How do I export Point Cloud Data (Project Tango)?

Question

Just got a Project Tango Development Kit tablet and have worked through some of the demos and examples.

Some older blog posts use the log files from a "Tango Map

Answer 1

Go take a look at the Java Point Cloud sample on GitHub - The function you want to look at is onXyzIsAvailable in PointCloudActivity. Extracting a few relevant lines....

public void onXyzIjAvailable(final TangoXyzIjData xyzIj) {
....
               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();
                }

At this point buffer contains the point cloud data - I would strongly recommend you ship this off the device via a binary service call, as I think making the poor thing try and convert it to JSON or XML would make things slower than you would like