google-project-tango

Project Tango: Converting between coordinate systems and merging point clouds

由 ▼魔方 西西 提交于 2019-11-30 19:53:10
问题 I am trying to convert point clouds sampled and stored in XYZij data (which, according to the document, stores data in camera space) into a world coordinate system so that they can be merged. The frame pair I use for the Tango listener has COORDINATE_FRAME_START_OF_SERVICE as the base frame and COORDINATE_FRAME_DEVICE as the target frame. This is the way I implement the transformation: Retrieve the rotation quaternion from TangoPoseData.getRotationAsFloats() as q_r , and the point position

Running the Tango API displays a warning dialog on the library

由 妖精的绣舞 提交于 2019-11-30 09:48:32
I am developing AR application by Tango. The device is ZenfoneAR (Android 7.0 Nougat). I improved the sample project and developed an application. However, when launching the application, the following warning message will be displayed. Dialog Message Detected problems with app native libraries(please consult log for detail): libtango_client_api.so: unauthorized access to "libbinder.so" libtango_client_api.so: unauthorized access to "libcutils.so" libtango_client_api.so: unauthorized access to "libutils.so" libtango_client_api.so: unauthorized access to "libgui.so" libtango_client_api.so:

Using the onFrameAvailable() in Jacobi Google Tango API

由 喜欢而已 提交于 2019-11-30 03:58:27
Question: Does anyone know how to get the Tango's color camera image buffer using the Tango Java ( Jacobi ) API onFrameAvailable() callback? Background: I have an augmented reality application that displays video in the background of the Tango. I've successfully created the video overlay example using the the Java API (Jacobi) following this example . My application works fine, and the video is rendered in the background properly. As part of the application, I'd like to store a copy of the video backbuffer when the user presses a button. Therefore, I need access to the camera's RGB data.

Project Tango onPoseAvailable() and getPoseAtTime() discrepancies

由 对着背影说爱祢 提交于 2019-11-29 19:08:13
问题 I am seeing significant discrepancies between the poses from the onPoseAvailable() callback and Tango.getPoseAtTime() . I wrote a test program where in onPoseAvailable() I logged the delivered pose and used getPoseAtTime() to request the pose using the timestamp from 2 callbacks earlier. KEY_BOOLEAN_SMOOTH_POSE is configured false . Here is the code that does that (the timestamps_ member variable is a LinkedList<Double> ): @Override public void onPoseAvailable(TangoPoseData poseData) { if

Running the Tango API displays a warning dialog on the library

由 余生颓废 提交于 2019-11-29 14:45:20
问题 I am developing AR application by Tango. The device is ZenfoneAR (Android 7.0 Nougat). I improved the sample project and developed an application. However, when launching the application, the following warning message will be displayed. Dialog Message Detected problems with app native libraries(please consult log for detail): libtango_client_api.so: unauthorized access to "libbinder.so" libtango_client_api.so: unauthorized access to "libcutils.so" libtango_client_api.so: unauthorized access

Check if area is localized in loaded ADF

由 心已入冬 提交于 2019-11-29 09:00:25
UPDATE: I found the lines for re-localization, but de the device doesn't localize itself. I always get the status code POSE_INITIALIZING back after loading the ADF. Also the re-localization in the Java Area_Description_Example doesn't work. Anyone with the same problem? The only apps with working re-localozation are "Explorer" and "ADF Inspector", but I don't have the source code for it. Here is the solution of my first question, the code to check re-localization after loading an ADF: TangoPoseData lastFramePose = mTango.getPoseAtTime(mRgbTimestampGlThread, FRAME_PAIR); if (lastFramePose

Using the onFrameAvailable() in Jacobi Google Tango API

由 瘦欲@ 提交于 2019-11-29 01:00:29
问题 Question: Does anyone know how to get the Tango's color camera image buffer using the Tango Java ( Jacobi ) API onFrameAvailable() callback? Background: I have an augmented reality application that displays video in the background of the Tango. I've successfully created the video overlay example using the the Java API (Jacobi) following this example. My application works fine, and the video is rendered in the background properly. As part of the application, I'd like to store a copy of the

Getting color data in Unity

由 ♀尐吖头ヾ 提交于 2019-11-28 05:49:08
问题 The release notes mention that it is not yet possible to access color data in Unity, but I believe you can attach a callback to a video overlay listener and receive a YUV12 byte array in Unity and manually convert it into RGB565 to display on screen, perhaps with a shader. Has anyone had success accessing and displaying color data (say in an AR overlay) in Unity? If so, could you share some pointers/code on how to get started? 回答1: The video overlay callback works in Unity. Theoretically, you

Check if area is localized in loaded ADF

由 久未见 提交于 2019-11-28 02:21:47
问题 UPDATE: I found the lines for re-localization, but de the device doesn't localize itself. I always get the status code POSE_INITIALIZING back after loading the ADF. Also the re-localization in the Java Area_Description_Example doesn't work. Anyone with the same problem? The only apps with working re-localozation are "Explorer" and "ADF Inspector", but I don't have the source code for it. Here is the solution of my first question, the code to check re-localization after loading an ADF:

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

由 梦想与她 提交于 2019-11-27 13:45:16
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 Mapper" application that should be preloaded on the device. Interactive Visualization of Google Project Tango Data with ParaView Ologic Announces integration between ROS and Project Tango Google Tango and ROS integration at Bosch Mapping Hints and Tips Unfortunately, the "Tango Mapper" application did not come preloaded on my device and I can't seem to find it on the Play Store. Is there some other method to simply export or retrieve the
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