彩色图像探戈jni的粗略时间戳

时间：2016-01-11 21:16:12

标签： google-project-tango

我使用tango c api从谷歌探戈中获取彩色图像，点云和时间戳。我将图像，点云和时间戳存储在稍后要处理的队列中，因为在中断例程期间的处理将导致帧被丢弃。不幸的是，我得到的时间值很奇怪。我没有得到5fps的点云，我不相信图像的时间戳。有没有人经历过这样的事情？

我的代码如下。 这是将我的函数附加到中断例程的代码

TangoErrorType TangoHandler::ConnectCameraCallback() {
// TangoCoordinateFramePair is used to tell Tango Service about the frame of
// references that the applicaion would like to listen to.

TangoCameraId id = TANGO_CAMERA_FISHEYE;


int ret;
//for color images

TangoCameraId id2 = TANGO_CAMERA_COLOR;
ret = TangoService_connectOnFrameAvailable(id2,nullptr, onColorFrameAvailable);
if (ret != TANGO_SUCCESS) {
    LOGE(
            "JNI_App: Failed to connect to camera callback with error"
                    "code: %d",
            ret);
    return TANGO_ERROR;
}

//for point clouds
ret = TangoService_connectOnXYZijAvailable(onPointCloudAvailableCallback);
       if (ret != TANGO_SUCCESS) {
         LOGE(
             "JNI_App: Failed to connect to point cloud callback with error"
             "code: %d",
             ret);
         return TANGO_ERROR;
       }

return TANGO_SUCCESS;


}

这是抓取彩色帧并将它们放入队列的代码

static void onColorFrameAvailable(void*, TangoCameraId id, const TangoImageBuffer *buffer) {


if(run_producer_thread != 0){


    double timestamp = buffer->timestamp;
    uint32_t height = buffer->height;
    uint32_t width = buffer->width;
    uint32_t stride = buffer->stride;
    int64_t frame_n = buffer->frame_number;


    cv::Mat m = cv::Mat(height + height / 2, width, CV_8UC1, 0, stride);

    cv::Mat m2;

    m.data = buffer->data;
    cv::cvtColor(m, m, CV_YUV2BGR_NV21,3);
    m.copyTo(m2);

    queue_mutex.lock();
    mColorImageQueue.operate("push",NULL,&m2,NULL,NULL);
    queue_mutex.unlock();

    queue_mutex.lock();
    mColorTimestampQueue.operate("push",NULL,&timestamp,NULL,NULL);
    queue_mutex.unlock();


    delete [] m.data;
    m.data = NULL;

    delete [] m2.data;
    m2.data = NULL;

    color_frame_number++;
    LOGI("Stored color frame number: %d ",color_frame_number);
 }

}

我为点云做了类似的事情。我附加了代码的输出。注意一些时间戳是如何相同的（不应该是）。 请原谅代码的风格，只是想让东西上班。

对于以下数据，以下说明可能会使事情变得更容易。

传感器类型为4或5. 4表示深度传感器，表示相应行的点云读数，而5表示相应行的彩色图像读数。

时差是指下一次读数与当前读数之间经过的时间

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  <td height=15 align=right style='height:15.0pt'>109.71445</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>5</td>
  <td align=right>0.043884</td>
 </tr>
 <tr height=15 style='height:15.0pt'>
  <td height=15 align=right style='height:15.0pt'>109.758334</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>4</td>
  <td align=right>0.02165</td>
 </tr>
 <tr height=15 style='height:15.0pt'>
  <td height=15 align=right style='height:15.0pt'>109.779984</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>5</td>
  <td align=right>0</td>
 </tr>
 <tr height=15 style='height:15.0pt'>
  <td height=15 align=right style='height:15.0pt'>109.779984</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>0</td>
  <td align=right>5</td>
  <td></td>
 </tr>
 <tr height=4920 style='height:4920.0pt;mso-xlrowspan:328'>
  <td height=4920 colspan=6 style='height:4920.0pt;mso-ignore:colspan'></td>
 </tr>
 <tr height=12 style='mso-height-source:userset;height:12.0pt'>
  <td height=12 colspan=6 style='height:12.0pt;mso-ignore:colspan'></td>
 </tr>
</table>

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