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我是 android 和 Tango 的初学者（我只是想说它以防止可能的错误），我正在使用 Project Tango 平板电脑（黄石）。我想用它大满贯，这就是为什么我想获得原始数据。

目前我知道如何获取poseData和点云。我读到无法获得 IMU 和 RGBD。但不是 RGBD，由一些样本显示的 RGB 图片可能就足够了，但我不知道明白。我认为它可能适用于“onFrameAvailable(int i)”，但我真的不知道如何获取 RGB 图片。

对于 IMU 数据，我看到有一个带有“onTangoEvent(TangoEvent tangoEvent)”的 EVENT_IMU。但是当它应该是高频事件时，它永远不会发生/永远不会被处理，对吗？但是我处理 EVENT_FEATURE_TRACKING (= 5) 和 EVENT_FISHEYE_CAMERA (= 2) 所以“onTangoEvent(TangoEvent tangoEvent)”有效。所以我的问题如下：

  1. 如何获得 RGB 图片？（在矩阵、缓冲区或其他任何东西中）
  2. 为什么 EVENT_IMU 从未被处理？
  3. 有没有办法获取 IMU 数据或类似的东西？

感谢您的回答

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2 回答 2

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我忘了说，但我解决了我的问题。Tango 的 API 不允许获取原始数据（IMU 和 RGBD）。但是您可以通过 TangoImageBuffer 使用 c api 获取 RGB。您将获得一张 MV21 图片。您将能够将每个像素转换为“RGB 单像素”，然后将该像素转换为 RGBA 数据。

对于 IMU，忘记 Tango 的 API 并使用 android API。您可以轻松获取它，然后将其传输到服务器。我的情况是我使用 ros 发布者来做到这一点。多亏了这一点，我能够获得 500 个姿势/秒、35 个点云/秒和 900 个 IMU/秒。如果您对使用 ros 感兴趣，可以查看这个ROS Rviz 可视化 Tango Pose 数据。

----- 编辑 -------- 这里是我的 git 中的代码（请参阅评论中的下一个问题），因为我将删除它：

import android.Manifest;
import android.app.Activity;
import android.content.Context;

import android.content.pm.PackageManager;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;

import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;

import android.os.Bundle;
import android.support.v4.app.ActivityCompat;

public class IMU implements SensorEventListener {
    private long timestampAccelerometerSensor, timestampLinearAccelerationSensor, timestampRotationSensor;
    private long timestampGravitySensor, timestampGyroscopeSensor, timestampMagneticFieldSensor;
    private String  tAccelerometerSensor, tLinearAccelerationSensor, tRotationSensor;
    private String tGravitySensor, tGyroscopeSensor, tMagneticFieldSensor, tGPS;

    private long countAccelerometerSensor, countLinearAccelerationSensor, countRotationSensor;
    private long countGravitySensor, countGyroscopeSensor, countMagneticFieldSensor;

    //for GPS
    private LocationManager locationManager;
    private LocationListener locationListener;
    private double longitude, latitude;

    //for IMU
    private SensorManager mSensorManager;
    private Sensor accelerometerSensor;
    private Sensor linearAccelerationSensor;
    private Sensor rotationSensor;
    private Sensor gravitySensor;
    private Sensor gyroscopeSensor;

    private Sensor magneticFieldSensor;

    float accelerationForce[] = new float[3];//Including gravity, Acceleration force along x,y,z axis in m/s²
    float linearAccelerationForce[] = new float[3];//Excluding gravity, Acceleration force along x,y,z axis in m/s²
    float gravity[] = new float[3];//Force of gravity along x,y,z axis in m/s²
    float gyroscope[] = new float[3];//Rate of rotation around x,y,z axis in rad/s
    float rotation[] = new float[4]; //Rotation vector component along the x,y,z axis and Scalar component of the rotation vector
    float magneticField[] = new float[3];//Geomagnetic field strength along x,y,z axis uT


public void create(){
        mSensorManager = (SensorManager) mainActivity.getSystemService(Context.SENSOR_SERVICE);

        locationManager = (LocationManager) mainActivity.getSystemService(Context.LOCATION_SERVICE);
        locationListener = new LocationListener() {
            @Override
            public void onLocationChanged(Location location) {
                //gpsView.setText("Longitude: " + location.getLongitude() + "\nLatitude: " + location.getLatitude());
                //Log.i("GPS","Longitude: " + location.getLongitude() + "\nLatitude: " + location.getLatitude());
                tGPS = TangoJNINative.getCurrentTimeMillisString();
                longitude = location.getLongitude();
                latitude = location.getLatitude();
            }

            @Override
            public void onStatusChanged(String provider, int status, Bundle extras) {

            }

            @Override
            public void onProviderEnabled(String provider) {
                //gpsStatusView.setText("GPS ---> On");
            }

            @Override
            public void onProviderDisabled(String provider) {
                //gpsStatusView.setText("GPS ---> Off");
            }
        };

        if (ActivityCompat.checkSelfPermission(mainActivity, Manifest.permission.ACCESS_FINE_LOCATION) != PackageManager.PERMISSION_GRANTED && ActivityCompat.checkSelfPermission(mainActivity, Manifest.permission.ACCESS_COARSE_LOCATION) != PackageManager.PERMISSION_GRANTED) {
            // TODO: Consider calling
            //    ActivityCompat#requestPermissions
            // here to request the missing permissions, and then overriding
            //   public void onRequestPermissionsResult(int requestCode, String[] permissions,
            //                                          int[] grantResults)
            // to handle the case where the user grants the permission. See the documentation
            // for ActivityCompat#requestPermissions for more details.
            return;
        }
        locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, locationListener);

        String locationProvider = LocationManager.NETWORK_PROVIDER;
        Location firstLocation = locationManager.getLastKnownLocation(locationProvider);
        longitude = firstLocation.getLongitude();
        latitude = firstLocation.getLatitude();

        setSensors();
        setSensorsListeners();
    }

public void pause(){
        mSensorManager.unregisterListener(this);
    }

    public void resume(){
        setSensorsListeners();
    }

    private void setSensors(){
        accelerometerSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
        linearAccelerationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
        rotationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
        gravitySensor = mSensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY);
        gyroscopeSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);

        magneticFieldSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
    }

    private void setSensorsListeners(){
        mSensorManager.registerListener(this, accelerometerSensor , SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, linearAccelerationSensor , SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, rotationSensor , SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, gravitySensor , SensorManager.SENSOR_DELAY_NORMAL);
        mSensorManager.registerListener(this, gyroscopeSensor , SensorManager.SENSOR_DELAY_NORMAL);

        mSensorManager.registerListener(this, magneticFieldSensor , SensorManager.SENSOR_DELAY_NORMAL);
    }

    @Override
    public void onSensorChanged(SensorEvent event) {
        getIMU(event);
    }

    @Override
    public void onAccuracyChanged(Sensor sensor, int accuracy) {

    }

    private void getIMU(SensorEvent e){
        switch(e.sensor.getType()){
            case Sensor.TYPE_ACCELEROMETER:
                accelerationForce[0] = e.values[0];
                accelerationForce[1] = e.values[1];
                accelerationForce[2] = e.values[2];
                countAccelerometerSensor++;
                timestampAccelerometerSensor = e.timestamp;
                tAccelerometerSensor = TangoJNINative.getCurrentTimeMillisString();
                break;
            case Sensor.TYPE_LINEAR_ACCELERATION:
                linearAccelerationForce[0] = e.values[0];
                linearAccelerationForce[1] = e.values[1];
                linearAccelerationForce[2] = e.values[2];
                countLinearAccelerationSensor++;
                timestampLinearAccelerationSensor = e.timestamp;
                tLinearAccelerationSensor = TangoJNINative.getCurrentTimeMillisString();
                break;
            case Sensor.TYPE_ROTATION_VECTOR:
                rotation[0] = e.values[0];
                rotation[1] = e.values[1];
                rotation[2] = e.values[2];
                rotation[3] = e.values[3];
                countRotationSensor++;
                timestampRotationSensor = e.timestamp;
                tRotationSensor = TangoJNINative.getCurrentTimeMillisString();
                break;
            case Sensor.TYPE_GRAVITY:
                gravity[0] = e.values[0];
                gravity[1] = e.values[1];
                gravity[2] = e.values[2];
                countGravitySensor++;
                timestampGravitySensor = e.timestamp;
                tGravitySensor = TangoJNINative.getCurrentTimeMillisString();
                break;
            case Sensor.TYPE_GYROSCOPE:
                gyroscope[0] = e.values[0];
                gyroscope[1] = e.values[1];
                gyroscope[2] = e.values[2];
                countGyroscopeSensor++;
                timestampGyroscopeSensor= e.timestamp;
                tGyroscopeSensor = TangoJNINative.getCurrentTimeMillisString();
                break;
            case Sensor.TYPE_MAGNETIC_FIELD:
                magneticField[0] = e.values[0];
                magneticField[1] = e.values[1];
                magneticField[2] = e.values[2];
                countMagneticFieldSensor++;
                timestampMagneticFieldSensor = e.timestamp;
                tMagneticFieldSensor = TangoJNINative.getCurrentTimeMillisString();
                break;
        }
    }
}
于 2016-06-12T09:08:08.337 回答
0

也许现在问你已经太晚了。但是你有没有机会给我你的代码来从 Project-Tango 获得 IMU 测量和 RGB 视频。我现在正在处理这个问题。非常感谢！

于 2017-06-08T13:44:34.580 回答