我是Android的初学者和Tango（我只是想说它以防止可能的错误）而且我正在使用Project Tango Tablet（黄石）。我想用它来抨击，这就是我想获取原始数据的原因。
目前我知道如何获得poseData和点云。我读到无法获得IMU和RGBD。但是对于RGBD而言，可以使用某些样本显示RGB图像，但我不知道如何获得它。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。但它永远不会发生/从未被处理过它应该是一个高频事件吗？但是我处理EVENT_FEATURE_TRACKING（= 5）和EVENT_FISHEYE_CAMERA（= 2）所以“onTangoEvent（TangoEvent tangoEvent）”工作。所以我的问题如下：
谢谢你的回答
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）。但是你可以通过TangoImageBuffer获得带有c api的RGB。你会得到一张MV21照片。您将能够转换“RGB单像素”中的每个像素，然后在RGBA数据中转换此像素。
对于IMU，只需忘记Tango的API并使用android API。您可以轻松地获取它，然后将其传输到服务器。我的情况是我通过使用ros发布者来做到这一点。多亏了这个，我能够获得500个姿势/秒，35点云/秒和900 IMU /秒的东西。如果您对使用ros感兴趣，可以查看此ROS Rviz visualization of Tango Pose data。
-----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;
}
}
}
也许现在问你太迟了。但有没有机会你可以给我你的代码来从Project-Tango获得IMU测量和RGB视频。我现在正在处理这个问题。 Tks很多！