在Java API中开发Project Tango Android应用程序，我无法让平板电脑触发onXYZijAvailable回调，我真的很想在我的应用程序中使用深度数据。
这是我设置Tango并附加其听众的代码：
Tango初始化：
try {
Log.d(TAG, "Creating TangoPoseHandler Object");
this.main = main;
mTango = new Tango(main);
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, true);
framePairs = new ArrayList<TangoCoordinateFramePair>();
} catch (TangoErrorException e) {
Log.d("TANGO ERROR", "TangoErrorException");
}
活动期间onResume（）：
if (!isTangoConnected) {
main.startActivityForResult(
Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
Tango.TANGO_INTENT_ACTIVITYCODE);
}
根据活动结果：
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
Log.d(MAIN_ACTIVITY, "Activity Result Triggered");
if (Tango.TANGO_INTENT_ACTIVITYCODE == requestCode) {
((TangoPoseHandler)poseHandler).setup(requestCode, resultCode, data);
}
}
设置方法叫做：
public void setup(int requestCode, int resultCode, Intent data) {
if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
// Make sure the request was successful
if (resultCode == android.app.Activity.RESULT_CANCELED) {
Toast.makeText(main,
"This app requires Motion Tracking permission!",
Toast.LENGTH_LONG).show();
main.finish();
return;
}
try {
setTangoListeners();
} catch (TangoErrorException e) {
Log.d(TAG, "TANGO ERROR WHEN SETTING LISTENERS");
Toast.makeText(main, "Tango Error! Restart the app!",
Toast.LENGTH_SHORT).show();
return;
}
try {
mTango.connect(mConfig);
isTangoConnected = true;
} catch (TangoOutOfDateException e) {
Toast.makeText(main.getApplicationContext(),
"Tango Service out of date!", Toast.LENGTH_SHORT)
.show();
} catch (TangoErrorException e) {
Toast.makeText(main.getApplicationContext(),
"Tango Error! Restart the app!", Toast.LENGTH_SHORT)
.show();
}
}
}
setTangoListeners（）方法名为：
private void setTangoListeners() {
// Select coordinate frame pairs
framePairs.clear();
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE ,
TangoPoseData.COORDINATE_FRAME_DEVICE ));
mTango.connectListener(framePairs, new Tango.OnTangoUpdateListener() {
/**
* Callback called when new pose data is made available from the Tango
* @param tangoPoseData
*/
@Override
public void onPoseAvailable(final TangoPoseData tangoPoseData) {
if (tangoPoseData.baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE &&
tangoPoseData.targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE ) {
float[] transform = new float[16];
Matrix.setIdentityM(transform, 0);
NVector translationData = new NVector(
SCALE_FACTOR * tangoPoseData.getTranslationAsFloats()[TangoPoseData.INDEX_TRANSLATION_X],
SCALE_FACTOR * tangoPoseData.getTranslationAsFloats()[TangoPoseData.INDEX_TRANSLATION_Y],
SCALE_FACTOR * tangoPoseData.getTranslationAsFloats()[TangoPoseData.INDEX_TRANSLATION_Z]);
rotationQuat = new NVector((float) tangoPoseData.rotation[TangoPoseData.INDEX_ROTATION_X],
tangoPoseData.getRotationAsFloats()[TangoPoseData.INDEX_ROTATION_Y],
tangoPoseData.getRotationAsFloats()[TangoPoseData.INDEX_ROTATION_Z],
tangoPoseData.getRotationAsFloats()[TangoPoseData.INDEX_ROTATION_W]);
float[] quatMat = new float[16];
Matrix.setIdentityM(quatMat, 0);
quatMat = quaternionToMatrix(rotationQuat);
Matrix.multiplyMM(transform, 0, openGLConversion, 0, quatMat, 0);
transform[12] = translationData.getX();
transform[13] = translationData.getZ();
transform[14] = -1.f * translationData.getY();
float[] invertedTransform = new float[16];
Matrix.setIdentityM(invertedTransform, 0);
Matrix.invertM(invertedTransform, 0, transform, 0);
//main.displayMat(invertedTransform);
SceneCamera.instance().setEye(translationData);
SceneCamera.instance().set(invertedTransform);
//main.displayVals(tempPosition, rotationQuat);
}
}
/**
* Callback called when new depth data is made available from the tango
*
* @param tangoXyzIjData
*/
@Override
public void onXyzIjAvailable(final TangoXyzIjData tangoXyzIjData) {
Log.d("Depth Data", "Collected");
pointCloudBuffer = tangoXyzIjData.xyz;
}
/**
* Callback when new Image Frame is available for capture
* @param cameraID ID of the camera who has a fresh frame prepared
*/
@Override
public void onFrameAvailable(int cameraID) {
Log.d(TAG, "onFrameAvailable Called");
// Intentionally left empty
}
/**
* Callback when tango has an issue that needs addressing
* @param tangoEvent the event storing the data of the issue
*/
@Override
public void onTangoEvent(final TangoEvent tangoEvent) {
if (tangoEvent.eventKey.equals(TangoEvent.DESCRIPTION_FISHEYE_OVER_EXPOSED) ||
tangoEvent.eventKey.equals((TangoEvent.DESCRIPTION_COLOR_OVER_EXPOSED))) {
sendMessage("The Camera is overexposed. Please try facing somewhere with less direct light.");
}
if (tangoEvent.eventKey.equals(TangoEvent.DESCRIPTION_FISHEYE_UNDER_EXPOSED) ||
tangoEvent.eventKey.equals((TangoEvent.DESCRIPTION_COLOR_UNDER_EXPOSED))) {
sendMessage("Fisheye Lens is underexposed. Please try facing somewhere with more light.");
}
}
});
}
我讨厌呕吐这样的代码，但是我已经尝试了几个星期才能让深度感应工作，但onXYZijAvailable回调只是拒绝被调用，而且我在我的绳索结束了。
可能存在的一个问题是该应用程序使用Vuforia进行一些额外的增强现实功能，并可以访问彩色相机和相机预览，但我没有在Tango文档中看到任何建议这可能会导致问题。
非常感谢能帮助我的人。