera/libcameraservice/api1/client2/Parameters.cpp
index 4a58620..d66dec4 100644
--- a/services/camera/libcameraservice/api1/client2/Parameters.cpp
+++ b/services/camera/libcameraservice/api1/client2/Parameters.cpp
@@ -954,13 +954,24 @@
         const uint8_t *caps = availableCapabilities.data.u8;
         for (size_t i = 0; i < availableCapabilities.count; i++) {
             if (ANDROID_REQUEST_AVAILABLE_CAPABILITIES_PRIVATE_REPROCESSING ==
-                caps[i]) {
+                    caps[i]) {
                 isZslReprocessPresent = true;
                 break;
             }
         }
     }
 
+    isDistortionCorrectionSupported = false;
+    camera_metadata_ro_entry_t distortionCorrectionModes =
+            staticInfo(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES);
+    for (size_t i = 0; i < distortionCorrectionModes.count; i++) {
+        if (distortionCorrectionModes.data.u8[i] !=
+                ANDROID_DISTORTION_CORRECTION_MODE_OFF) {
+            isDistortionCorrectionSupported = true;
+            break;
+        }
+    }
+
     if (isDeviceZslSupported || slowJpegMode ||
             property_get_bool("camera.disable_zsl_mode", false)) {
         ALOGI("Camera %d: Disabling ZSL mode", cameraId);
@@ -1222,7 +1233,7 @@
         const uint8_t *caps = availableCapabilities.data.u8;
         for (size_t i = 0; i < availableCapabilities.count; i++) {
             if (ANDROID_REQUEST_AVAILABLE_CAPABILITIES_PRIVATE_REPROCESSING ==
-                caps[i]) {
+                    caps[i]) {
                 isZslReprocessPresent = true;
                 break;
             }
@@ -2097,15 +2108,24 @@
 
     if (intent.count == 0) return BAD_VALUE;
 
+    uint8_t distortionMode = ANDROID_DISTORTION_CORRECTION_MODE_OFF;
     if (intent.data.u8[0] == ANDROID_CONTROL_CAPTURE_INTENT_STILL_CAPTURE) {
         res = request->update(ANDROID_CONTROL_AE_TARGET_FPS_RANGE,
                 fastInfo.bestStillCaptureFpsRange, 2);
+        distortionMode = ANDROID_DISTORTION_CORRECTION_MODE_HIGH_QUALITY;
     } else {
         res = request->update(ANDROID_CONTROL_AE_TARGET_FPS_RANGE,
                 previewFpsRange, 2);
+        distortionMode = ANDROID_DISTORTION_CORRECTION_MODE_FAST;
     }
     if (res != OK) return res;
 
+    if (isDistortionCorrectionSupported) {
+        res = request->update(ANDROID_DISTORTION_CORRECTION_MODE,
+                &distortionMode, 1);
+        if (res != OK) return res;
+    }
+
     if (autoWhiteBalanceLockAvailable) {
         uint8_t reqWbLock = autoWhiteBalanceLock ?
                 ANDROID_CONTROL_AWB_LOCK_ON : ANDROID_CONTROL_AWB_LOCK_OFF;
diff --git a/services/camera/libcameraservice/api1/client2/Parameters.h b/services/camera/libcameraservice/api1/client2/Parameters.h
index e35b7a4..97f8ea7 100644
--- a/services/camera/libcameraservice/api1/client2/Parameters.h
+++ b/services/camera/libcameraservice/api1/client2/Parameters.h
@@ -177,6 +177,8 @@
     bool isZslReprocessPresent;
     // Whether the device supports enableZsl.
     bool isDeviceZslSupported;
+    // Whether the device supports geometric distortion correction
+    bool isDistortionCorrectionSupported;
 
     // Overall camera state
     enum State {
diff --git a/services/camera/libcameraservice/device3/Camera3Device.cpp b/services/camera/libcameraservice/device3/Camera3Device.cpp
index d9bcba3..543914e 100644
--- a/services/camera/libcameraservice/device3/Camera3Device.cpp
+++ b/services/camera/libcameraservice/device3/Camera3Device.cpp
@@ -249,6 +249,14 @@
         }
     }
 
+    if (DistortionMapper::isDistortionSupported(mDeviceInfo)) {
+        res = mDistortionMapper.setupStaticInfo(mDeviceInfo);
+        if (res != OK) {
+            SET_ERR_L("Unable to read necessary calibration fields for distortion correction");
+            return res;
+        }
+    }
+
     return OK;
 }
 
@@ -2983,6 +2991,14 @@
         }
     }
 
+    // Fix up some result metadata to account for HAL-level distortion correction
+    status_t res = mDistortionMapper.correctCaptureResult(&captureResult.mMetadata);
+    if (res != OK) {
+        SET_ERR("Unable to correct capture result metadata for frame %d: %s (%d)",
+                frameNumber, strerror(res), res);
+        return;
+    }
+
     mTagMonitor.monitorMetadata(TagMonitor::RESULT,
             frameNumber, timestamp.data.i64[0], captureResult.mMetadata);
 
@@ -4705,13 +4721,13 @@
 
         // Insert any queued triggers (before metadata is locked)
         status_t res = insertTriggers(captureRequest);
-
         if (res < 0) {
             SET_ERR("RequestThread: Unable to insert triggers "
                     "(capture request %d, HAL device: %s (%d)",
                     halRequest->frame_number, strerror(-res), res);
             return INVALID_OPERATION;
         }
+
         int triggerCount = res;
         bool triggersMixedIn = (triggerCount > 0 || mPrevTriggers > 0);
         mPrevTriggers = triggerCount;
@@ -4731,6 +4747,21 @@
                 return INVALID_OPERATION;
             }
 
+            {
+                // Correct metadata regions for distortion correction if enabled
+                sp<Camera3Device> parent = mParent.promote();
+                if (parent != nullptr) {
+                    res = parent->mDistortionMapper.correctCaptureRequest(
+                        &(captureRequest->mSettingsList.begin()->metadata));
+                    if (res != OK) {
+                        SET_ERR("RequestThread: Unable to correct capture requests "
+                                "for lens distortion for request %d: %s (%d)",
+                                halRequest->frame_number, strerror(-res), res);
+                        return INVALID_OPERATION;
+                    }
+                }
+            }
+
             /**
              * The request should be presorted so accesses in HAL
              *   are O(logn). Sidenote, sorting a sorted metadata is nop.
diff --git a/services/camera/libcameraservice/device3/Camera3Device.h b/services/camera/libcameraservice/device3/Camera3Device.h
index 35f799d..d8fe19f 100644
--- a/services/camera/libcameraservice/device3/Camera3Device.h
+++ b/services/camera/libcameraservice/device3/Camera3Device.h
@@ -43,6 +43,7 @@
 #include "common/CameraDeviceBase.h"
 #include "device3/StatusTracker.h"
 #include "device3/Camera3BufferManager.h"
+#include "device3/DistortionMapper.h"
 #include "utils/TagMonitor.h"
 #include "utils/LatencyHistogram.h"
 #include <camera_metadata_hidden.h>
@@ -1179,6 +1180,12 @@
 
     /**** End scope for mInFlightLock ****/
 
+    /**
+     * Distortion correction support
+     */
+
+    camera3::DistortionMapper mDistortionMapper;
+
     // Debug tracker for metadata tag value changes
     // - Enabled with the -m <taglist> option to dumpsys, such as
     //   dumpsys -m android.control.aeState,android.control.aeMode
diff --git a/services/camera/libcameraservice/device3/DistortionMapper.cpp b/services/camera/libcameraservice/device3/DistortionMapper.cpp
new file mode 100644
index 0000000..9229079
--- /dev/null
+++ b/services/camera/libcameraservice/device3/DistortionMapper.cpp
@@ -0,0 +1,445 @@
+/*
+ * Copyright (C) 2018 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_TAG "Camera3-DistMapper"
+#define ATRACE_TAG ATRACE_TAG_CAMERA
+//#define LOG_NDEBUG 0
+
+#include <cmath>
+
+#include "device3/DistortionMapper.h"
+
+namespace android {
+
+namespace camera3 {
+
+/**
+ * Metadata keys to correct when adjusting coordinates for distortion correction
+ */
+
+// Both capture request and result
+constexpr std::array<uint32_t, 3> DistortionMapper::kMeteringRegionsToCorrect = {
+    ANDROID_CONTROL_AF_REGIONS,
+    ANDROID_CONTROL_AE_REGIONS,
+    ANDROID_CONTROL_AWB_REGIONS
+};
+
+// Only capture request
+constexpr std::array<uint32_t, 1> DistortionMapper::kRequestRectsToCorrect = {
+    ANDROID_SCALER_CROP_REGION,
+};
+
+// Only for capture result
+constexpr std::array<uint32_t, 2> DistortionMapper::kResultRectsToCorrect = {
+    ANDROID_SCALER_CROP_REGION,
+    ANDROID_STATISTICS_FACE_RECTANGLES
+};
+
+// Only for capture result
+constexpr std::array<uint32_t, 1> DistortionMapper::kResultPointsToCorrect = {
+    ANDROID_STATISTICS_FACE_LANDMARKS,
+};
+
+
+DistortionMapper::DistortionMapper() : mValidMapping(false), mValidGrids(false) {
+}
+
+bool DistortionMapper::isDistortionSupported(const CameraMetadata &result) {
+    bool isDistortionCorrectionSupported = false;
+    camera_metadata_ro_entry_t distortionCorrectionModes =
+            result.find(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES);
+    for (size_t i = 0; i < distortionCorrectionModes.count; i++) {
+        if (distortionCorrectionModes.data.u8[i] !=
+                ANDROID_DISTORTION_CORRECTION_MODE_OFF) {
+            isDistortionCorrectionSupported = true;
+            break;
+        }
+    }
+    return isDistortionCorrectionSupported;
+}
+
+status_t DistortionMapper::setupStaticInfo(const CameraMetadata &deviceInfo) {
+    std::lock_guard<std::mutex> lock(mMutex);
+    camera_metadata_ro_entry_t array;
+
+    array = deviceInfo.find(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE);
+    if (array.count != 4) return BAD_VALUE;
+
+    mArrayWidth = array.data.i32[2];
+    mArrayHeight = array.data.i32[3];
+
+    return updateCalibration(deviceInfo);
+}
+
+bool DistortionMapper::calibrationValid() const {
+    std::lock_guard<std::mutex> lock(mMutex);
+
+    return mValidMapping;
+}
+
+status_t DistortionMapper::correctCaptureRequest(CameraMetadata *request) {
+    std::lock_guard<std::mutex> lock(mMutex);
+    status_t res;
+
+    if (!mValidMapping) return OK;
+
+    camera_metadata_entry_t e;
+    e = request->find(ANDROID_DISTORTION_CORRECTION_MODE);
+    if (e.count != 0 && e.data.u8[0] != ANDROID_DISTORTION_CORRECTION_MODE_OFF) {
+        for (auto region : kMeteringRegionsToCorrect) {
+            e = request->find(region);
+            for (size_t j = 0; j < e.count; j += 5) {
+                res = mapCorrectedToRaw(e.data.i32 + j, 2);
+                if (res != OK) return res;
+            }
+        }
+        for (auto rect : kRequestRectsToCorrect) {
+            e = request->find(rect);
+            res = mapCorrectedRectToRaw(e.data.i32, e.count / 4);
+            if (res != OK) return res;
+        }
+    }
+
+    return OK;
+}
+
+status_t DistortionMapper::correctCaptureResult(CameraMetadata *result) {
+    std::lock_guard<std::mutex> lock(mMutex);
+    status_t res;
+
+    if (!mValidMapping) return OK;
+
+    res = updateCalibration(*result);
+    if (res != OK) {
+        ALOGE("Failure to update lens calibration information");
+        return INVALID_OPERATION;
+    }
+
+    camera_metadata_entry_t e;
+    e = result->find(ANDROID_DISTORTION_CORRECTION_MODE);
+    if (e.count != 0 && e.data.u8[0] != ANDROID_DISTORTION_CORRECTION_MODE_OFF) {
+        for (auto region : kMeteringRegionsToCorrect) {
+            e = result->find(region);
+            for (size_t j = 0; j < e.count; j += 5) {
+                res = mapRawToCorrected(e.data.i32 + j, 2);
+                if (res != OK) return res;
+            }
+        }
+        for (auto rect : kResultRectsToCorrect) {
+            e = result->find(rect);
+            res = mapRawRectToCorrected(e.data.i32, e.count / 4);
+            if (res != OK) return res;
+        }
+        for (auto pts : kResultPointsToCorrect) {
+            e = result->find(pts);
+            res = mapRawToCorrected(e.data.i32, e.count / 2);
+            if (res != OK) return res;
+        }
+    }
+
+    return OK;
+}
+
+// Utility methods; not guarded by mutex
+
+status_t DistortionMapper::updateCalibration(const CameraMetadata &result) {
+    camera_metadata_ro_entry_t calib, distortion;
+
+    calib = result.find(ANDROID_LENS_INTRINSIC_CALIBRATION);
+    distortion = result.find(ANDROID_LENS_DISTORTION);
+
+    if (calib.count != 5) return BAD_VALUE;
+    if (distortion.count != 5) return BAD_VALUE;
+
+    // Skip redoing work if no change to calibration fields
+    if (mValidMapping &&
+            mFx == calib.data.f[0] &&
+            mFy == calib.data.f[1] &&
+            mCx == calib.data.f[2] &&
+            mCy == calib.data.f[3] &&
+            mS == calib.data.f[4]) {
+        bool noChange = true;
+        for (size_t i = 0; i < distortion.count; i++) {
+            if (mK[i] != distortion.data.f[i]) {
+                noChange = false;
+                break;
+            }
+        }
+        if (noChange) return OK;
+    }
+
+    mFx = calib.data.f[0];
+    mFy = calib.data.f[1];
+    mCx = calib.data.f[2];
+    mCy = calib.data.f[3];
+    mS = calib.data.f[4];
+
+    mInvFx = 1 / mFx;
+    mInvFy = 1 / mFy;
+
+    for (size_t i = 0; i < distortion.count; i++) {
+        mK[i] = distortion.data.f[i];
+    }
+
+    mValidMapping = true;
+    // Need to recalculate grid
+    mValidGrids = false;
+
+    return OK;
+}
+
+status_t DistortionMapper::mapRawToCorrected(int32_t *coordPairs, int coordCount) {
+    if (!mValidMapping) return INVALID_OPERATION;
+
+    if (!mValidGrids) {
+        status_t res = buildGrids();
+        if (res != OK) return res;
+    }
+
+    for (int i = 0; i < coordCount * 2; i += 2) {
+        const GridQuad *quad = findEnclosingQuad(coordPairs + i, mDistortedGrid);
+        if (quad == nullptr) {
+            ALOGE("Raw to corrected mapping failure: No quad found");
+            return INVALID_OPERATION;
+        }
+        ALOGV("src xy: %d, %d, enclosing quad: (%f, %f), (%f, %f), (%f, %f), (%f, %f)",
+                coordPairs[i], coordPairs[i+1],
+                quad->coords[0], quad->coords[1],
+                quad->coords[2], quad->coords[3],
+                quad->coords[4], quad->coords[5],
+                quad->coords[6], quad->coords[7]);
+
+        const GridQuad *corrQuad = quad->src;
+        if (corrQuad == nullptr) {
+            ALOGE("Raw to corrected mapping failure: No src quad found");
+            return INVALID_OPERATION;
+        }
+        ALOGV("              corr quad: (%f, %f), (%f, %f), (%f, %f), (%f, %f)",
+                corrQuad->coords[0], corrQuad->coords[1],
+                corrQuad->coords[2], corrQuad->coords[3],
+                corrQuad->coords[4], corrQuad->coords[5],
+                corrQuad->coords[6], corrQuad->coords[7]);
+
+        float u = calculateUorV(coordPairs + i, *quad, /*calculateU*/ true);
+        float v = calculateUorV(coordPairs + i, *quad, /*calculateU*/ false);
+
+        ALOGV("uv: %f, %f", u, v);
+
+        // Interpolate along top edge of corrected quad (which are axis-aligned) for x
+        float corrX = corrQuad->coords[0] + u * (corrQuad->coords[2] - corrQuad->coords[0]);
+        // Interpolate along left edge of corrected quad (which are axis-aligned) for y
+        float corrY = corrQuad->coords[1] + v * (corrQuad->coords[7] - corrQuad->coords[1]);
+
+        coordPairs[i] = static_cast<int32_t>(std::round(corrX));
+        coordPairs[i + 1] = static_cast<int32_t>(std::round(corrY));
+    }
+
+    return OK;
+}
+
+status_t DistortionMapper::mapRawRectToCorrected(int32_t *rects, int rectCount) {
+    if (!mValidMapping) return INVALID_OPERATION;
+    for (int i = 0; i < rectCount * 4; i += 4) {
+        // Map from (l, t, width, height) to (l, t, r, b)
+        int32_t coords[4] = {
+            rects[i],
+            rects[i + 1],
+            rects[i] + rects[i + 2],
+            rects[i + 1] + rects[i + 3]
+        };
+
+        mapRawToCorrected(coords, 2);
+
+        // Map back to (l, t, width, height)
+        rects[i] = coords[0];
+        rects[i + 1] = coords[1];
+        rects[i + 2] = coords[2] - coords[0];
+        rects[i + 3] = coords[3] - coords[1];
+    }
+
+    return OK;
+}
+
+template<typename T>
+status_t DistortionMapper::mapCorrectedToRaw(T *coordPairs, int coordCount) const {
+    if (!mValidMapping) return INVALID_OPERATION;
+
+    for (int i = 0; i < coordCount * 2; i += 2) {
+        // Move to normalized space
+        float ywi = (coordPairs[i + 1] - mCy) * mInvFy;
+        float xwi = (coordPairs[i] - mCx - mS * ywi) * mInvFx;
+        // Apply distortion model to calculate raw image coordinates
+        float rSq = xwi * xwi + ywi * ywi;
+        float Fr = 1.f + (mK[0] * rSq) + (mK[1] * rSq * rSq) + (mK[2] * rSq * rSq * rSq);
+        float xc = xwi * Fr + (mK[3] * 2 * xwi * ywi) + mK[4] * (rSq + 2 * xwi * xwi);
+        float yc = ywi * Fr + (mK[4] * 2 * xwi * ywi) + mK[3] * (rSq + 2 * ywi * ywi);
+        // Move back to image space
+        float xr = mFx * xc + mS * yc + mCx;
+        float yr = mFy * yc + mCy;
+
+        coordPairs[i] = static_cast<T>(std::round(xr));
+        coordPairs[i + 1] = static_cast<T>(std::round(yr));
+    }
+
+    return OK;
+}
+
+template status_t DistortionMapper::mapCorrectedToRaw(int32_t*, int) const;
+template status_t DistortionMapper::mapCorrectedToRaw(float*, int) const;
+
+status_t DistortionMapper::mapCorrectedRectToRaw(int32_t *rects, int rectCount) const {
+    if (!mValidMapping) return INVALID_OPERATION;
+
+    for (int i = 0; i < rectCount * 4; i += 4) {
+        // Map from (l, t, width, height) to (l, t, r, b)
+        int32_t coords[4] = {
+            rects[i],
+            rects[i + 1],
+            rects[i] + rects[i + 2],
+            rects[i + 1] + rects[i + 3]
+        };
+
+        mapCorrectedToRaw(coords, 2);
+
+        // Map back to (l, t, width, height)
+        rects[i] = coords[0];
+        rects[i + 1] = coords[1];
+        rects[i + 2] = coords[2] - coords[0];
+        rects[i + 3] = coords[3] - coords[1];
+    }
+
+    return OK;
+}
+
+status_t DistortionMapper::buildGrids() {
+    if (mCorrectedGrid.size() != kGridSize * kGridSize) {
+        mCorrectedGrid.resize(kGridSize * kGridSize);
+        mDistortedGrid.resize(kGridSize * kGridSize);
+    }
+
+    float gridMargin = mArrayWidth * kGridMargin;
+    float gridSpacingX = (mArrayWidth + 2 * gridMargin) / kGridSize;
+    float gridSpacingY = (mArrayHeight + 2 * gridMargin) / kGridSize;
+
+    size_t index = 0;
+    float x = -gridMargin;
+    for (size_t i = 0; i < kGridSize; i++, x += gridSpacingX) {
+        float y = -gridMargin;
+        for (size_t j = 0; j < kGridSize; j++, y += gridSpacingY, index++) {
+            mCorrectedGrid[index].src = nullptr;
+            mCorrectedGrid[index].coords = {
+                x, y,
+                x + gridSpacingX, y,
+                x + gridSpacingX, y + gridSpacingY,
+                x, y + gridSpacingY
+            };
+            mDistortedGrid[index].src = &mCorrectedGrid[index];
+            mDistortedGrid[index].coords = mCorrectedGrid[index].coords;
+            status_t res = mapCorrectedToRaw(mDistortedGrid[index].coords.data(), 4);
+            if (res != OK) return res;
+        }
+    }
+
+    mValidGrids = true;
+    return OK;
+}
+
+const DistortionMapper::GridQuad* DistortionMapper::findEnclosingQuad(
+        const int32_t pt[2], const std::vector<GridQuad>& grid) {
+    const float x = pt[0];
+    const float y = pt[1];
+
+    for (const GridQuad& quad : grid) {
+        const float &x1 = quad.coords[0];
+        const float &y1 = quad.coords[1];
+        const float &x2 = quad.coords[2];
+        const float &y2 = quad.coords[3];
+        const float &x3 = quad.coords[4];
+        const float &y3 = quad.coords[5];
+        const float &x4 = quad.coords[6];
+        const float &y4 = quad.coords[7];
+
+        // Point-in-quad test:
+
+        // Quad has corners P1-P4; if P is within the quad, then it is on the same side of all the
+        // edges (or on top of one of the edges or corners), traversed in a consistent direction.
+        // This means that the cross product of edge En = Pn->P(n+1 mod 4) and line Ep = Pn->P must
+        // have the same sign (or be zero) for all edges.
+        // For clockwise traversal, the sign should be negative or zero for Ep x En, indicating that
+        // En is to the left of Ep, or overlapping.
+        float s1 = (x - x1) * (y2 - y1) - (y - y1) * (x2 - x1);
+        if (s1 > 0) continue;
+        float s2 = (x - x2) * (y3 - y2) - (y - y2) * (x3 - x2);
+        if (s2 > 0) continue;
+        float s3 = (x - x3) * (y4 - y3) - (y - y3) * (x4 - x3);
+        if (s3 > 0) continue;
+        float s4 = (x - x4) * (y1 - y4) - (y - y4) * (x1 - x4);
+        if (s4 > 0) continue;
+
+        return &quad;
+    }
+    return nullptr;
+}
+
+float DistortionMapper::calculateUorV(const int32_t pt[2], const GridQuad& quad, bool calculateU) {
+    const float x = pt[0];
+    const float y = pt[1];
+    const float &x1 = quad.coords[0];
+    const float &y1 = quad.coords[1];
+    const float &x2 = calculateU ? quad.coords[2] : quad.coords[6];
+    const float &y2 = calculateU ? quad.coords[3] : quad.coords[7];
+    const float &x3 = quad.coords[4];
+    const float &y3 = quad.coords[5];
+    const float &x4 = calculateU ? quad.coords[6] : quad.coords[2];
+    const float &y4 = calculateU ? quad.coords[7] : quad.coords[3];
+
+    float a = (x1 - x2) * (y1 - y2 + y3 - y4) - (y1 - y2) * (x1 - x2 + x3 - x4);
+    float b = (x - x1) * (y1 - y2 + y3 - y4) + (x1 - x2) * (y4 - y1) -
+              (y - y1) * (x1 - x2 + x3 - x4) - (y1 - y2) * (x4 - x1);
+    float c = (x - x1) * (y4 - y1) - (y - y1) * (x4 - x1);
+
+    if (a == 0) {
+        // One solution may happen if edges are parallel
+        float u0 = -c / b;
+        ALOGV("u0: %.9g, b: %f, c: %f", u0, b, c);
+        return u0;
+    }
+
+    float det = b * b - 4 * a * c;
+    if (det < 0) {
+        // Sanity check - should not happen if pt is within the quad
+        ALOGE("Bad determinant! a: %f, b: %f, c: %f, det: %f", a,b,c,det);
+        return -1;
+    }
+
+    // Select more numerically stable solution
+    float sqdet = b > 0 ? -std::sqrt(det) : std::sqrt(det);
+
+    float u1 = (-b + sqdet) / (2 * a);
+    ALOGV("u1: %.9g", u1);
+    if (0 - kFloatFuzz < u1 && u1 < 1 + kFloatFuzz) return u1;
+
+    float u2 = c / (a * u1);
+    ALOGV("u2: %.9g", u2);
+    if (0 - kFloatFuzz < u2 && u2 < 1 + kFloatFuzz) return u2;
+
+    // Last resort, return the smaller-magnitude solution
+    return fabs(u1) < fabs(u2) ? u1 : u2;
+}
+
+} // namespace camera3
+
+} // namespace android
diff --git a/services/camera/libcameraservice/device3/DistortionMapper.h b/services/camera/libcameraservice/device3/DistortionMapper.h
new file mode 100644
index 0000000..c6d715b
--- /dev/null
+++ b/services/camera/libcameraservice/device3/DistortionMapper.h
@@ -0,0 +1,182 @@
+/*
+ * Copyright (C) 2018 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.
+ */
+
+#ifndef ANDROID_SERVERS_DISTORTIONMAPPER_H
+#define ANDROID_SERVERS_DISTORTIONMAPPER_H
+
+#include <utils/Errors.h>
+#include <array>
+#include <mutex>
+
+#include "camera/CameraMetadata.h"
+
+namespace android {
+
+namespace camera3 {
+
+/**
+ * Utilities to transform between raw (distorted) and warped (corrected) coordinate systems
+ * for cameras that support geometric distortion
+ */
+class DistortionMapper {
+  public:
+    DistortionMapper();
+
+    /**
+     * Check whether distortion correction is supported by the camera HAL
+     */
+    static bool isDistortionSupported(const CameraMetadata &deviceInfo);
+
+    /**
+     * Update static lens calibration info from camera characteristics
+     */
+    status_t setupStaticInfo(const CameraMetadata &deviceInfo);
+
+    /**
+     * Return whether distortion correction can be applied currently
+     */
+    bool calibrationValid() const;
+
+    /**
+     * Correct capture request if distortion correction is enabled
+     */
+    status_t correctCaptureRequest(CameraMetadata *request);
+
+    /**
+     * Correct capture result if distortion correction is enabled
+     */
+    status_t correctCaptureResult(CameraMetadata *request);
+
+
+  public: // Visible for testing. Not guarded by mutex; do not use concurrently
+    /**
+     * Update lens calibration from capture results or equivalent
+     */
+    status_t updateCalibration(const CameraMetadata &result);
+
+    /**
+     * Transform from distorted (original) to corrected (warped) coordinates.
+     * Coordinates are transformed in-place
+     *
+     *   coordPairs: A pointer to an array of consecutive (x,y) points
+     *   coordCount: Number of (x,y) pairs to transform
+     */
+    status_t mapRawToCorrected(int32_t *coordPairs, int coordCount);
+
+    /**
+     * Transform from distorted (original) to corrected (warped) coordinates.
+     * Coordinates are transformed in-place
+     *
+     *   rects: A pointer to an array of consecutive (x,y, w, h) rectangles
+     *   rectCount: Number of rectangles to transform
+     */
+    status_t mapRawRectToCorrected(int32_t *rects, int rectCount);
+
+    /**
+     * Transform from corrected (warped) to distorted (original) coordinates.
+     * Coordinates are transformed in-place
+     *
+     *   coordPairs: A pointer to an array of consecutive (x,y) points
+     *   coordCount: Number of (x,y) pairs to transform
+     */
+    template<typename T>
+    status_t mapCorrectedToRaw(T* coordPairs, int coordCount) const;
+
+    /**
+     * Transform from corrected (warped) to distorted (original) coordinates.
+     * Coordinates are transformed in-place
+     *
+     *   rects: A pointer to an array of consecutive (x,y, w, h) rectangles
+     *   rectCount: Number of rectangles to transform
+     */
+    status_t mapCorrectedRectToRaw(int32_t *rects, int rectCount) const;
+
+    struct GridQuad {
+        // Source grid quad, or null
+        const GridQuad *src;
+        // x,y coordinates of corners, in
+        // clockwise order
+        std::array<float, 8> coords;
+    };
+
+    // Find which grid quad encloses the point; returns null if none do
+    static const GridQuad* findEnclosingQuad(
+            const int32_t pt[2], const std::vector<GridQuad>& grid);
+
+    // Calculate 'horizontal' interpolation coordinate for the point and the quad
+    // Assumes the point P is within the quad Q.
+    // Given quad with points P1-P4, and edges E12-E41, and considering the edge segments as
+    // functions of U: E12(u), where E12(0) = P1 and E12(1) = P2, then we want to find a u
+    // such that the edge E12(u) -> E43(u) contains point P.
+    // This can be determined by checking if the cross product of vector [E12(u)-E43(u)] and
+    // vector [E12(u)-P] is zero. Solving the equation
+    // [E12(u)-E43(u)] x [E12(u)-P] = 0 gives a quadratic equation in u; the solution in the range
+    // 0 to 1 is the one chosen.
+    // If calculateU is true, then an interpolation coordinate for edges E12 and E43 is found;
+    // if it is false, then an interpolation coordinate for edges E14 and E23 is found.
+    static float calculateUorV(const int32_t pt[2], const GridQuad& quad, bool calculateU);
+
+  private:
+    mutable std::mutex mMutex;
+
+    // Number of quads in each dimension of the mapping grids
+    constexpr static size_t kGridSize = 15;
+    // Margin to expand the grid by to ensure it doesn't clip the domain
+    constexpr static float kGridMargin = 0.05f;
+    // Fuzziness for float inequality tests
+    constexpr static float kFloatFuzz = 1e-4;
+
+    // Metadata key lists to correct
+
+    // Both capture request and result
+    static const std::array<uint32_t, 3> kMeteringRegionsToCorrect;
+
+    // Only capture request
+    static const std::array<uint32_t, 1> kRequestRectsToCorrect;
+
+    // Only capture result
+    static const std::array<uint32_t, 2> kResultRectsToCorrect;
+
+    // Only for capture results
+    static const std::array<uint32_t, 1> kResultPointsToCorrect;
+
+    // Utility to create reverse mapping grids
+    status_t buildGrids();
+
+
+    bool mValidMapping;
+    bool mValidGrids;
+
+    // intrisic parameters, in pixels
+    float mFx, mFy, mCx, mCy, mS;
+    // pre-calculated inverses for speed
+    float mInvFx, mInvFy;
+    // radial/tangential distortion parameters
+    float mK[5];
+
+    // pre-correction active array dimensions
+    int mArrayWidth, mArrayHeight;
+
+    std::vector<GridQuad> mCorrectedGrid;
+    std::vector<GridQuad> mDistortedGrid;
+
+}; // class DistortionMapper
+
+} // namespace camera3
+
+} // namespace android
+
+#endif
diff --git a/services/camera/libcameraservice/tests/Android.mk b/services/camera/libcameraservice/tests/Android.mk
index 37a05c2..f77069c 100644
--- a/services/camera/libcameraservice/tests/Android.mk
+++ b/services/camera/libcameraservice/tests/Android.mk
@@ -18,6 +18,7 @@
 LOCAL_SRC_FILES:= $(call all-cpp-files-under, .)
 
 LOCAL_SHARED_LIBRARIES := \
+    libbase \
     libcutils \
     libcameraservice \
     libhidlbase \
diff --git a/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp b/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
index c1d6e85..ef93d9a 100644
--- a/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
+++ b/services/camera/libcameraservice/tests/CameraProviderManagerTest.cpp
@@ -190,6 +190,7 @@
             hardware::camera::common::V1_0::CameraDeviceStatus) override {}
     void onTorchStatusChanged(const String8 &,
             hardware::camera::common::V1_0::TorchModeStatus) override {}
+    void onNewProviderRegistered() override {}
 };
 
 TEST(CameraProviderManagerTest, InitializeTest) {
diff --git a/services/camera/libcameraservice/tests/DistortionMapperComp.py b/services/camera/libcameraservice/tests/DistortionMapperComp.py
new file mode 100644
index 0000000..dea36a7
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperComp.py
@@ -0,0 +1,47 @@
+# Calculates comparison output values for DistortionMapperTest.cpp:CompareToOpenCV
+#
+# Assumes a python that has numpy and cv2 (OpenCV) available
+
+import numpy as np
+import cv2
+
+Fx = 1000
+Fy = 1000
+Cx = 500
+Cy = 500
+# s = 0 - not supported by OpenCV
+
+K = np.array([[Fx, 0, Cx],[0, Fy, Cy],[0, 0, 1]])
+
+# Order is k1, k2, t1, t2, k3
+dist = np.array([0.1, -0.003, 0.02, 0.01, 0.004])
+
+np.random.seed(1234)
+
+activeArray = np.array([[1000, 750]])
+
+rawCoords = np.floor(np.random.rand(1000,2) * activeArray)
+
+# OpenCV needs either row count or col count = 1 for some reason
+rawCoords2 = rawCoords.reshape(-1, 1, 2)
+
+# P is the output camera matrix, K is the input; use the same for both
+expCoords = cv2.undistortPoints(rawCoords2, K, dist, P = K)
+
+with open('DistortionMapperTest_OpenCvData.h','w') as f:
+  f.write('// Generated by DistortionMapperComp.py\n');
+  f.write('// for use by DistortionMapperTest.cpp\n\n');
+
+  f.write('namespace openCvData {\n')
+  f.write('std::array<int32_t, %d> rawCoords = {\n' % (rawCoords.shape[0] * rawCoords.shape[1]))
+  for i in range(rawCoords.shape[0]):
+    f.write('  %d, %d,\n' % (rawCoords[i][0], rawCoords[i][1]))
+  f.write('};\n')
+
+  f.write('std::array<int32_t, %d> expCoords = {\n' % (expCoords.shape[0] * expCoords.shape[2]))
+  for i in range(expCoords.shape[0]):
+    f.write('  %d, %d,\n' % (expCoords[i][0][0], expCoords[i][0][1]))
+  f.write('};\n')
+  f.write('} // namespace openCvData\n')
+
+print "DistortionMapperTest_OpenCvData.h generated"
diff --git a/services/camera/libcameraservice/tests/DistortionMapperTest.cpp b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
new file mode 100644
index 0000000..b489931
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperTest.cpp
@@ -0,0 +1,278 @@
+/*
+ * Copyright (C) 2018 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_TAG "DistortionMapperTest"
+
+#include <random>
+
+#include <gtest/gtest.h>
+#include <android-base/stringprintf.h>
+#include <android-base/chrono_utils.h>
+
+#include "../device3/DistortionMapper.h"
+
+using namespace android;
+using namespace android::camera3;
+
+
+int32_t testActiveArray[] = {100, 100, 1000, 750};
+
+float testICal[] = { 1000.f, 1000.f, 500.f, 500.f, 0.f };
+
+float identityDistortion[] = { 0.f, 0.f, 0.f, 0.f, 0.f};
+
+std::array<int32_t, 12> basicCoords = {
+    0, 0,
+    testActiveArray[2] - 1, 0,
+    testActiveArray[2] - 1,  testActiveArray[3] - 1,
+    0, testActiveArray[3] - 1,
+    testActiveArray[2] / 2, testActiveArray[3] / 2,
+    251, 403  // A particularly bad coordinate for current grid count/array size
+};
+
+
+void setupTestMapper(DistortionMapper *m, float distortion[5]) {
+    CameraMetadata deviceInfo;
+
+    deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
+            testActiveArray, 4);
+
+    deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+
+    deviceInfo.update(ANDROID_LENS_DISTORTION,
+            distortion, 5);
+
+    m->setupStaticInfo(deviceInfo);
+}
+
+TEST(DistortionMapperTest, Initialization) {
+    CameraMetadata deviceInfo;
+
+    ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    uint8_t distortionModes[] =
+            {ANDROID_DISTORTION_CORRECTION_MODE_OFF,
+             ANDROID_DISTORTION_CORRECTION_MODE_FAST,
+             ANDROID_DISTORTION_CORRECTION_MODE_HIGH_QUALITY};
+
+    deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
+            distortionModes, 1);
+
+    ASSERT_FALSE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    deviceInfo.update(ANDROID_DISTORTION_CORRECTION_AVAILABLE_MODES,
+            distortionModes, 3);
+
+    ASSERT_TRUE(DistortionMapper::isDistortionSupported(deviceInfo));
+
+    DistortionMapper m;
+
+    ASSERT_FALSE(m.calibrationValid());
+
+    ASSERT_NE(m.setupStaticInfo(deviceInfo), OK);
+
+    ASSERT_FALSE(m.calibrationValid());
+
+    deviceInfo.update(ANDROID_SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE,
+            testActiveArray, 4);
+
+    deviceInfo.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+
+    deviceInfo.update(ANDROID_LENS_DISTORTION,
+            identityDistortion, 5);
+
+    ASSERT_EQ(m.setupStaticInfo(deviceInfo), OK);
+
+    ASSERT_TRUE(m.calibrationValid());
+
+    CameraMetadata captureResult;
+
+    ASSERT_NE(m.updateCalibration(captureResult), OK);
+
+    captureResult.update(ANDROID_LENS_INTRINSIC_CALIBRATION,
+            testICal, 5);
+    captureResult.update(ANDROID_LENS_DISTORTION,
+            identityDistortion, 5);
+
+    ASSERT_EQ(m.updateCalibration(captureResult), OK);
+
+}
+
+TEST(DistortionMapperTest, IdentityTransform) {
+    status_t res;
+
+    DistortionMapper m;
+    setupTestMapper(&m, identityDistortion);
+
+    auto coords = basicCoords;
+    res = m.mapCorrectedToRaw(coords.data(), 5);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < coords.size(); i++) {
+        EXPECT_EQ(coords[i], basicCoords[i]);
+    }
+
+    res = m.mapRawToCorrected(coords.data(), 5);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < coords.size(); i++) {
+        EXPECT_EQ(coords[i], basicCoords[i]);
+    }
+
+    std::array<int32_t, 8> rects = {
+        0, 0, 100, 100,
+        testActiveArray[2] - 100, testActiveArray[3]-100, 100, 100
+    };
+
+    auto rectsOrig = rects;
+    res = m.mapCorrectedRectToRaw(rects.data(), 2);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < rects.size(); i++) {
+        EXPECT_EQ(rects[i], rectsOrig[i]);
+    }
+
+    res = m.mapRawRectToCorrected(rects.data(), 2);
+    ASSERT_EQ(res, OK);
+
+    for (size_t i = 0; i < rects.size(); i++) {
+        EXPECT_EQ(rects[i], rectsOrig[i]);
+    }
+}
+
+TEST(DistortionMapperTest, LargeTransform) {
+    status_t res;
+    constexpr int maxAllowedPixelError = 2; // Maximum per-pixel error allowed
+    constexpr int bucketsPerPixel = 3; // Histogram granularity
+
+    unsigned int seed = 1234; // Ensure repeatability for debugging
+    const size_t coordCount = 1e6; // Number of random test points
+
+    float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
+
+    DistortionMapper m;
+    setupTestMapper(&m, bigDistortion);
+
+    std::default_random_engine gen(seed);
+
+    std::uniform_int_distribution<int> x_dist(0, testActiveArray[2] - 1);
+    std::uniform_int_distribution<int> y_dist(0, testActiveArray[3] - 1);
+
+    std::vector<int32_t> randCoords(coordCount * 2);
+
+    for (size_t i = 0; i < randCoords.size(); i += 2) {
+        randCoords[i] = x_dist(gen);
+        randCoords[i + 1] = y_dist(gen);
+    }
+
+    randCoords.insert(randCoords.end(), basicCoords.begin(), basicCoords.end());
+
+    auto origCoords = randCoords;
+
+    base::Timer correctedToRawTimer;
+    res = m.mapCorrectedToRaw(randCoords.data(), randCoords.size() / 2);
+    auto correctedToRawDurationMs = correctedToRawTimer.duration();
+    EXPECT_EQ(res, OK);
+
+    base::Timer rawToCorrectedTimer;
+    res = m.mapRawToCorrected(randCoords.data(), randCoords.size() / 2);
+    auto rawToCorrectedDurationMs = rawToCorrectedTimer.duration();
+    EXPECT_EQ(res, OK);
+
+    float correctedToRawDurationPerCoordUs =
+            (std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
+                correctedToRawDurationMs) / (randCoords.size() / 2) ).count();
+    float rawToCorrectedDurationPerCoordUs =
+            (std::chrono::duration_cast<std::chrono::duration<double, std::micro>>(
+                rawToCorrectedDurationMs) / (randCoords.size() / 2) ).count();
+
+    RecordProperty("CorrectedToRawDurationPerCoordUs",
+            base::StringPrintf("%f", correctedToRawDurationPerCoordUs));
+    RecordProperty("RawToCorrectedDurationPerCoordUs",
+            base::StringPrintf("%f", rawToCorrectedDurationPerCoordUs));
+
+    // Calculate mapping errors after round trip
+    float totalErrorSq = 0;
+    // Basic histogram; buckets go from [N to N+1)
+    std::array<int, maxAllowedPixelError * bucketsPerPixel> histogram = {0};
+    int outOfHistogram = 0;
+
+    for (size_t i = 0; i < randCoords.size(); i += 2) {
+        int xOrig = origCoords[i];
+        int yOrig = origCoords[i + 1];
+        int xMapped = randCoords[i];
+        int yMapped = randCoords[i + 1];
+
+        float errorSq = (xMapped - xOrig) * (xMapped - xOrig) +
+                (yMapped - yOrig) * (yMapped - yOrig);
+
+        EXPECT_LE(errorSq, maxAllowedPixelError * maxAllowedPixelError) << "( " <<
+                xOrig << "," << yOrig << ") -> (" << xMapped << "," << yMapped << ")";
+
+        // Note: Integer coordinates, so histogram will be clumpy; error distances can only be of
+        // form sqrt(X^2+Y^2) where X, Y are integers, so:
+        //    0, 1, sqrt(2), 2, sqrt(5), sqrt(8), 3, sqrt(10), sqrt(13), 4 ...
+        totalErrorSq += errorSq;
+        float errorDist = std::sqrt(errorSq);
+        if (errorDist < maxAllowedPixelError) {
+            int histBucket = static_cast<int>(errorDist * bucketsPerPixel); // rounds down
+            histogram[histBucket]++;
+        } else {
+            outOfHistogram++;
+        }
+    }
+
+    float rmsError = std::sqrt(totalErrorSq / randCoords.size());
+    RecordProperty("RmsError", base::StringPrintf("%f", rmsError));
+    for (size_t i = 0; i < histogram.size(); i++) {
+        std::string label = base::StringPrintf("HistogramBin[%f,%f)",
+                (float)i/bucketsPerPixel, (float)(i + 1)/bucketsPerPixel);
+        RecordProperty(label, histogram[i]);
+    }
+    RecordProperty("HistogramOutOfRange", outOfHistogram);
+}
+
+// Compare against values calculated by OpenCV
+// undistortPoints() method, which is the same as mapRawToCorrected
+// See script DistortionMapperComp.py
+#include "DistortionMapperTest_OpenCvData.h"
+
+TEST(DistortionMapperTest, CompareToOpenCV) {
+    status_t res;
+
+    float bigDistortion[] = {0.1, -0.003, 0.004, 0.02, 0.01};
+
+    // Expect to match within sqrt(2) radius pixels
+    const int32_t maxSqError = 2;
+
+    DistortionMapper m;
+    setupTestMapper(&m, bigDistortion);
+
+    using namespace openCvData;
+
+    res = m.mapRawToCorrected(rawCoords.data(), rawCoords.size() / 2);
+
+    for (size_t i = 0; i < rawCoords.size(); i+=2) {
+        int32_t dist = (rawCoords[i] - expCoords[i]) * (rawCoords[i] - expCoords[i]) +
+               (rawCoords[i + 1] - expCoords[i + 1]) * (rawCoords[i + 1] - expCoords[i + 1]);
+        EXPECT_LE(dist, maxSqError)
+                << "(" << rawCoords[i] << ", " << rawCoords[i + 1] << ") != ("
+                << expCoords[i] << ", " << expCoords[i + 1] << ")";
+    }
+}
diff --git a/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h b/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h
new file mode 100644
index 0000000..f996bd5
--- /dev/null
+++ b/services/camera/libcameraservice/tests/DistortionMapperTest_OpenCvData.h
@@ -0,0 +1,2009 @@
+// Generated by DistortionMapperComp.py
+// for use by DistortionMapperTest.cpp
+
+namespace openCvData {
+std::array<int32_t, 2000> rawCoords = {
+  191, 466,
+  437, 589,
+  779, 204,
+  276, 601,
+  958, 656,
+  357, 375,
+  683, 534,
+  370, 420,
+  503, 10,
+  772, 661,
+  364, 461,
+  75, 276,
+  933, 488,
+  397, 591,
+  316, 426,
+  869, 327,
+  802, 107,
+  704, 528,
+  218, 693,
+  442, 681,
+  59, 138,
+  47, 506,
+  594, 399,
+  43, 421,
+  329, 377,
+  111, 455,
+  565, 5,
+  617, 684,
+  790, 744,
+  958, 593,
+  285, 468,
+  478, 146,
+  382, 40,
+  451, 736,
+  123, 89,
+  738, 440,
+  471, 80,
+  229, 674,
+  416, 401,
+  6, 225,
+  436, 459,
+  918, 469,
+  705, 112,
+  746, 623,
+  633, 328,
+  152, 426,
+  528, 713,
+  480, 376,
+  536, 614,
+  57, 502,
+  767, 531,
+  796, 418,
+  965, 110,
+  29, 445,
+  114, 713,
+  325, 145,
+  457, 690,
+  879, 189,
+  348, 136,
+  901, 529,
+  726, 675,
+  779, 449,
+  291, 113,
+  335, 493,
+  73, 41,
+  323, 442,
+  853, 215,
+  173, 100,
+  994, 134,
+  317, 426,
+  9, 675,
+  977, 417,
+  84, 249,
+  728, 106,
+  552, 204,
+  974, 500,
+  255, 81,
+  776, 586,
+  761, 685,
+  658, 426,
+  201, 523,
+  952, 667,
+  993, 614,
+  545, 338,
+  890, 729,
+  593, 274,
+  323, 653,
+  215, 551,
+  365, 601,
+  782, 526,
+  622, 370,
+  840, 534,
+  443, 23,
+  363, 548,
+  475, 258,
+  640, 94,
+  171, 552,
+  127, 277,
+  604, 77,
+  802, 709,
+  979, 660,
+  627, 697,
+  724, 537,
+  41, 329,
+  282, 251,
+  83, 570,
+  509, 495,
+  630, 278,
+  446, 311,
+  480, 737,
+  373, 9,
+  921, 654,
+  351, 472,
+  357, 159,
+  223, 314,
+  72, 488,
+  755, 699,
+  376, 222,
+  371, 620,
+  901, 320,
+  2, 31,
+  141, 448,
+  106, 222,
+  58, 465,
+  22, 641,
+  306, 569,
+  563, 28,
+  565, 494,
+  183, 598,
+  612, 416,
+  629, 514,
+  240, 590,
+  856, 545,
+  692, 354,
+  856, 498,
+  333, 388,
+  394, 23,
+  576, 637,
+  951, 512,
+  76, 307,
+  41, 130,
+  565, 129,
+  566, 385,
+  868, 540,
+  903, 208,
+  256, 524,
+  901, 737,
+  640, 247,
+  606, 616,
+  627, 88,
+  285, 740,
+  431, 430,
+  527, 148,
+  165, 375,
+  990, 295,
+  714, 131,
+  70, 118,
+  161, 212,
+  536, 579,
+  880, 478,
+  852, 448,
+  693, 402,
+  889, 39,
+  783, 108,
+  58, 44,
+  51, 386,
+  404, 749,
+  108, 245,
+  997, 300,
+  883, 426,
+  953, 664,
+  779, 23,
+  962, 389,
+  207, 656,
+  224, 103,
+  725, 730,
+  535, 333,
+  22, 454,
+  964, 725,
+  930, 138,
+  622, 309,
+  363, 27,
+  868, 504,
+  87, 665,
+  782, 237,
+  818, 380,
+  21, 325,
+  446, 179,
+  830, 558,
+  586, 369,
+  487, 200,
+  605, 565,
+  270, 391,
+  98, 535,
+  884, 425,
+  994, 134,
+  12, 342,
+  931, 634,
+  473, 676,
+  225, 228,
+  714, 543,
+  18, 214,
+  580, 698,
+  338, 90,
+  516, 524,
+  298, 646,
+  905, 576,
+  261, 703,
+  938, 558,
+  910, 177,
+  494, 607,
+  954, 478,
+  910, 519,
+  42, 625,
+  369, 702,
+  483, 93,
+  964, 12,
+  676, 105,
+  155, 487,
+  981, 521,
+  761, 318,
+  138, 162,
+  764, 40,
+  490, 135,
+  630, 413,
+  567, 613,
+  938, 144,
+  712, 523,
+  258, 686,
+  532, 418,
+  322, 253,
+  332, 734,
+  203, 500,
+  574, 38,
+  542, 155,
+  91, 652,
+  27, 726,
+  327, 307,
+  135, 95,
+  413, 463,
+  132, 730,
+  180, 570,
+  482, 576,
+  302, 11,
+  463, 527,
+  66, 501,
+  345, 443,
+  229, 200,
+  932, 619,
+  145, 485,
+  883, 556,
+  515, 101,
+  39, 625,
+  117, 392,
+  873, 29,
+  692, 357,
+  169, 47,
+  32, 181,
+  112, 303,
+  42, 694,
+  935, 607,
+  188, 440,
+  903, 725,
+  67, 238,
+  696, 480,
+  632, 621,
+  713, 251,
+  167, 573,
+  359, 66,
+  729, 660,
+  41, 131,
+  420, 255,
+  44, 84,
+  438, 53,
+  816, 649,
+  131, 144,
+  437, 728,
+  773, 98,
+  927, 620,
+  392, 105,
+  52, 69,
+  886, 126,
+  362, 490,
+  604, 296,
+  374, 47,
+  428, 539,
+  768, 145,
+  862, 21,
+  902, 177,
+  128, 238,
+  848, 624,
+  345, 179,
+  535, 203,
+  34, 470,
+  520, 31,
+  757, 741,
+  801, 257,
+  335, 263,
+  442, 434,
+  617, 132,
+  864, 532,
+  170, 641,
+  19, 481,
+  162, 193,
+  342, 4,
+  438, 597,
+  675, 408,
+  564, 10,
+  608, 741,
+  224, 440,
+  835, 594,
+  329, 267,
+  960, 167,
+  211, 115,
+  495, 195,
+  555, 54,
+  378, 345,
+  778, 540,
+  231, 18,
+  257, 307,
+  8, 353,
+  852, 692,
+  231, 743,
+  5, 251,
+  789, 73,
+  442, 285,
+  832, 533,
+  355, 18,
+  693, 315,
+  858, 431,
+  940, 660,
+  458, 12,
+  68, 240,
+  592, 457,
+  512, 108,
+  876, 553,
+  373, 621,
+  90, 48,
+  505, 700,
+  148, 427,
+  59, 126,
+  69, 679,
+  447, 79,
+  665, 376,
+  409, 545,
+  172, 288,
+  267, 231,
+  177, 361,
+  629, 44,
+  196, 209,
+  707, 245,
+  425, 528,
+  159, 329,
+  629, 693,
+  356, 614,
+  640, 536,
+  738, 728,
+  246, 31,
+  247, 33,
+  705, 626,
+  934, 353,
+  512, 197,
+  98, 599,
+  142, 604,
+  879, 374,
+  914, 309,
+  200, 482,
+  399, 460,
+  437, 444,
+  951, 414,
+  903, 103,
+  1, 459,
+  541, 585,
+  821, 715,
+  609, 217,
+  826, 282,
+  609, 465,
+  441, 149,
+  443, 693,
+  671, 61,
+  572, 90,
+  999, 748,
+  694, 280,
+  401, 693,
+  244, 498,
+  481, 26,
+  110, 671,
+  892, 686,
+  307, 223,
+  659, 446,
+  984, 461,
+  154, 623,
+  815, 69,
+  887, 12,
+  863, 674,
+  850, 489,
+  328, 409,
+  237, 653,
+  176, 277,
+  759, 229,
+  616, 164,
+  872, 485,
+  473, 175,
+  833, 73,
+  205, 176,
+  596, 471,
+  982, 132,
+  799, 116,
+  360, 716,
+  130, 204,
+  809, 724,
+  92, 437,
+  405, 674,
+  84, 135,
+  50, 225,
+  190, 6,
+  127, 84,
+  730, 179,
+  901, 246,
+  874, 177,
+  378, 406,
+  515, 310,
+  388, 255,
+  402, 342,
+  382, 493,
+  881, 429,
+  428, 193,
+  865, 129,
+  579, 545,
+  730, 302,
+  117, 572,
+  533, 541,
+  597, 317,
+  933, 745,
+  547, 547,
+  27, 647,
+  998, 243,
+  850, 458,
+  441, 395,
+  779, 188,
+  462, 635,
+  678, 275,
+  137, 302,
+  931, 504,
+  419, 426,
+  41, 746,
+  619, 584,
+  931, 256,
+  811, 654,
+  665, 441,
+  893, 336,
+  244, 610,
+  697, 307,
+  5, 715,
+  605, 4,
+  498, 448,
+  300, 346,
+  495, 439,
+  869, 624,
+  778, 411,
+  613, 550,
+  566, 581,
+  986, 591,
+  614, 118,
+  476, 212,
+  153, 582,
+  58, 59,
+  664, 392,
+  446, 230,
+  17, 220,
+  267, 27,
+  804, 250,
+  891, 607,
+  964, 718,
+  591, 233,
+  918, 37,
+  225, 272,
+  412, 708,
+  579, 140,
+  596, 700,
+  134, 736,
+  153, 615,
+  677, 303,
+  217, 580,
+  847, 397,
+  409, 13,
+  148, 603,
+  419, 254,
+  297, 538,
+  997, 413,
+  889, 126,
+  883, 527,
+  422, 647,
+  235, 422,
+  26, 285,
+  361, 68,
+  45, 256,
+  355, 746,
+  944, 98,
+  518, 357,
+  401, 697,
+  515, 607,
+  881, 572,
+  464, 55,
+  470, 150,
+  208, 133,
+  354, 683,
+  433, 133,
+  752, 37,
+  82, 28,
+  465, 452,
+  181, 389,
+  710, 693,
+  529, 728,
+  547, 4,
+  472, 391,
+  152, 490,
+  130, 340,
+  982, 99,
+  60, 50,
+  96, 614,
+  629, 587,
+  77, 728,
+  882, 472,
+  929, 298,
+  488, 514,
+  281, 507,
+  495, 593,
+  218, 559,
+  454, 306,
+  922, 113,
+  130, 286,
+  541, 708,
+  323, 73,
+  947, 642,
+  26, 88,
+  829, 103,
+  569, 358,
+  306, 42,
+  936, 678,
+  722, 490,
+  392, 730,
+  711, 369,
+  326, 86,
+  972, 205,
+  187, 161,
+  760, 708,
+  501, 496,
+  347, 96,
+  681, 293,
+  26, 375,
+  528, 167,
+  1, 334,
+  505, 60,
+  822, 180,
+  9, 168,
+  84, 619,
+  714, 183,
+  63, 320,
+  706, 538,
+  193, 555,
+  956, 386,
+  430, 17,
+  507, 514,
+  138, 504,
+  39, 323,
+  854, 316,
+  88, 42,
+  103, 363,
+  674, 68,
+  832, 582,
+  61, 241,
+  377, 376,
+  449, 350,
+  104, 280,
+  21, 336,
+  893, 581,
+  249, 548,
+  315, 372,
+  50, 436,
+  282, 220,
+  126, 669,
+  451, 488,
+  809, 212,
+  273, 289,
+  421, 699,
+  867, 333,
+  29, 80,
+  196, 178,
+  824, 672,
+  27, 429,
+  805, 315,
+  525, 214,
+  658, 67,
+  822, 605,
+  191, 478,
+  832, 352,
+  580, 81,
+  462, 664,
+  464, 349,
+  196, 29,
+  615, 423,
+  108, 556,
+  183, 261,
+  480, 482,
+  621, 570,
+  286, 369,
+  681, 382,
+  768, 224,
+  546, 183,
+  443, 607,
+  103, 172,
+  791, 424,
+  827, 731,
+  965, 712,
+  551, 69,
+  740, 423,
+  745, 341,
+  155, 746,
+  889, 602,
+  411, 159,
+  294, 467,
+  248, 599,
+  18, 360,
+  734, 512,
+  421, 519,
+  367, 174,
+  785, 545,
+  706, 23,
+  239, 278,
+  581, 65,
+  232, 609,
+  752, 603,
+  294, 585,
+  224, 217,
+  848, 558,
+  332, 425,
+  699, 68,
+  53, 647,
+  629, 652,
+  87, 649,
+  41, 718,
+  227, 563,
+  400, 302,
+  253, 380,
+  184, 42,
+  366, 539,
+  474, 691,
+  170, 538,
+  869, 96,
+  974, 565,
+  916, 28,
+  285, 617,
+  274, 38,
+  147, 12,
+  782, 261,
+  749, 41,
+  78, 592,
+  370, 83,
+  405, 488,
+  436, 151,
+  443, 556,
+  96, 383,
+  843, 745,
+  630, 214,
+  126, 10,
+  338, 363,
+  546, 27,
+  61, 17,
+  507, 199,
+  445, 730,
+  797, 213,
+  555, 148,
+  790, 65,
+  837, 180,
+  434, 320,
+  102, 681,
+  149, 680,
+  10, 130,
+  839, 232,
+  848, 683,
+  899, 650,
+  837, 190,
+  843, 463,
+  984, 457,
+  651, 490,
+  552, 139,
+  980, 71,
+  748, 393,
+  290, 171,
+  503, 698,
+  574, 742,
+  429, 312,
+  627, 680,
+  69, 412,
+  154, 538,
+  135, 3,
+  537, 12,
+  535, 34,
+  153, 632,
+  797, 227,
+  398, 336,
+  20, 463,
+  804, 175,
+  400, 369,
+  501, 250,
+  105, 480,
+  151, 146,
+  57, 686,
+  830, 119,
+  867, 380,
+  128, 84,
+  222, 667,
+  450, 522,
+  390, 466,
+  716, 375,
+  760, 624,
+  559, 407,
+  587, 18,
+  989, 53,
+  817, 102,
+  153, 269,
+  253, 164,
+  563, 360,
+  93, 385,
+  197, 360,
+  277, 7,
+  887, 280,
+  416, 658,
+  760, 411,
+  902, 690,
+  465, 424,
+  28, 105,
+  399, 620,
+  455, 520,
+  637, 491,
+  769, 0,
+  300, 521,
+  90, 392,
+  894, 722,
+  705, 573,
+  344, 188,
+  667, 111,
+  470, 16,
+  759, 154,
+  840, 581,
+  176, 663,
+  93, 151,
+  372, 130,
+  345, 425,
+  156, 581,
+  33, 8,
+  320, 395,
+  629, 661,
+  641, 17,
+  695, 663,
+  751, 197,
+  507, 93,
+  608, 519,
+  77, 303,
+  513, 605,
+  98, 354,
+  567, 401,
+  184, 440,
+  785, 748,
+  52, 32,
+  528, 452,
+  82, 532,
+  116, 147,
+  779, 341,
+  308, 275,
+  763, 135,
+  137, 375,
+  14, 260,
+  337, 378,
+  492, 262,
+  202, 119,
+  561, 334,
+  855, 683,
+  876, 724,
+  202, 544,
+  571, 437,
+  456, 436,
+  67, 4,
+  468, 592,
+  922, 540,
+  125, 539,
+  615, 290,
+  785, 76,
+  402, 556,
+  12, 696,
+  460, 52,
+  909, 92,
+  894, 153,
+  931, 373,
+  360, 120,
+  726, 626,
+  318, 733,
+  472, 424,
+  146, 74,
+  86, 564,
+  742, 236,
+  845, 400,
+  832, 139,
+  275, 437,
+  929, 42,
+  818, 123,
+  439, 274,
+  65, 590,
+  512, 132,
+  520, 443,
+  444, 107,
+  961, 313,
+  130, 488,
+  587, 191,
+  287, 603,
+  56, 208,
+  936, 628,
+  908, 445,
+  773, 258,
+  383, 283,
+  425, 530,
+  244, 133,
+  216, 543,
+  631, 595,
+  785, 108,
+  87, 192,
+  640, 427,
+  889, 688,
+  152, 89,
+  10, 209,
+  122, 343,
+  188, 5,
+  896, 748,
+  806, 22,
+  535, 457,
+  851, 307,
+  261, 566,
+  791, 590,
+  947, 300,
+  658, 394,
+  418, 305,
+  371, 632,
+  470, 438,
+  165, 410,
+  538, 380,
+  643, 408,
+  318, 591,
+  564, 311,
+  327, 690,
+  930, 8,
+  93, 100,
+  627, 196,
+  582, 416,
+  200, 492,
+  943, 267,
+  31, 355,
+  67, 374,
+  692, 57,
+  229, 373,
+  542, 371,
+  801, 230,
+  114, 420,
+  769, 326,
+  83, 448,
+  846, 137,
+  912, 77,
+  126, 3,
+  784, 420,
+  660, 391,
+  795, 188,
+  530, 42,
+  137, 106,
+  663, 80,
+  757, 340,
+  694, 267,
+  768, 612,
+  926, 155,
+  600, 25,
+  292, 31,
+  97, 225,
+  60, 437,
+  724, 563,
+  698, 85,
+  286, 196,
+  66, 1,
+  269, 25,
+  467, 405,
+  204, 171,
+  653, 14,
+  299, 360,
+  521, 719,
+  760, 602,
+  329, 282,
+  687, 530,
+  110, 200,
+  30, 300,
+  6, 501,
+  868, 281,
+  281, 76,
+  805, 363,
+  876, 114,
+  219, 549,
+  65, 611,
+  859, 23,
+  66, 354,
+  205, 169,
+  434, 174,
+  828, 668,
+  814, 720,
+  663, 34,
+  875, 707,
+  969, 561,
+  932, 66,
+  834, 548,
+  961, 86,
+  263, 148,
+  145, 202,
+  83, 146,
+  947, 727,
+  3, 138,
+  927, 514,
+  814, 742,
+  80, 430,
+  866, 184,
+  593, 731,
+  193, 219,
+  496, 490,
+  606, 530,
+  314, 334,
+  301, 327,
+  50, 715,
+  178, 57,
+  936, 626,
+  972, 617,
+  33, 427,
+  147, 435,
+  83, 341,
+  859, 244,
+  337, 688,
+  637, 124,
+  874, 71,
+  590, 474,
+  332, 120,
+  640, 290,
+  816, 171,
+  665, 431,
+  79, 31,
+  857, 110,
+  103, 79,
+  293, 397,
+  866, 651,
+  356, 73,
+  438, 710,
+  41, 233,
+  782, 596,
+  852, 407,
+  590, 104,
+  34, 116,
+  756, 276,
+  282, 181,
+  871, 275,
+  888, 712,
+  872, 279,
+  645, 324,
+  730, 524,
+  430, 302,
+  601, 486,
+  114, 529,
+  359, 317,
+  313, 426,
+  33, 732,
+  970, 211,
+  657, 582,
+  945, 501,
+  450, 630,
+  822, 697,
+  702, 600,
+  958, 289,
+  732, 96,
+  205, 662,
+  695, 533,
+  369, 433,
+  83, 445,
+  176, 315,
+  239, 95,
+  895, 682,
+  628, 118,
+  730, 741,
+  779, 734,
+  804, 314,
+  465, 567,
+  810, 106,
+  81, 268,
+  968, 518,
+  22, 159,
+  726, 504,
+  38, 269,
+  751, 649,
+  954, 659,
+};
+std::array<int32_t, 2000> expCoords = {
+  190, 464,
+  437, 588,
+  774, 203,
+  276, 599,
+  939, 646,
+  356, 373,
+  681, 533,
+  369, 419,
+  500, 7,
+  765, 655,
+  363, 460,
+  75, 272,
+  920, 484,
+  397, 590,
+  315, 424,
+  861, 326,
+  795, 107,
+  701, 526,
+  220, 688,
+  442, 678,
+  59, 134,
+  50, 501,
+  593, 398,
+  44, 417,
+  327, 375,
+  111, 452,
+  562, 3,
+  614, 680,
+  780, 734,
+  941, 586,
+  284, 467,
+  476, 142,
+  379, 36,
+  451, 731,
+  122, 85,
+  735, 439,
+  469, 76,
+  231, 670,
+  415, 400,
+  8, 221,
+  435, 458,
+  906, 466,
+  701, 111,
+  741, 619,
+  632, 327,
+  151, 423,
+  527, 709,
+  479, 375,
+  535, 612,
+  59, 498,
+  762, 529,
+  791, 417,
+  948, 113,
+  31, 441,
+  119, 705,
+  323, 141,
+  457, 687,
+  869, 189,
+  346, 132,
+  890, 525,
+  721, 670,
+  775, 448,
+  288, 108,
+  334, 492,
+  74, 38,
+  322, 441,
+  845, 215,
+  171, 96,
+  975, 137,
+  316, 425,
+  17, 665,
+  961, 414,
+  83, 245,
+  723, 105,
+  551, 201,
+  958, 495,
+  253, 77,
+  770, 583,
+  754, 679,
+  657, 425,
+  201, 521,
+  934, 657,
+  973, 605,
+  544, 336,
+  875, 717,
+  592, 272,
+  323, 650,
+  215, 549,
+  365, 600,
+  777, 524,
+  621, 369,
+  832, 531,
+  440, 19,
+  362, 547,
+  474, 255,
+  637, 92,
+  171, 549,
+  126, 273,
+  601, 74,
+  792, 701,
+  959, 649,
+  624, 692,
+  721, 535,
+  42, 325,
+  280, 247,
+  86, 565,
+  508, 494,
+  629, 276,
+  445, 309,
+  479, 732,
+  370, 5,
+  905, 645,
+  350, 471,
+  355, 155,
+  221, 311,
+  73, 484,
+  748, 692,
+  374, 218,
+  371, 618,
+  891, 319,
+  6, 29,
+  141, 445,
+  105, 218,
+  60, 461,
+  28, 633,
+  306, 567,
+  560, 25,
+  564, 493,
+  184, 595,
+  611, 415,
+  628, 513,
+  240, 587,
+  847, 541,
+  690, 353,
+  848, 495,
+  331, 386,
+  391, 19,
+  575, 635,
+  936, 507,
+  76, 303,
+  42, 126,
+  563, 126,
+  565, 384,
+  858, 536,
+  892, 209,
+  255, 522,
+  884, 724,
+  639, 245,
+  604, 614,
+  624, 86,
+  287, 734,
+  430, 429,
+  525, 145,
+  164, 372,
+  974, 295,
+  710, 130,
+  70, 114,
+  159, 208,
+  535, 578,
+  871, 475,
+  844, 446,
+  691, 401,
+  876, 43,
+  777, 108,
+  59, 41,
+  52, 382,
+  404, 744,
+  107, 241,
+  980, 300,
+  874, 424,
+  935, 654,
+  771, 24,
+  948, 387,
+  209, 652,
+  222, 99,
+  718, 722,
+  534, 331,
+  25, 449,
+  943, 711,
+  916, 140,
+  621, 307,
+  360, 23,
+  859, 501,
+  92, 658,
+  777, 236,
+  812, 379,
+  22, 321,
+  444, 175,
+  822, 554,
+  585, 368,
+  486, 197,
+  604, 564,
+  268, 389,
+  100, 531,
+  875, 423,
+  975, 137,
+  14, 338,
+  915, 626,
+  472, 673,
+  223, 224,
+  711, 541,
+  19, 210,
+  578, 694,
+  336, 85,
+  515, 523,
+  298, 643,
+  892, 570,
+  263, 698,
+  923, 552,
+  898, 178,
+  493, 606,
+  940, 474,
+  898, 515,
+  47, 618,
+  369, 698,
+  481, 89,
+  945, 18,
+  673, 103,
+  155, 484,
+  964, 516,
+  757, 317,
+  136, 158,
+  757, 41,
+  488, 131,
+  629, 412,
+  566, 611,
+  924, 146,
+  709, 521,
+  259, 682,
+  531, 417,
+  320, 250,
+  333, 729,
+  202, 498,
+  571, 35,
+  540, 152,
+  95, 645,
+  36, 715,
+  325, 304,
+  134, 91,
+  412, 462,
+  137, 722,
+  181, 567,
+  481, 575,
+  300, 7,
+  462, 526,
+  68, 497,
+  344, 442,
+  227, 196,
+  917, 611,
+  145, 482,
+  872, 551,
+  513, 97,
+  44, 618,
+  116, 389,
+  861, 32,
+  690, 356,
+  168, 43,
+  33, 177,
+  111, 299,
+  49, 685,
+  920, 600,
+  187, 438,
+  887, 713,
+  67, 234,
+  694, 479,
+  630, 619,
+  710, 250,
+  168, 570,
+  356, 62,
+  724, 655,
+  42, 127,
+  418, 252,
+  45, 81,
+  436, 49,
+  807, 643,
+  130, 140,
+  437, 723,
+  767, 98,
+  912, 612,
+  390, 101,
+  53, 66,
+  875, 128,
+  361, 489,
+  603, 294,
+  371, 43,
+  427, 538,
+  763, 144,
+  850, 24,
+  891, 178,
+  126, 234,
+  838, 618,
+  343, 175,
+  534, 200,
+  36, 466,
+  517, 28,
+  749, 732,
+  796, 256,
+  333, 260,
+  441, 433,
+  615, 129,
+  855, 528,
+  172, 636,
+  22, 476,
+  160, 189,
+  339, 0,
+  438, 596,
+  673, 407,
+  561, 8,
+  605, 735,
+  223, 438,
+  826, 589,
+  327, 264,
+  945, 169,
+  209, 111,
+  494, 192,
+  552, 51,
+  377, 343,
+  773, 537,
+  229, 14,
+  255, 304,
+  10, 349,
+  840, 683,
+  234, 736,
+  7, 247,
+  782, 73,
+  441, 282,
+  824, 530,
+  352, 14,
+  691, 314,
+  850, 429,
+  923, 650,
+  455, 8,
+  68, 236,
+  591, 456,
+  510, 104,
+  866, 549,
+  373, 619,
+  90, 45,
+  504, 696,
+  147, 424,
+  59, 122,
+  75, 671,
+  445, 75,
+  664, 375,
+  408, 544,
+  170, 284,
+  265, 227,
+  175, 358,
+  625, 42,
+  194, 205,
+  704, 244,
+  424, 527,
+  157, 326,
+  626, 689,
+  356, 612,
+  638, 535,
+  731, 720,
+  244, 27,
+  245, 29,
+  701, 623,
+  922, 352,
+  511, 194,
+  101, 594,
+  144, 600,
+  870, 373,
+  903, 308,
+  199, 480,
+  398, 459,
+  436, 443,
+  938, 412,
+  891, 105,
+  4, 454,
+  540, 584,
+  810, 706,
+  608, 215,
+  820, 281,
+  608, 464,
+  439, 145,
+  443, 690,
+  667, 60,
+  570, 87,
+  974, 731,
+  692, 279,
+  401, 690,
+  243, 496,
+  478, 22,
+  114, 664,
+  878, 676,
+  305, 219,
+  658, 445,
+  967, 457,
+  156, 619,
+  807, 70,
+  873, 16,
+  851, 666,
+  842, 486,
+  327, 407,
+  238, 649,
+  174, 273,
+  755, 228,
+  614, 161,
+  863, 482,
+  471, 171,
+  824, 74,
+  203, 172,
+  595, 470,
+  964, 135,
+  792, 116,
+  361, 712,
+  128, 200,
+  799, 715,
+  92, 434,
+  405, 671,
+  84, 131,
+  50, 221,
+  189, 3,
+  126, 80,
+  726, 178,
+  891, 246,
+  865, 178,
+  377, 405,
+  514, 308,
+  386, 252,
+  401, 340,
+  381, 492,
+  872, 427,
+  426, 189,
+  855, 130,
+  578, 544,
+  727, 301,
+  119, 568,
+  532, 540,
+  596, 315,
+  914, 731,
+  546, 546,
+  33, 639,
+  981, 244,
+  842, 456,
+  440, 394,
+  774, 187,
+  462, 633,
+  676, 273,
+  135, 298,
+  918, 500,
+  418, 425,
+  50, 734,
+  617, 582,
+  919, 256,
+  802, 648,
+  664, 440,
+  884, 335,
+  244, 607,
+  695, 306,
+  14, 704,
+  601, 2,
+  497, 447,
+  298, 344,
+  494, 438,
+  858, 618,
+  774, 410,
+  612, 549,
+  565, 580,
+  967, 583,
+  612, 115,
+  475, 209,
+  154, 578,
+  59, 56,
+  663, 391,
+  444, 227,
+  18, 216,
+  265, 23,
+  799, 249,
+  879, 601,
+  943, 704,
+  590, 231,
+  903, 41,
+  223, 268,
+  412, 704,
+  577, 137,
+  594, 696,
+  139, 727,
+  155, 611,
+  675, 302,
+  217, 577,
+  840, 396,
+  406, 9,
+  150, 599,
+  417, 251,
+  296, 537,
+  980, 410,
+  878, 128,
+  873, 523,
+  422, 645,
+  234, 420,
+  27, 281,
+  358, 64,
+  45, 252,
+  356, 740,
+  929, 101,
+  517, 356,
+  401, 694,
+  514, 606,
+  870, 567,
+  462, 51,
+  468, 146,
+  206, 129,
+  354, 680,
+  431, 129,
+  745, 37,
+  83, 25,
+  464, 451,
+  180, 386,
+  705, 687,
+  528, 723,
+  544, 1,
+  471, 390,
+  152, 487,
+  129, 337,
+  964, 103,
+  61, 47,
+  99, 609,
+  627, 585,
+  84, 718,
+  873, 469,
+  917, 298,
+  488, 513,
+  280, 506,
+  494, 592,
+  218, 557,
+  453, 304,
+  908, 115,
+  129, 282,
+  540, 704,
+  320, 69,
+  930, 633,
+  28, 85,
+  821, 104,
+  568, 357,
+  304, 38,
+  919, 667,
+  719, 489,
+  392, 725,
+  709, 368,
+  323, 81,
+  956, 206,
+  185, 157,
+  753, 701,
+  500, 495,
+  345, 92,
+  679, 292,
+  27, 371,
+  526, 164,
+  3, 330,
+  503, 56,
+  815, 180,
+  11, 164,
+  88, 613,
+  711, 182,
+  63, 316,
+  703, 536,
+  193, 552,
+  942, 384,
+  427, 13,
+  506, 513,
+  138, 501,
+  40, 319,
+  847, 315,
+  88, 39,
+  102, 360,
+  670, 66,
+  824, 578,
+  61, 237,
+  376, 374,
+  448, 348,
+  103, 276,
+  22, 332,
+  881, 576,
+  249, 546,
+  313, 370,
+  51, 432,
+  280, 216,
+  130, 663,
+  450, 487,
+  803, 211,
+  271, 286,
+  421, 696,
+  859, 332,
+  31, 77,
+  194, 174,
+  814, 665,
+  29, 425,
+  800, 314,
+  524, 211,
+  654, 65,
+  814, 600,
+  190, 476,
+  826, 351,
+  577, 78,
+  462, 662,
+  463, 347,
+  194, 25,
+  614, 422,
+  110, 552,
+  181, 257,
+  479, 481,
+  619, 569,
+  284, 367,
+  679, 381,
+  764, 223,
+  545, 180,
+  443, 606,
+  102, 168,
+  786, 423,
+  816, 721,
+  944, 699,
+  548, 66,
+  737, 422,
+  742, 340,
+  160, 737,
+  877, 596,
+  409, 155,
+  293, 466,
+  248, 596,
+  20, 356,
+  731, 510,
+  420, 518,
+  365, 170,
+  779, 542,
+  700, 23,
+  237, 275,
+  578, 62,
+  233, 606,
+  747, 599,
+  294, 583,
+  222, 213,
+  839, 554,
+  331, 424,
+  694, 67,
+  58, 640,
+  627, 649,
+  91, 642,
+  49, 708,
+  227, 561,
+  398, 299,
+  251, 378,
+  182, 38,
+  365, 538,
+  473, 688,
+  170, 535,
+  858, 98,
+  956, 558,
+  901, 33,
+  285, 615,
+  272, 34,
+  146, 9,
+  778, 260,
+  743, 41,
+  81, 587,
+  368, 79,
+  404, 487,
+  434, 147,
+  443, 555,
+  96, 380,
+  830, 734,
+  628, 212,
+  126, 7,
+  336, 361,
+  543, 24,
+  62, 15,
+  506, 196,
+  445, 725,
+  792, 212,
+  553, 145,
+  783, 66,
+  829, 180,
+  433, 318,
+  107, 674,
+  152, 674,
+  12, 127,
+  832, 232,
+  837, 675,
+  885, 642,
+  830, 190,
+  836, 461,
+  967, 453,
+  650, 489,
+  550, 136,
+  961, 76,
+  745, 392,
+  288, 167,
+  502, 694,
+  572, 736,
+  428, 310,
+  624, 676,
+  70, 408,
+  155, 535,
+  135, 0,
+  534, 9,
+  532, 31,
+  155, 627,
+  792, 226,
+  397, 334,
+  23, 458,
+  798, 175,
+  399, 367,
+  500, 247,
+  106, 477,
+  149, 142,
+  63, 677,
+  822, 120,
+  859, 379,
+  127, 80,
+  224, 663,
+  449, 521,
+  389, 465,
+  714, 374,
+  754, 620,
+  558, 406,
+  584, 16,
+  969, 59,
+  809, 103,
+  151, 265,
+  251, 160,
+  562, 359,
+  93, 382,
+  195, 357,
+  275, 3,
+  878, 280,
+  416, 656,
+  756, 410,
+  887, 680,
+  464, 423,
+  30, 102,
+  399, 618,
+  454, 519,
+  636, 490,
+  761, 2,
+  299, 520,
+  90, 388,
+  878, 710,
+  702, 571,
+  342, 184,
+  664, 109,
+  467, 12,
+  754, 153,
+  831, 577,
+  178, 658,
+  92, 147,
+  370, 126,
+  344, 424,
+  157, 577,
+  36, 7,
+  318, 393,
+  626, 658,
+  637, 16,
+  691, 659,
+  747, 196,
+  505, 89,
+  607, 518,
+  77, 299,
+  512, 604,
+  97, 350,
+  566, 400,
+  183, 438,
+  775, 738,
+  54, 30,
+  527, 451,
+  84, 528,
+  115, 143,
+  775, 340,
+  306, 272,
+  758, 134,
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+};
+} // namespace openCvData