使用深度信息时，Dark Google Tango 相机表面
Dark Google Tango camera surface when using depth information
情况： 我正在尝试在 Java 中编写一个 Google Tango 应用程序，允许用户看到带有虚拟对象的探戈相机在顶部（即视频透视增强现实视图）并使用 Tango depth/point 云信息。
问题： 每当我尝试在 Tango 上启用深度传感器时，相机图像变得非常暗。当我禁用深度感应时，一切正常。以下是一些屏幕截图：
Google 启用深度信息的 Tango：
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
禁用深度信息的同一应用程序：
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, false);
问题：如何获得干净的相机图像并启用 Tango 的深度信息？如果纯色不行，能不能搞个高反差B/W？我怀疑这是一个同步问题，也许表面是在 depth/point 云算法扰动图像之后绘制的。或者，相机格式更改为支持深度感应，不适合预览。
我正在使用 helpful and related post
中建议的 Tango.setSurface 技术
我故意不使用 Android 的原生相机 API。
(编辑: 这个post是基于费马更新的。高斯更新后还没有确认)
我的主要 activity 代码在下面 post 编辑。完整项目位于 this github repo
提前致谢！
/*
* Copyright 2014 Google Inc. All Rights Reserved.
*
* 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.
*/
package com.digitalblacksmith.tango_ar_pointcloud;
import com.google.atap.tangoservice.Tango;
import com.google.atap.tangoservice.Tango.OnTangoUpdateListener;
import com.google.atap.tangoservice.TangoConfig;
import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoErrorException;
import com.google.atap.tangoservice.TangoEvent;
import com.google.atap.tangoservice.TangoInvalidException;
import com.google.atap.tangoservice.TangoOutOfDateException;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.TangoXyzIjData;
import android.app.Activity;
import android.content.Intent;
import android.graphics.PixelFormat;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.Surface;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
import android.view.View;
import android.view.ViewGroup;
import android.view.ViewGroup.LayoutParams;
import android.widget.Button;
import android.widget.TextView;
import android.widget.Toast;
import java.io.FileInputStream;
import java.io.IOException;
import java.text.DecimalFormat;
import java.util.ArrayList;
/**
*
* Modified Main Activity class from the Original Google Tango SDK Motion Tracking API Sample.
*
* Creates a GLSurfaceView for the OpenGL scene, which displays a cube
* Then adds a SurfaceView for the camera image. The surface is connected
* to the Tango camera. This is necessary if one wants to get point cloud
* data from the Tango AND use the camera for video-see through Augmented Reality.
*
* Lessons learned: Ensure your onPause and onResume actions are handled correctly
* in terms of disconnecting and reconnecting the Tango!! If the Tango is not
* disconnected and reconnected properly, you will get a black background and
* may think the issue is something else.
*
* @author Steve Henderson @stevehenderson
*
*/
public class PointCloudActivity extends Activity implements View.OnClickListener, SurfaceHolder.Callback {
private static final String TAG = PointCloudActivity.class.getSimpleName();
private static final int SECS_TO_MILLISECS = 1000;
private Tango mTango;
private TangoConfig mConfig;
private TextView mDeltaTextView;
private TextView mPoseCountTextView;
private TextView mPoseTextView;
private TextView mQuatTextView;
private TextView mPoseStatusTextView;
private TextView mTangoServiceVersionTextView;
private TextView mApplicationVersionTextView;
private TextView mTangoEventTextView;
private TextView mPointCountTextView;
private TextView mAverageZTextView;
private TextView mFrequencyTextView;
private float mPreviousTimeStamp;
private int mPreviousPoseStatus;
private int count;
private float mDeltaTime;
private Button mMotionResetButton;
private Button mDropBoxButton;
//private boolean mIsAutoRecovery;
//private PCRenderer mOpenGL2Renderer;
private OpenGL2PointCloudRenderer mOpenGL2Renderer;
private DemoRenderer mDemoRenderer;
private GLSurfaceView mGLView;
private SurfaceView surfaceView;
private float mXyIjPreviousTimeStamp;
private float mCurrentTimeStamp;
boolean first_initialized = false;
Surface tangoSurface;
Vector3f lastPosition;
Vector3f dropBoxPosition;
/**
* Set up the activity using OpenGL 20
*/
@SuppressWarnings("deprecation")
private void setUpOpenGL20() {
///////////////////////
//Create GLSurface
///////////////////////
// OpenGL view where all of the graphics are drawn
mGLView = new GLSurfaceView(this);
mGLView.setEGLContextClientVersion(2);
mGLView.setEGLConfigChooser(8,8,8,8,16,0);
SurfaceHolder glSurfaceHolder = mGLView.getHolder();
glSurfaceHolder.setFormat(PixelFormat.TRANSLUCENT);
////////////////////////////////////
// Instantiate the Tango service
///////////////////////////////////
mTango = new Tango(this);
// Create a new Tango Configuration and enable the MotionTrackingActivity API
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
/// --->If the next property is false (disabled depth) then image ok <-------
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
// Configure OpenGL renderer
//mRenderer = new GLClearRenderer();
int maxDepthPoints = mConfig.getInt("max_point_cloud_elements");
mOpenGL2Renderer = new OpenGL2PointCloudRenderer(maxDepthPoints);
mDemoRenderer = mOpenGL2Renderer;
mOpenGL2Renderer.setFirstPersonView();
mGLView.setRenderer(mOpenGL2Renderer);
mGLView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
//setContentView(mGLView);
try {
setTangoListeners();
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show();
} catch (SecurityException e) {
Toast.makeText(getApplicationContext(), R.string.motiontrackingpermission,
Toast.LENGTH_SHORT).show();
}
//////////////////////////
// Create Camera Surface
//////////////////////////
surfaceView = new SurfaceView(this);
SurfaceHolder activitySurfaceHolder = surfaceView.getHolder();
activitySurfaceHolder.addCallback(this);
//mGLView.setZOrderOnTop(true);
setContentView(mGLView);
addContentView( surfaceView, new LayoutParams( LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT ) );
/////////////////////////
//Create UI Objects
////////////////////////
LayoutInflater inflater = getLayoutInflater();
View tmpView;
tmpView = inflater.inflate(R.layout.activity_motion_tracking, null);
getWindow().addContentView(tmpView, new ViewGroup.LayoutParams(ViewGroup.LayoutParams.FILL_PARENT,
ViewGroup.LayoutParams.FILL_PARENT));
mApplicationVersionTextView = (TextView) findViewById(R.id.appversion);
mApplicationVersionTextView.setText("OpenGL 2.0");
// Button to reset motion tracking
mMotionResetButton = (Button) findViewById(R.id.resetmotion);
// Set up button click listeners
mMotionResetButton.setOnClickListener(this);
// Button to drop position box (breadcrumb cube)
mDropBoxButton = (Button) findViewById(R.id.dropbox);
// Set up button click listeners
mDropBoxButton.setOnClickListener(this);
//mOpenGL2Renderer.setFirstPersonView();
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
Intent intent = getIntent();
setUpOpenGL20();
// Text views for displaying translation and rotation data
mPoseTextView = (TextView) findViewById(R.id.pose);
mQuatTextView = (TextView) findViewById(R.id.quat);
mPoseCountTextView = (TextView) findViewById(R.id.posecount);
mDeltaTextView = (TextView) findViewById(R.id.deltatime);
mTangoEventTextView = (TextView) findViewById(R.id.tangoevent);
mPointCountTextView = (TextView) findViewById(R.id.pointCount);
mAverageZTextView = (TextView) findViewById(R.id.averageZ);
mFrequencyTextView = (TextView) findViewById(R.id.frameDelta);
// Text views for the status of the pose data and Tango library versions
mPoseStatusTextView = (TextView) findViewById(R.id.status);
mTangoServiceVersionTextView = (TextView) findViewById(R.id.version);
// Display the library version for debug purposes
mTangoServiceVersionTextView.setText(mConfig.getString("tango_service_library_version"));
dropBoxPosition = new Vector3f();
lastPosition = new Vector3f();
}
private void motionReset() {
mTango.resetMotionTracking();
}
private void dropBox() {
dropBoxPosition.setTo(lastPosition);
}
@Override
protected void onPause() {
super.onPause();
Log.i(TAG, "OnPause");
try {
mTango.disconnect();
Log.i(TAG,"Pausing..TANGO disconnected");
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show();
}
}
protected void onResume() {
super.onResume();
Log.i(TAG, "OnResume");
try {
//setTangoListeners();
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
} catch (SecurityException e) {
Log.e(TAG,e.toString());
}
try {
if(first_initialized)mTango.connect(mConfig);
} catch (TangoOutOfDateException e) {
Log.e(TAG,e.toString());
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
}
try {
//setUpExtrinsics();
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
} catch (SecurityException e) {
Log.e(TAG,e.toString());
}
}
@Override
protected void onDestroy() {
super.onDestroy();
}
@Override
public void onClick(View v) {
switch (v.getId()) {
case R.id.resetmotion:
motionReset();
break;
case R.id.dropbox:
dropBox();
break;
default:
Log.w(TAG, "Unknown button click");
return;
}
}
@Override
public boolean onTouchEvent(MotionEvent event) {
return false;
}
/**
* Set up the TangoConfig and the listeners for the Tango service, then begin using the Motion
* Tracking API. This is called in response to the user clicking the 'Start' Button.
*/
private void setTangoListeners() {
// Lock configuration and connect to Tango
// Select coordinate frame pair
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 onPoseAvailable(final TangoPoseData pose) {
// Log whenever Motion Tracking enters a n invalid state
if (pose.statusCode == TangoPoseData.POSE_INVALID) {
Log.w(TAG, "Invalid State");
}
if (mPreviousPoseStatus != pose.statusCode) {
count = 0;
}
count++;
mPreviousPoseStatus = pose.statusCode;
mDeltaTime = (float) (pose.timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS;
mPreviousTimeStamp = (float) pose.timestamp;
// Update the OpenGL renderable objects with the new Tango Pose
// data
float[] translation = pose.getTranslationAsFloats();
mGLView.requestRender();
// Update the UI with TangoPose information
runOnUiThread(new Runnable() {
@Override
public void run() {
DecimalFormat threeDec = new DecimalFormat("0.000");
String translationString = "[" + threeDec.format(pose.translation[0])
+ ", " + threeDec.format(pose.translation[1]) + ", "
+ threeDec.format(pose.translation[2]) + "] ";
String quaternionString = "[" + threeDec.format(pose.rotation[0]) + ", "
+ threeDec.format(pose.rotation[1]) + ", "
+ threeDec.format(pose.rotation[2]) + ", "
+ threeDec.format(pose.rotation[3]) + "] ";
float x = (float) pose.translation[0];
float y = (float) pose.translation[1];
float z = (float) pose.translation[2];
mDemoRenderer.setCameraPosition(x-dropBoxPosition.x, y-dropBoxPosition.y, z-dropBoxPosition.z);
lastPosition.setTo(x, y, z);
float qx = (float) pose.rotation[0];
float qy = (float) pose.rotation[1];
float qz = (float) pose.rotation[2];
float qw = (float) pose.rotation[3];
mDemoRenderer.setCameraAngles(qx, qy, qz, qw);
// Display pose data on screen in TextViews
//Log.i(TAG,translationString);
mPoseTextView.setText(translationString);
mQuatTextView.setText(quaternionString);
mPoseCountTextView.setText(Integer.toString(count));
mDeltaTextView.setText(threeDec.format(mDeltaTime));
if (pose.statusCode == TangoPoseData.POSE_VALID) {
mPoseStatusTextView.setText(R.string.pose_valid);
} else if (pose.statusCode == TangoPoseData.POSE_INVALID) {
mPoseStatusTextView.setText(R.string.pose_invalid);
} else if (pose.statusCode == TangoPoseData.POSE_INITIALIZING) {
mPoseStatusTextView.setText(R.string.pose_initializing);
} else if (pose.statusCode == TangoPoseData.POSE_UNKNOWN) {
mPoseStatusTextView.setText(R.string.pose_unknown);
}
}
});
}
@Override
public void onXyzIjAvailable(final TangoXyzIjData xyzIj) {
//Log.i(TAG,"xyzijAvailable!!!!!!!!");
mCurrentTimeStamp = (float) xyzIj.timestamp;
final float frameDelta = (mCurrentTimeStamp - mXyIjPreviousTimeStamp)
* SECS_TO_MILLISECS;
mXyIjPreviousTimeStamp = mCurrentTimeStamp;
byte[] buffer = new byte[xyzIj.xyzCount * 3 * 4];
//////mGLView.requestRender();
FileInputStream fileStream = new FileInputStream(
xyzIj.xyzParcelFileDescriptor.getFileDescriptor());
try {
fileStream.read(buffer,
xyzIj.xyzParcelFileDescriptorOffset, buffer.length);
fileStream.close();
} catch (IOException e) {
e.printStackTrace();
}
try {
TangoPoseData pointCloudPose = mTango.getPoseAtTime(
mCurrentTimeStamp, framePairs.get(0));
mOpenGL2Renderer.getPointCloud().UpdatePoints(buffer,
xyzIj.xyzCount);
mOpenGL2Renderer.getModelMatCalculator()
.updatePointCloudModelMatrix(
pointCloudPose.getTranslationAsFloats(),
pointCloudPose.getRotationAsFloats());
mOpenGL2Renderer.getPointCloud().setModelMatrix(
mOpenGL2Renderer.getModelMatCalculator()
.getPointCloudModelMatrixCopy());
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(),
R.string.TangoError, Toast.LENGTH_SHORT).show();
} catch (TangoInvalidException e) {
Toast.makeText(getApplicationContext(),
R.string.TangoError, Toast.LENGTH_SHORT).show();
}
// Must run UI changes on the UI thread. Running in the Tango
// service thread
// will result in an error.
runOnUiThread(new Runnable() {
DecimalFormat threeDec = new DecimalFormat("0.000");
@Override
public void run() {
// Display number of points in the point cloud
mPointCountTextView.setText(Integer
.toString(xyzIj.xyzCount));
mFrequencyTextView.setText(""
+ threeDec.format(frameDelta));
mAverageZTextView.setText(""
+ threeDec.format(mOpenGL2Renderer.getPointCloud()
.getAverageZ()));
}
});
}
@Override
public void onTangoEvent(final TangoEvent event) {
runOnUiThread(new Runnable() {
@Override
public void run() {
mTangoEventTextView.setText(event.eventKey + ": " + event.eventValue);
}
});
}
});
}
private void setUpExtrinsics() {
// Get device to imu matrix.
TangoPoseData device2IMUPose = new TangoPoseData();
TangoCoordinateFramePair framePair = new TangoCoordinateFramePair();
framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE;
device2IMUPose = mTango.getPoseAtTime(0.0, framePair);
// mRenderer.getModelMatCalculator().SetDevice2IMUMatrix(
// device2IMUPose.getTranslationAsFloats(), device2IMUPose.getRotationAsFloats());
// Get color camera to imu matrix.
TangoPoseData color2IMUPose = new TangoPoseData();
framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR;
color2IMUPose = mTango.getPoseAtTime(0.0, framePair);
// mRenderer.getModelMatCalculator().SetColorCamera2IMUMatrix(
// color2IMUPose.getTranslationAsFloats(), color2IMUPose.getRotationAsFloats());
}
@Override
public void surfaceCreated(SurfaceHolder holder) {
Surface surface = holder.getSurface();
if (surface.isValid()) {
mTango.connectSurface(0, surface);
first_initialized=true;
mTango.connect(mConfig);
}
}
@Override
public void surfaceChanged(SurfaceHolder holder, int format, int width,
int height) {
// TODO Auto-generated method stub
}
@Override
public void surfaceDestroyed(SurfaceHolder holder) {
mTango.disconnectSurface(0);
}
}
在 CGUI 的朋友的帮助下，我发现了某种解决方案。
在我上面的 post 中，您会注意到启用深度相机的图像存在曝光不足错误。看起来 Tango 正在对相机图像进行一些自动曝光。
当我在白天尝试时，自然光很好，加上一些泛光灯，我收到了更好的效果：
启用的深度：
深度禁用：
因此，在使用颜色和深度时，一种可能 workaround/consideration 是仔细管理环境中的光线。考虑到我在调用 Tango 演示应用程序中看到的一些校准例程，这是有道理的"daylight"
更新 你也可以 select B/W 鱼眼相机，如果你不介意缺少颜色和失真：
mTango.connectSurface(2, surface); //0-->color cam; 2--> B/W fisheye
情况： 我正在尝试在 Java 中编写一个 Google Tango 应用程序，允许用户看到带有虚拟对象的探戈相机在顶部（即视频透视增强现实视图）并使用 Tango depth/point 云信息。
问题： 每当我尝试在 Tango 上启用深度传感器时，相机图像变得非常暗。当我禁用深度感应时，一切正常。以下是一些屏幕截图：
Google 启用深度信息的 Tango：
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
禁用深度信息的同一应用程序：
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, false);
问题：如何获得干净的相机图像并启用 Tango 的深度信息？如果纯色不行，能不能搞个高反差B/W？我怀疑这是一个同步问题，也许表面是在 depth/point 云算法扰动图像之后绘制的。或者，相机格式更改为支持深度感应，不适合预览。
我正在使用 helpful and related post
中建议的 Tango.setSurface 技术我故意不使用 Android 的原生相机 API。
(编辑: 这个post是基于费马更新的。高斯更新后还没有确认)
我的主要 activity 代码在下面 post 编辑。完整项目位于 this github repo
提前致谢！
/*
* Copyright 2014 Google Inc. All Rights Reserved.
*
* 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.
*/
package com.digitalblacksmith.tango_ar_pointcloud;
import com.google.atap.tangoservice.Tango;
import com.google.atap.tangoservice.Tango.OnTangoUpdateListener;
import com.google.atap.tangoservice.TangoConfig;
import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoErrorException;
import com.google.atap.tangoservice.TangoEvent;
import com.google.atap.tangoservice.TangoInvalidException;
import com.google.atap.tangoservice.TangoOutOfDateException;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.TangoXyzIjData;
import android.app.Activity;
import android.content.Intent;
import android.graphics.PixelFormat;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.Surface;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
import android.view.View;
import android.view.ViewGroup;
import android.view.ViewGroup.LayoutParams;
import android.widget.Button;
import android.widget.TextView;
import android.widget.Toast;
import java.io.FileInputStream;
import java.io.IOException;
import java.text.DecimalFormat;
import java.util.ArrayList;
/**
*
* Modified Main Activity class from the Original Google Tango SDK Motion Tracking API Sample.
*
* Creates a GLSurfaceView for the OpenGL scene, which displays a cube
* Then adds a SurfaceView for the camera image. The surface is connected
* to the Tango camera. This is necessary if one wants to get point cloud
* data from the Tango AND use the camera for video-see through Augmented Reality.
*
* Lessons learned: Ensure your onPause and onResume actions are handled correctly
* in terms of disconnecting and reconnecting the Tango!! If the Tango is not
* disconnected and reconnected properly, you will get a black background and
* may think the issue is something else.
*
* @author Steve Henderson @stevehenderson
*
*/
public class PointCloudActivity extends Activity implements View.OnClickListener, SurfaceHolder.Callback {
private static final String TAG = PointCloudActivity.class.getSimpleName();
private static final int SECS_TO_MILLISECS = 1000;
private Tango mTango;
private TangoConfig mConfig;
private TextView mDeltaTextView;
private TextView mPoseCountTextView;
private TextView mPoseTextView;
private TextView mQuatTextView;
private TextView mPoseStatusTextView;
private TextView mTangoServiceVersionTextView;
private TextView mApplicationVersionTextView;
private TextView mTangoEventTextView;
private TextView mPointCountTextView;
private TextView mAverageZTextView;
private TextView mFrequencyTextView;
private float mPreviousTimeStamp;
private int mPreviousPoseStatus;
private int count;
private float mDeltaTime;
private Button mMotionResetButton;
private Button mDropBoxButton;
//private boolean mIsAutoRecovery;
//private PCRenderer mOpenGL2Renderer;
private OpenGL2PointCloudRenderer mOpenGL2Renderer;
private DemoRenderer mDemoRenderer;
private GLSurfaceView mGLView;
private SurfaceView surfaceView;
private float mXyIjPreviousTimeStamp;
private float mCurrentTimeStamp;
boolean first_initialized = false;
Surface tangoSurface;
Vector3f lastPosition;
Vector3f dropBoxPosition;
/**
* Set up the activity using OpenGL 20
*/
@SuppressWarnings("deprecation")
private void setUpOpenGL20() {
///////////////////////
//Create GLSurface
///////////////////////
// OpenGL view where all of the graphics are drawn
mGLView = new GLSurfaceView(this);
mGLView.setEGLContextClientVersion(2);
mGLView.setEGLConfigChooser(8,8,8,8,16,0);
SurfaceHolder glSurfaceHolder = mGLView.getHolder();
glSurfaceHolder.setFormat(PixelFormat.TRANSLUCENT);
////////////////////////////////////
// Instantiate the Tango service
///////////////////////////////////
mTango = new Tango(this);
// Create a new Tango Configuration and enable the MotionTrackingActivity API
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
/// --->If the next property is false (disabled depth) then image ok <-------
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
// Configure OpenGL renderer
//mRenderer = new GLClearRenderer();
int maxDepthPoints = mConfig.getInt("max_point_cloud_elements");
mOpenGL2Renderer = new OpenGL2PointCloudRenderer(maxDepthPoints);
mDemoRenderer = mOpenGL2Renderer;
mOpenGL2Renderer.setFirstPersonView();
mGLView.setRenderer(mOpenGL2Renderer);
mGLView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
//setContentView(mGLView);
try {
setTangoListeners();
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show();
} catch (SecurityException e) {
Toast.makeText(getApplicationContext(), R.string.motiontrackingpermission,
Toast.LENGTH_SHORT).show();
}
//////////////////////////
// Create Camera Surface
//////////////////////////
surfaceView = new SurfaceView(this);
SurfaceHolder activitySurfaceHolder = surfaceView.getHolder();
activitySurfaceHolder.addCallback(this);
//mGLView.setZOrderOnTop(true);
setContentView(mGLView);
addContentView( surfaceView, new LayoutParams( LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT ) );
/////////////////////////
//Create UI Objects
////////////////////////
LayoutInflater inflater = getLayoutInflater();
View tmpView;
tmpView = inflater.inflate(R.layout.activity_motion_tracking, null);
getWindow().addContentView(tmpView, new ViewGroup.LayoutParams(ViewGroup.LayoutParams.FILL_PARENT,
ViewGroup.LayoutParams.FILL_PARENT));
mApplicationVersionTextView = (TextView) findViewById(R.id.appversion);
mApplicationVersionTextView.setText("OpenGL 2.0");
// Button to reset motion tracking
mMotionResetButton = (Button) findViewById(R.id.resetmotion);
// Set up button click listeners
mMotionResetButton.setOnClickListener(this);
// Button to drop position box (breadcrumb cube)
mDropBoxButton = (Button) findViewById(R.id.dropbox);
// Set up button click listeners
mDropBoxButton.setOnClickListener(this);
//mOpenGL2Renderer.setFirstPersonView();
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
Intent intent = getIntent();
setUpOpenGL20();
// Text views for displaying translation and rotation data
mPoseTextView = (TextView) findViewById(R.id.pose);
mQuatTextView = (TextView) findViewById(R.id.quat);
mPoseCountTextView = (TextView) findViewById(R.id.posecount);
mDeltaTextView = (TextView) findViewById(R.id.deltatime);
mTangoEventTextView = (TextView) findViewById(R.id.tangoevent);
mPointCountTextView = (TextView) findViewById(R.id.pointCount);
mAverageZTextView = (TextView) findViewById(R.id.averageZ);
mFrequencyTextView = (TextView) findViewById(R.id.frameDelta);
// Text views for the status of the pose data and Tango library versions
mPoseStatusTextView = (TextView) findViewById(R.id.status);
mTangoServiceVersionTextView = (TextView) findViewById(R.id.version);
// Display the library version for debug purposes
mTangoServiceVersionTextView.setText(mConfig.getString("tango_service_library_version"));
dropBoxPosition = new Vector3f();
lastPosition = new Vector3f();
}
private void motionReset() {
mTango.resetMotionTracking();
}
private void dropBox() {
dropBoxPosition.setTo(lastPosition);
}
@Override
protected void onPause() {
super.onPause();
Log.i(TAG, "OnPause");
try {
mTango.disconnect();
Log.i(TAG,"Pausing..TANGO disconnected");
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show();
}
}
protected void onResume() {
super.onResume();
Log.i(TAG, "OnResume");
try {
//setTangoListeners();
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
} catch (SecurityException e) {
Log.e(TAG,e.toString());
}
try {
if(first_initialized)mTango.connect(mConfig);
} catch (TangoOutOfDateException e) {
Log.e(TAG,e.toString());
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
}
try {
//setUpExtrinsics();
} catch (TangoErrorException e) {
Log.e(TAG,e.toString());
} catch (SecurityException e) {
Log.e(TAG,e.toString());
}
}
@Override
protected void onDestroy() {
super.onDestroy();
}
@Override
public void onClick(View v) {
switch (v.getId()) {
case R.id.resetmotion:
motionReset();
break;
case R.id.dropbox:
dropBox();
break;
default:
Log.w(TAG, "Unknown button click");
return;
}
}
@Override
public boolean onTouchEvent(MotionEvent event) {
return false;
}
/**
* Set up the TangoConfig and the listeners for the Tango service, then begin using the Motion
* Tracking API. This is called in response to the user clicking the 'Start' Button.
*/
private void setTangoListeners() {
// Lock configuration and connect to Tango
// Select coordinate frame pair
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 onPoseAvailable(final TangoPoseData pose) {
// Log whenever Motion Tracking enters a n invalid state
if (pose.statusCode == TangoPoseData.POSE_INVALID) {
Log.w(TAG, "Invalid State");
}
if (mPreviousPoseStatus != pose.statusCode) {
count = 0;
}
count++;
mPreviousPoseStatus = pose.statusCode;
mDeltaTime = (float) (pose.timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS;
mPreviousTimeStamp = (float) pose.timestamp;
// Update the OpenGL renderable objects with the new Tango Pose
// data
float[] translation = pose.getTranslationAsFloats();
mGLView.requestRender();
// Update the UI with TangoPose information
runOnUiThread(new Runnable() {
@Override
public void run() {
DecimalFormat threeDec = new DecimalFormat("0.000");
String translationString = "[" + threeDec.format(pose.translation[0])
+ ", " + threeDec.format(pose.translation[1]) + ", "
+ threeDec.format(pose.translation[2]) + "] ";
String quaternionString = "[" + threeDec.format(pose.rotation[0]) + ", "
+ threeDec.format(pose.rotation[1]) + ", "
+ threeDec.format(pose.rotation[2]) + ", "
+ threeDec.format(pose.rotation[3]) + "] ";
float x = (float) pose.translation[0];
float y = (float) pose.translation[1];
float z = (float) pose.translation[2];
mDemoRenderer.setCameraPosition(x-dropBoxPosition.x, y-dropBoxPosition.y, z-dropBoxPosition.z);
lastPosition.setTo(x, y, z);
float qx = (float) pose.rotation[0];
float qy = (float) pose.rotation[1];
float qz = (float) pose.rotation[2];
float qw = (float) pose.rotation[3];
mDemoRenderer.setCameraAngles(qx, qy, qz, qw);
// Display pose data on screen in TextViews
//Log.i(TAG,translationString);
mPoseTextView.setText(translationString);
mQuatTextView.setText(quaternionString);
mPoseCountTextView.setText(Integer.toString(count));
mDeltaTextView.setText(threeDec.format(mDeltaTime));
if (pose.statusCode == TangoPoseData.POSE_VALID) {
mPoseStatusTextView.setText(R.string.pose_valid);
} else if (pose.statusCode == TangoPoseData.POSE_INVALID) {
mPoseStatusTextView.setText(R.string.pose_invalid);
} else if (pose.statusCode == TangoPoseData.POSE_INITIALIZING) {
mPoseStatusTextView.setText(R.string.pose_initializing);
} else if (pose.statusCode == TangoPoseData.POSE_UNKNOWN) {
mPoseStatusTextView.setText(R.string.pose_unknown);
}
}
});
}
@Override
public void onXyzIjAvailable(final TangoXyzIjData xyzIj) {
//Log.i(TAG,"xyzijAvailable!!!!!!!!");
mCurrentTimeStamp = (float) xyzIj.timestamp;
final float frameDelta = (mCurrentTimeStamp - mXyIjPreviousTimeStamp)
* SECS_TO_MILLISECS;
mXyIjPreviousTimeStamp = mCurrentTimeStamp;
byte[] buffer = new byte[xyzIj.xyzCount * 3 * 4];
//////mGLView.requestRender();
FileInputStream fileStream = new FileInputStream(
xyzIj.xyzParcelFileDescriptor.getFileDescriptor());
try {
fileStream.read(buffer,
xyzIj.xyzParcelFileDescriptorOffset, buffer.length);
fileStream.close();
} catch (IOException e) {
e.printStackTrace();
}
try {
TangoPoseData pointCloudPose = mTango.getPoseAtTime(
mCurrentTimeStamp, framePairs.get(0));
mOpenGL2Renderer.getPointCloud().UpdatePoints(buffer,
xyzIj.xyzCount);
mOpenGL2Renderer.getModelMatCalculator()
.updatePointCloudModelMatrix(
pointCloudPose.getTranslationAsFloats(),
pointCloudPose.getRotationAsFloats());
mOpenGL2Renderer.getPointCloud().setModelMatrix(
mOpenGL2Renderer.getModelMatCalculator()
.getPointCloudModelMatrixCopy());
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(),
R.string.TangoError, Toast.LENGTH_SHORT).show();
} catch (TangoInvalidException e) {
Toast.makeText(getApplicationContext(),
R.string.TangoError, Toast.LENGTH_SHORT).show();
}
// Must run UI changes on the UI thread. Running in the Tango
// service thread
// will result in an error.
runOnUiThread(new Runnable() {
DecimalFormat threeDec = new DecimalFormat("0.000");
@Override
public void run() {
// Display number of points in the point cloud
mPointCountTextView.setText(Integer
.toString(xyzIj.xyzCount));
mFrequencyTextView.setText(""
+ threeDec.format(frameDelta));
mAverageZTextView.setText(""
+ threeDec.format(mOpenGL2Renderer.getPointCloud()
.getAverageZ()));
}
});
}
@Override
public void onTangoEvent(final TangoEvent event) {
runOnUiThread(new Runnable() {
@Override
public void run() {
mTangoEventTextView.setText(event.eventKey + ": " + event.eventValue);
}
});
}
});
}
private void setUpExtrinsics() {
// Get device to imu matrix.
TangoPoseData device2IMUPose = new TangoPoseData();
TangoCoordinateFramePair framePair = new TangoCoordinateFramePair();
framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE;
device2IMUPose = mTango.getPoseAtTime(0.0, framePair);
// mRenderer.getModelMatCalculator().SetDevice2IMUMatrix(
// device2IMUPose.getTranslationAsFloats(), device2IMUPose.getRotationAsFloats());
// Get color camera to imu matrix.
TangoPoseData color2IMUPose = new TangoPoseData();
framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR;
color2IMUPose = mTango.getPoseAtTime(0.0, framePair);
// mRenderer.getModelMatCalculator().SetColorCamera2IMUMatrix(
// color2IMUPose.getTranslationAsFloats(), color2IMUPose.getRotationAsFloats());
}
@Override
public void surfaceCreated(SurfaceHolder holder) {
Surface surface = holder.getSurface();
if (surface.isValid()) {
mTango.connectSurface(0, surface);
first_initialized=true;
mTango.connect(mConfig);
}
}
@Override
public void surfaceChanged(SurfaceHolder holder, int format, int width,
int height) {
// TODO Auto-generated method stub
}
@Override
public void surfaceDestroyed(SurfaceHolder holder) {
mTango.disconnectSurface(0);
}
}
在 CGUI 的朋友的帮助下，我发现了某种解决方案。
在我上面的 post 中，您会注意到启用深度相机的图像存在曝光不足错误。看起来 Tango 正在对相机图像进行一些自动曝光。
当我在白天尝试时，自然光很好，加上一些泛光灯，我收到了更好的效果：
启用的深度：
深度禁用：
因此，在使用颜色和深度时，一种可能 workaround/consideration 是仔细管理环境中的光线。考虑到我在调用 Tango 演示应用程序中看到的一些校准例程，这是有道理的"daylight"
更新 你也可以 select B/W 鱼眼相机，如果你不介意缺少颜色和失真：
mTango.connectSurface(2, surface); //0-->color cam; 2--> B/W fisheye