Tango 开发指南 — 深度感知 API （Java 描述）

原文链接：https://developers.google.com/tango/apis/java/java-depth-perception

配置

要使用深度感知技术，TangoConfig.KEY_BOOLEAN_DEPTH 配置项必须为 true，该项默认为 false。

try {
    mConfig = new TangoConfig();
    mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
} catch (TangoErrorException e) {
    // handle exception
}

定义回调

调用方负责分配内存空间，回调方法执行完毕之后该空白将被释放。

private void setTangoListeners() {
    final ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
    framePairs.add(new TangoCoordinateFramePair(
        TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
        TangoPoseData.COORDINATE_FRAME_DEVICE));

    // Listen for new Tango data
    mTango.connectListener(framePairs, new OnTangoUpdateListener() {

        @Override
        public void onXyzIjAvailable(TangoXyzIjData arg0) {
            byte[] buffer = new byte[xyzIj.xyzCount * 3 * 4];
            FileInputStream fileStream = new FileInputStream(
                     xyzIj.xyzParcelFileDescriptor.getFileDescriptor());
            try {
                fileStream.read(buffer,
                        xyzIj.xyzParcelFileDescriptorOffset, buffer.length);
                fileStream.close();
            } catch (IOException e) {
                e.printStackTrace();
            }
            // Do not process the buffer inside the callback because
            // you will not receive any new data while it processes
        }

        @Override
        public void onPoseAvailable(final TangoPoseData pose) {
            // Process pose data from device with respect to start of service
        }

        @Override
        public void onTangoEvent(final TangoEvent event) {
            // This callback also has to be here
        }
    });
}

onXYZijAvailable() 即为回调方法。切勿在回调方法中对数据做繁重的计算操作；回调执行完毕后，才会接收到新的数据。

以下是原文

Configuration

In order to use depth perception, your TangoConfig must have KEY_BOOLEAN_DEPTH set to true. In the default TangoConfig, KEY_BOOLEAN_DEPTH is set to false.

try {
    mConfig = new TangoConfig();
    mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
} catch (TangoErrorException e) {
    // handle exception
}

Define the callback

The caller is responsible for allocating memory, which will be released after the callback function has finished.

private void setTangoListeners() {
    final ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
    framePairs.add(new TangoCoordinateFramePair(
        TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
        TangoPoseData.COORDINATE_FRAME_DEVICE));

    // Listen for new Tango data
    mTango.connectListener(framePairs, new OnTangoUpdateListener() {

        @Override
        public void onXyzIjAvailable(TangoXyzIjData arg0) {
            byte[] buffer = new byte[xyzIj.xyzCount * 3 * 4];
            FileInputStream fileStream = new FileInputStream(
                     xyzIj.xyzParcelFileDescriptor.getFileDescriptor());
            try {
                fileStream.read(buffer,
                        xyzIj.xyzParcelFileDescriptorOffset, buffer.length);
                fileStream.close();
            } catch (IOException e) {
                e.printStackTrace();
            }
            // Do not process the buffer inside the callback because
            // you will not receive any new data while it processes
        }

        @Override
        public void onPoseAvailable(final TangoPoseData pose) {
            // Process pose data from device with respect to start of service
        }

        @Override
        public void onTangoEvent(final TangoEvent event) {
            // This callback also has to be here
        }
    });
}

Define the onXYZijAvailable() callback. Do not do any expensive processing on the data within the callback; you will not receive new data until the callback returns.

public class TangoPointCloudData implements Parcelable {
    public double timestamp;
    public int numPoints;
    public FloatBuffer points;
}

3个核心字段：

• timestamp，获得4元组的时间戳；
• numPoints，4元组的数量；
• points，4元组集合，(x, y, z, c)，竖直方向放置设备时，x 为正表示用户的右手方向，y 为正表示屏幕底部方向，z 为正表示摄像头焦距方向且垂直于摄像头平面，近似取 z 为某点距离，c 为置信系数，区间[0, 1]，1 表示完全可信；

参考：https://developers.google.com/tango/apis/java/reference/TangoPointCloudData