问题：我的应用程序无法通过单击按钮在最新点云数据（在对象上）的点上/附近设置点。
点击这个link查看到目前为止我开发的Android应用程序;我从tango point-to-point measurement sample app开发了我的应用程序
这个应用程序的功能......
作为一个先发线索，我的错误源于getDepthAtCenter方法（在下面的第二个方法的底部），因为“没有深度点”。在应用程序运行时发布在Android Studio的LogCat上。
这是setPoint方法（点击绿色按钮后）....
public void setPoint(View button) {
MotionEvent buttonClick;
final Button msrTarget = (Button) findViewById(R.id.target);
button.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
//(x,y,...) coordinates for the the middle of the target (uncertain if this is right)
float x = msrTarget.getX() / msrTarget.getWidth();
float y = msrTarget.getY() / msrTarget.getHeight();
// z, you need to deduce how to calculate the distance from the tablet to the object under measurement
// First,
try {
// Place point near the clicked point using the latest point cloud data.
// Synchronize against concurrent access to the RGB timestamp in the OpenGL thread
// and a possible service disconnection due to an onPause event.
MeasuredPoint newMeasuredPoint;
synchronized (this) {
//z depth
newMeasuredPoint = getDepthAtCenter(x, y);
}
if (newMeasuredPoint != null) {
// Update a line endpoint to the new location.
// This update is made thread-safe by the renderer.
updateLine(newMeasuredPoint);
Log.w(TAG, "Point was Updated.");
} else {
Log.w(TAG, "Point was Null.");
}
} catch (TangoException t) {
Toast.makeText(getApplicationContext(),
R.string.failed_measurement,
Toast.LENGTH_SHORT).show();
Log.e(TAG, getString(R.string.failed_measurement), t);
} catch (SecurityException t) {
Toast.makeText(getApplicationContext(),
R.string.failed_permissions,
Toast.LENGTH_SHORT).show();
Log.e(TAG, getString(R.string.failed_permissions), t);
}
}
});
}
这是getDepthAtCenter方法....
// Using the Tango Support Library with point-cloud data to calculate the depth
// of the point. It returns Vector3 in OpenGL world space.
private MeasuredPoint getDepthAtCenter(float x, float y) {
TangoPointCloudData pointCloud = pointCloudManager.getLatestPointCloud();
// There is no point cloud
if (pointCloud == null) {
Log.w(TAG, "No Point Cloud.");
return null;
}
double rgbTimestamp;
TangoImageBuffer imageBuffer = mCurrentImageBuffer;
if (bilateralCheckbox.isChecked()) {
rgbTimestamp = imageBuffer.timestamp; // CPU.
} else {
rgbTimestamp = mRgbTimestampGlThread; // GPU.
}
TangoPoseData depthlTcolorPose = TangoSupport.getPoseAtTime(
rgbTimestamp,
TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH,
TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
TangoSupport.ENGINE_TANGO,
TangoSupport.ENGINE_TANGO,
TangoSupport.ROTATION_IGNORED);
if (depthlTcolorPose.statusCode != TangoPoseData.POSE_VALID) {
Log.w(TAG, "Could not get color camera transform at time " + rgbTimestamp);
return null;
}
float[] depthPoint;
//if the bilateral checkbox is checked, get the depth at point bilateral
if (bilateralCheckbox.isChecked()) {
depthPoint = TangoDepthInterpolation.getDepthAtPointBilateral(
pointCloud,
new double[]{0.0, 0.0, 0.0},
new double[]{0.0, 0.0, 0.0, 1.0},
imageBuffer,
x, y,
displayRotation,
depthlTcolorPose.translation,
depthlTcolorPose.rotation);
} else {
//Otherwise, get the nearest neighbour as the point-cloud point
depthPoint = TangoDepthInterpolation.getDepthAtPointNearestNeighbor(
pointCloud,
new double[]{0.0, 0.0, 0.0},
new double[]{0.0, 0.0, 0.0, 1.0},
x, y,
displayRotation,
depthlTcolorPose.translation,
depthlTcolorPose.rotation);
}
// There is no depth point
if (depthPoint == null) {
Log.w(TAG, "No Depth Point.");
return null;
}
return new MeasuredPoint(rgbTimestamp, depthPoint);
}
这是TangoDepthInterpolation类......
package com.google.tango.depthinterpolation;
import com.google.atap.tangoservice.Tango;
import com.google.atap.tangoservice.TangoInvalidException;
import com.google.atap.tangoservice.TangoPointCloudData;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.experimental.TangoImageBuffer;
import com.google.tango.depthinterpolation.TangoDepthInterpolationJNIInterface.ByteDepthBuffer;
import java.nio.ByteOrder;
import java.nio.FloatBuffer;
public class TangoDepthInterpolation {
private static final String TAG = TangoDepthInterpolation.class.getSimpleName();
public TangoDepthInterpolation() {
}
public static float[] getDepthAtPointNearestNeighbor(TangoPointCloudData pointCloud, double[] pointCloudTranslation, double[] pointCloudOrientation, float u, float v, int displayRotation, double[] colorCameraTranslation, double[] colorCameraOrientation) throws TangoInvalidException {
float[] colorCameraPoint = new float[3];
int result = TangoDepthInterpolationJNIInterface.getDepthAtPointNearestNeighbor(pointCloud, pointCloudTranslation, pointCloudOrientation, u, v, displayRotation, colorCameraTranslation, colorCameraOrientation, colorCameraPoint);
if(result == -1) {
return null;
} else {
if(result != 0) {
Tango.throwTangoExceptionIfNeeded(result);
}
return colorCameraPoint;
}
}
public static float[] getDepthAtPointBilateral(TangoPointCloudData pointCloud, double[] pointCloudTranslation, double[] pointCloudOrientation, TangoImageBuffer imageBuffer, float u, float v, int displayRotation, double[] colorCameraTranslation, double[] colorCameraOrientation) throws TangoInvalidException {
float[] colorCameraPoint = new float[3];
int result = TangoDepthInterpolationJNIInterface.getDepthAtPointBilateral(pointCloud, pointCloudTranslation, pointCloudOrientation, imageBuffer, u, v, displayRotation, colorCameraTranslation, colorCameraOrientation, colorCameraPoint);
if(result == -1) {
return null;
} else {
if(result != 0) {
Tango.throwTangoExceptionIfNeeded(result);
}
return colorCameraPoint;
}
}
}
我通过在我的主类中输入这种深度感知配置来解决我自己的问题。
try {
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
} catch (TangoErrorException e) {
// handle exception
}