问题
I am using Tango's demo for videoOverlaySample.
Instead of color, I would like to see the IR data (alone or with color). So, I replaced TANGO_CAMERA_COLOR with TANGO_CAMERA_RGBIR in both places where it appears.
But screen is black.
Here is the code:
/*
* 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.projecttango.experiments.videooverlaysample;
import java.util.ArrayList;
import android.app.Activity;
import android.content.Intent;
import android.os.Bundle;
import android.util.Log;
import android.widget.Toast;
import com.google.atap.tangoservice.Tango;
import com.google.atap.tangoservice.Tango.OnTangoUpdateListener;
import com.google.atap.tangoservice.TangoCameraIntrinsics;
import com.google.atap.tangoservice.TangoCameraPreview;
import com.google.atap.tangoservice.TangoConfig;
import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoEvent;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.TangoXyzIjData;
/**
* An example showing the usage of TangoCameraPreview class
* Usage of TangoCameraPreviewClass:
* To use this class, we first need initialize the TangoCameraPreview class with the activity's
* context and connect to the camera we want by using connectToTangoCamera class.Once the connection
* is established we need to manually update the TangoCameraPreview's texture by using the
* onFrameAvailable callbacks.
* Note:
* To use TangoCameraPreview class we need to ask the user permissions for MotionTracking
* at the minimum level. This is because in Java all the call backs such as
* onPoseAvailable,onXyzIjAvailable, onTangoEvents, onFrameAvailable are set together at once.
*/
public class MainActivity extends Activity {
private TangoCameraPreview tangoCameraPreview;
private Tango mTango;
private boolean mIsConnected;
private boolean mIsPermissionGranted;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
tangoCameraPreview = new TangoCameraPreview(this);
mTango = new Tango(this);
startActivityForResult(
Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
Tango.TANGO_INTENT_ACTIVITYCODE);
setContentView(tangoCameraPreview);
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
// Check which request we're responding to
if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
// Make sure the request was successful
if (resultCode == RESULT_CANCELED) {
Toast.makeText(this, "Motion Tracking Permissions Required!",
Toast.LENGTH_SHORT).show();
finish();
} else {
startCameraPreview();
mIsPermissionGranted = true;
}
}
}
// Camera Preview
private void startCameraPreview() {
// Connect to color camera
tangoCameraPreview.connectToTangoCamera(mTango,
TangoCameraIntrinsics.TANGO_CAMERA_RGBIR);
// Use default configuration for Tango Service.
TangoConfig config = mTango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
mTango.connect(config);
mIsConnected = true;
// No need to add any coordinate frame pairs since we are not using
// pose data. So just initialize.
ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
mTango.connectListener(framePairs, new OnTangoUpdateListener() {
@Override
public void onPoseAvailable(TangoPoseData pose) {
// We are not using OnPoseAvailable for this app
}
@Override
public void onFrameAvailable(int cameraId) {
// Check if the frame available is for the camera we want and
// update its frame on the camera preview.
if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_RGBIR) {
tangoCameraPreview.onFrameAvailable();
}
}
@Override
public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
// We are not using OnPoseAvailable for this app
}
@Override
public void onTangoEvent(TangoEvent event) {
// We are not using OnPoseAvailable for this app
}
});
}
@Override
protected void onPause() {
super.onPause();
if(mIsConnected) {
mTango.disconnect();
tangoCameraPreview.disconnectFromTangoCamera();
mIsConnected = false;
}
}
@Override
protected void onResume() {
super.onResume();
if (!mIsConnected && mIsPermissionGranted) {
startCameraPreview();
}
}
}
回答1:
You can't use
tangoCameraPreview.connectToTangoCamera(mTango,TangoCameraIntrinsics.TANGO_CAMERA_RGBIR);
The Java API does not provide a connectToTangoCamera with the RGBIR, only Color and Fisheye camera (see here)
To display the a depth image instead of the color image, you have to compute the depth image by hand. Therefore you roughly have to:
- Transform the point cloud with the pose at its given timestamp to the camera frame.
- Project the point cloud points (x,y,z) to receive the pixel (x,y)
- You need an array with the resolution of the camera frame (1240x720).
- Fill up the array with 0 (black).
- Store the z-value at its given pixel position (upsample your pixels, because the depth camera has only a resolution of 320x180)
- In OpenGL you can than easly use that array for your texture.
For more details, I recommend you to look into the C example rgb-depth-sync
来源：https://stackoverflow.com/questions/33670475/tango-camera-preview-for-rgbir