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<h1 id="HTTP-Status-Codes"><a href="#HTTP-Status-Codes" class="headerlink" title="HTTP Status Codes"></a>HTTP Status Codes</h1><p>这篇文章图文并茂地讲解了该如何 <a href="http://racksburg.com/choosing-an-http-status-code" target="_blank" rel="external">Choosing an HTTP Status Code</a> 。</p>
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<a class="post-title-link" href="/2017/09/10/硬件加速/" itemprop="url">硬件加速</a></h1>
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2017-09-10
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<h1 id="硬件加速"><a href="#硬件加速" class="headerlink" title="硬件加速"></a>硬件加速</h1><p>维基百科对于硬件加速的解释如下：</p>
<p>In computing, hardware acceleration is the use of computer hardware to perform some functions more efficiently than is possible in software running on a more general-purpose CPU. Examples of hardware acceleration include blitting acceleration functionality in graphics processing units (GPUs) and regular expression hardware acceleration for spam control in the server industry.[1] The hardware that performs the acceleration, when in a separate unit from the CPU, is referred to as a hardware accelerator, or often more specifically as a 3D accelerator, cryptographic accelerator, etc.</p>
<p>Traditionally, processors were sequential (instructions are executed one by one), and are designed to run general purpose algorithms controlled by instruction fetch (for example moving temporary results to and from a register file). Hardware accelerators improve the execution of a specific algorithm by allowing greater concurrency, having specific data-paths for its temporaries, and possibly reducing the overhead of instruction control. Modern processors are multi-core and often feature parallel SIMD units; however hardware acceleration still yields benefits. Hardware acceleration is suitable for any repetitive, intensive key algorithm. Depending upon granularity, hardware acceleration can vary from a small functional unit, to a large functional block (like motion estimation in MPEG-2).</p>
<p>In the hierarchy of general-purpose processors such as CPUs, more specialized processors such as GPUs, fixed-function implemented on FPGAs, and fixed-function implemented on ASICs; there is a tradeoff between flexibility and efficiency, with efficiency increasing by orders of magnitude when any given application is implemented higher up that hierarchy.</p>
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2017-08-11
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<h2 id="Tag"><a href="#Tag" class="headerlink" title="Tag"></a>Tag</h2><h3 id="Tag-的创建和删除"><a href="#Tag-的创建和删除" class="headerlink" title="Tag 的创建和删除"></a>Tag 的创建和删除</h3><figure class="highlight bash"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div></pre></td><td class="code"><pre><div class="line"><span class="comment"># Create a tag 'v2.1' and push it to remote server</span></div><div class="line">$ git tag -m<span class="string">'release v2.1'</span> v2.1</div><div class="line">$ git push origin v2.1</div><div class="line"></div><div class="line"><span class="comment"># Remove the created tag 'v2.1'</span></div><div class="line">$ git tag -d v2.1</div><div class="line">$ git push origin :v2.1</div></pre></td></tr></table></figure>
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2017-07-28
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<div class="post-body" itemprop="articleBody">
<h2 id="Basic-example-hello-depth-perception"><a href="#Basic-example-hello-depth-perception" class="headerlink" title="Basic example hello depth perception"></a>Basic example hello depth perception</h2><p>完整的代码可以在 <a href="https://github.com/googlesamples/tango-examples-c/blob/master/cpp_basic_examples/hello_area_description" target="_blank" rel="external">github</a> 上找到。</p>
<h2 id="On-tango-service-connected"><a href="#On-tango-service-connected" class="headerlink" title="On tango service connected"></a>On tango service connected</h2><p>范例基于 Android 开发，我们从 JNI 以下的代码说起。当连接到 tango 设备时的回调处理：<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div></pre></td><td class="code"><pre><div class="line">JNIEXPORT <span class="keyword">void</span> JNICALL</div><div class="line">Java_com_projecttango_examples_cpp_helloareadescription_TangoJniNative_onTangoServiceConnected(</div><div class="line"> JNIEnv* env, jobject, jobject binder, jboolean is_area_learning_enabled,</div><div class="line"> jboolean is_loading_area_description) {</div><div class="line"> app.OnTangoServiceConnected(env, binder, is_area_learning_enabled,</div><div class="line"> is_loading_area_description);</div><div class="line">}</div></pre></td></tr></table></figure></p>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div><div class="line">23</div><div class="line">24</div><div class="line">25</div><div class="line">26</div><div class="line">27</div><div class="line">28</div><div class="line">29</div><div class="line">30</div><div class="line">31</div><div class="line">32</div><div class="line">33</div><div class="line">34</div><div class="line">35</div><div class="line">36</div><div class="line">37</div><div class="line">38</div><div class="line">39</div><div class="line">40</div><div class="line">41</div><div class="line">42</div><div class="line">43</div><div class="line">44</div><div class="line">45</div><div class="line">46</div><div class="line">47</div><div class="line">48</div><div class="line">49</div><div class="line">50</div><div class="line">51</div><div class="line">52</div><div class="line">53</div><div class="line">54</div><div class="line">55</div><div class="line">56</div><div class="line">57</div><div class="line">58</div><div class="line">59</div><div class="line">60</div><div class="line">61</div><div class="line">62</div><div class="line">63</div><div class="line">64</div><div class="line">65</div><div class="line">66</div><div class="line">67</div><div class="line">68</div><div class="line">69</div><div class="line">70</div><div class="line">71</div><div class="line">72</div><div class="line">73</div><div class="line">74</div><div class="line">75</div><div class="line">76</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">void</span> AreaLearningApp::OnTangoServiceConnected(</div><div class="line"> JNIEnv* env, jobject binder, <span class="keyword">bool</span> is_area_learning_enabled,</div><div class="line"> <span class="keyword">bool</span> is_loading_area_description) {</div><div class="line"> ...</div><div class="line"></div><div class="line"> <span class="keyword">if</span> (is_area_learning_enabled || is_loading_area_description) {</div><div class="line"> <span class="comment">// Here, we'll configure the service to run in the way we'd want. For this</span></div><div class="line"> <span class="comment">// application, we'll start from the default configuration</span></div><div class="line"> <span class="comment">// (TANGO_CONFIG_DEFAULT). This enables basic motion tracking capabilities.</span></div><div class="line"> tango_config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);</div><div class="line"> <span class="keyword">if</span> (tango_config_ == <span class="literal">nullptr</span>) {</div><div class="line"> LOGE(<span class="string">"AreaLearningApp: Failed to get default config form"</span>);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="keyword">int</span> ret = TangoConfig_setBool(tango_config_, <span class="string">"config_enable_learning_mode"</span>,</div><div class="line"> is_area_learning_enabled);</div><div class="line"> <span class="keyword">if</span> (ret != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"AreaLearningApp: config_enable_learning_mode failed with error"</span></div><div class="line"> <span class="string">"code: %d"</span>,</div><div class="line"> ret);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// If load ADF, load the most recent saved ADF.</span></div><div class="line"> <span class="keyword">if</span> (is_loading_area_description) {</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">vector</span><<span class="built_in">std</span>::<span class="built_in">string</span>> adf_list;</div><div class="line"> GetAdfUuids(&adf_list);</div><div class="line"> <span class="keyword">if</span> (!adf_list.empty()) {</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">string</span> adf_uuid = adf_list.back();</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">ostringstream</span> adf_str_stream;</div><div class="line"> adf_str_stream << <span class="string">"Number of ADFs:"</span> << adf_list.size()</div><div class="line"> << <span class="string">", Loaded ADF: "</span> << adf_uuid;</div><div class="line"> loaded_adf_string_ = adf_str_stream.str();</div><div class="line"> ret = TangoConfig_setString(tango_config_,</div><div class="line"> <span class="string">"config_load_area_description_UUID"</span>,</div><div class="line"> adf_uuid.c_str());</div><div class="line"> <span class="keyword">if</span> (ret != TANGO_SUCCESS) {</div><div class="line"> LOGE(<span class="string">"AreaLearningApp: get ADF UUID failed with error code: %d"</span>, ret);</div><div class="line"> }</div><div class="line"> }</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Setting up the frame pair for the onPoseAvailable callback.</span></div><div class="line"> TangoCoordinateFramePair pairs[<span class="number">3</span>] = {</div><div class="line"> {TANGO_COORDINATE_FRAME_START_OF_SERVICE,</div><div class="line"> TANGO_COORDINATE_FRAME_DEVICE},</div><div class="line"> {TANGO_COORDINATE_FRAME_AREA_DESCRIPTION,</div><div class="line"> TANGO_COORDINATE_FRAME_DEVICE},</div><div class="line"> {TANGO_COORDINATE_FRAME_AREA_DESCRIPTION,</div><div class="line"> TANGO_COORDINATE_FRAME_START_OF_SERVICE}};</div><div class="line"></div><div class="line"> <span class="comment">// Attach onPoseAvailable callback.</span></div><div class="line"> <span class="comment">// The callback will be called after the service is connected.</span></div><div class="line"> ret = TangoService_connectOnPoseAvailable(<span class="number">3</span>, pairs, onPoseAvailableRouter);</div><div class="line"> <span class="keyword">if</span> (ret != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"AreaLearningApp: Failed to connect to pose callback with error"</span></div><div class="line"> <span class="string">"code: %d"</span>,</div><div class="line"> ret);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Connect to the Tango Service, the service will start running:</span></div><div class="line"> <span class="comment">// point clouds can be queried and callbacks will be called.</span></div><div class="line"> ret = TangoService_connect(<span class="keyword">this</span>, tango_config_);</div><div class="line"> <span class="keyword">if</span> (ret != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"AreaLearningApp::OnTangoServiceConnected,"</span></div><div class="line"> <span class="string">"Failed to connect to the Tango service with error code: %d"</span>,</div><div class="line"> ret);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"> }</div><div class="line">}</div></pre></td></tr></table></figure>
<p>相较与 color 和 depth，pose 的初始设置更复杂，其中有大量是关于 ADF（Automatic Direction Finder：自动方位搜寻器）的，实际代码还另有大量处理 ADF 的函数被定义和实现，请参考原始代码。</p>
<p>我们这里重点关注 PoseAvailable 的回调 OnPoseAvailableRouter。</p>
<h2 id="On-pose-available"><a href="#On-pose-available" class="headerlink" title="On pose available"></a>On pose available</h2><p>接下来我们看看在回调函数中如何处理 pose 数据：<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">namespace</span> {</div><div class="line"><span class="comment">// The minimum Tango Core version required from this application.</span></div><div class="line"><span class="keyword">constexpr</span> <span class="keyword">int</span> kTangoCoreMinimumVersion = <span class="number">9377</span>;</div><div class="line"><span class="keyword">const</span> <span class="keyword">int</span> kVersionStringLength = <span class="number">128</span>;</div><div class="line"></div><div class="line"><span class="comment">// This function routes onPoseAvailable callbacks to the application object for</span></div><div class="line"><span class="comment">// handling.</span></div><div class="line"><span class="comment">//</span></div><div class="line"><span class="comment">// @param context, context will be a pointer to a AreaLearningApp</span></div><div class="line"><span class="comment">// instance on which to call callbacks.</span></div><div class="line"><span class="comment">// @param pose, pose data to route to onPoseAvailable function.</span></div><div class="line"><span class="function"><span class="keyword">void</span> <span class="title">onPoseAvailableRouter</span><span class="params">(<span class="keyword">void</span>* context, <span class="keyword">const</span> TangoPoseData* pose)</span> </span>{</div><div class="line"> hello_area_description::AreaLearningApp* app =</div><div class="line"> <span class="keyword">static_cast</span><hello_area_description::AreaLearningApp*>(context);</div><div class="line"> app->onPoseAvailable(pose);</div><div class="line">}</div><div class="line">} <span class="comment">// namespace</span></div><div class="line"></div><div class="line"><span class="keyword">void</span> AreaLearningApp::onPoseAvailable(<span class="keyword">const</span> TangoPoseData* pose) {</div><div class="line"> <span class="built_in">std</span>::lock_guard<<span class="built_in">std</span>::mutex> lock(pose_mutex_);</div><div class="line"> pose_data_.UpdatePose(*pose);</div><div class="line">}</div></pre></td></tr></table></figure></p>
<p>Pose 数据被保存在成员变量 pose<em>data</em> 中，它的定义：<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div></pre></td><td class="code"><pre><div class="line"><span class="comment">// pose_data_ handles all pose onPoseAvailable callbacks, onPoseAvailable()</span></div><div class="line"><span class="comment">// in this object will be routed to pose_data_ to handle.</span></div><div class="line">PoseData pose_data_;</div></pre></td></tr></table></figure></p>
<h2 id="PoseData"><a href="#PoseData" class="headerlink" title="PoseData"></a>PoseData</h2><p>这里出现的 PoseData 并非 SDK 提供，其完整定义如下。<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div><div class="line">23</div><div class="line">24</div><div class="line">25</div><div class="line">26</div><div class="line">27</div><div class="line">28</div><div class="line">29</div><div class="line">30</div><div class="line">31</div><div class="line">32</div><div class="line">33</div></pre></td><td class="code"><pre><div class="line"><span class="comment">// PoseData holds all pose related data. E.g. pose position, rotation and time-</span></div><div class="line"><span class="comment">// stamp. It also produce the debug information strings.</span></div><div class="line"><span class="class"><span class="keyword">class</span> <span class="title">PoseData</span> {</span></div><div class="line"> <span class="keyword">public</span>:</div><div class="line"> PoseData();</div><div class="line"> ~PoseData();</div><div class="line"></div><div class="line"> <span class="comment">// Update current pose and previous pose.</span></div><div class="line"> <span class="comment">//</span></div><div class="line"> <span class="comment">// @param pose: pose data of current frame.</span></div><div class="line"> <span class="function"><span class="keyword">void</span> <span class="title">UpdatePose</span><span class="params">(<span class="keyword">const</span> TangoPoseData& pose_data)</span></span>;</div><div class="line"></div><div class="line"> <span class="comment">// Reset all saved pose data.</span></div><div class="line"> <span class="function"><span class="keyword">void</span> <span class="title">ResetPoseData</span><span class="params">()</span></span>;</div><div class="line"></div><div class="line"> <span class="comment">// Get pose data in current frame.</span></div><div class="line"> <span class="comment">//</span></div><div class="line"> <span class="comment">// @return: curent pose data.</span></div><div class="line"> <span class="function">TangoPoseData <span class="title">GetCurrentPoseData</span><span class="params">()</span></span>;</div><div class="line"></div><div class="line"> <span class="comment">// Check if the device is relocalized.</span></div><div class="line"> <span class="comment">//</span></div><div class="line"> <span class="comment">// @return: relocalized flag.</span></div><div class="line"> <span class="function"><span class="keyword">bool</span> <span class="title">IsRelocalized</span><span class="params">()</span> </span>{ <span class="keyword">return</span> is_relocalized_; }</div><div class="line"></div><div class="line"> <span class="keyword">private</span>:</div><div class="line"> <span class="comment">// Relocalized flag, the relocalization is determined by the pose in start of</span></div><div class="line"> <span class="comment">// service with respect to ADF turns to valid.</span></div><div class="line"> <span class="keyword">bool</span> is_relocalized_ = <span class="literal">false</span>;</div><div class="line"></div><div class="line"> TangoPoseData adf_T_device_pose_;</div><div class="line"> TangoPoseData start_service_T_device_pose_;</div><div class="line">};</div></pre></td></tr></table></figure></p>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div><div class="line">23</div><div class="line">24</div><div class="line">25</div><div class="line">26</div><div class="line">27</div><div class="line">28</div><div class="line">29</div><div class="line">30</div><div class="line">31</div><div class="line">32</div><div class="line">33</div><div class="line">34</div><div class="line">35</div></pre></td><td class="code"><pre><div class="line">PoseData::PoseData() {}</div><div class="line"></div><div class="line">PoseData::~PoseData() {}</div><div class="line"></div><div class="line"><span class="keyword">void</span> PoseData::UpdatePose(<span class="keyword">const</span> TangoPoseData& pose_data) {</div><div class="line"> <span class="comment">// We check the frame pair received in the pose_data instance, and store it</span></div><div class="line"> <span class="comment">// in the proper cooresponding local member.</span></div><div class="line"> <span class="comment">//</span></div><div class="line"> <span class="comment">// The frame pairs are the one we registred in the</span></div><div class="line"> <span class="comment">// TangoService_connectOnPoseAvailable functions during the setup of the</span></div><div class="line"> <span class="comment">// Tango configuration file.</span></div><div class="line"> <span class="keyword">if</span> (pose_data.frame.base == TANGO_COORDINATE_FRAME_START_OF_SERVICE &&</div><div class="line"> pose_data.frame.target == TANGO_COORDINATE_FRAME_DEVICE) {</div><div class="line"> start_service_T_device_pose_ = pose_data;</div><div class="line"> } <span class="keyword">else</span> <span class="keyword">if</span> (pose_data.frame.base == TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&</div><div class="line"> pose_data.frame.target == TANGO_COORDINATE_FRAME_DEVICE) {</div><div class="line"> adf_T_device_pose_ = pose_data;</div><div class="line"> } <span class="keyword">else</span> <span class="keyword">if</span> (pose_data.frame.base == TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&</div><div class="line"> pose_data.frame.target ==</div><div class="line"> TANGO_COORDINATE_FRAME_START_OF_SERVICE) {</div><div class="line"> is_relocalized_ = (pose_data.status_code == TANGO_POSE_VALID);</div><div class="line"> } <span class="keyword">else</span> {</div><div class="line"> <span class="keyword">return</span>;</div><div class="line"> }</div><div class="line">}</div><div class="line"></div><div class="line"><span class="keyword">void</span> PoseData::ResetPoseData() { is_relocalized_ = <span class="literal">false</span>; }</div><div class="line"></div><div class="line">TangoPoseData PoseData::GetCurrentPoseData() {</div><div class="line"> <span class="keyword">if</span> (is_relocalized_) {</div><div class="line"> <span class="keyword">return</span> adf_T_device_pose_;</div><div class="line"> } <span class="keyword">else</span> {</div><div class="line"> <span class="keyword">return</span> start_service_T_device_pose_;</div><div class="line"> }</div><div class="line">}</div></pre></td></tr></table></figure>
<h2 id="TangoPoseData"><a href="#TangoPoseData" class="headerlink" title="TangoPoseData"></a>TangoPoseData</h2><p>SDK 所提供的 TangoPoseData，完整信息请查看 <a href="https://developers.google.com/tango/apis/c/reference/struct/tango-pose-data" target="_blank" rel="external">官方文档</a>，下面只重点说明几个公共属性。</p>
<h3 id="frame"><a href="#frame" class="headerlink" title="frame"></a>frame</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line">TangoCoordinateFramePair TangoPoseData::frame</div></pre></td></tr></table></figure>
<p>The pair of coordinate frames for this pose.</p>
<p>We retrieve a pose for a target coordinate frame (such as the Tango device) against a base coordinate frame (such as a learned area).</p>
<h3 id="orientation"><a href="#orientation" class="headerlink" title="orientation"></a>orientation</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">double</span> TangoPoseData::orientation[<span class="number">4</span>]</div></pre></td></tr></table></figure>
<p>Orientation, as a quaternion, of the pose of the target frame with reference to the base frame.</p>
<p>Specified as (x,y,z,w) where RotationAngle is in radians:</p>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div></pre></td><td class="code"><pre><div class="line">x = RotationAxis.x * <span class="built_in">sin</span>(RotationAngle / <span class="number">2</span>)</div><div class="line">y = RotationAxis.y * <span class="built_in">sin</span>(RotationAngle / <span class="number">2</span>)</div><div class="line">z = RotationAxis.z * <span class="built_in">sin</span>(RotationAngle / <span class="number">2</span>)</div><div class="line">w = <span class="built_in">cos</span>(RotationAngle / <span class="number">2</span>)</div></pre></td></tr></table></figure>
<h3 id="status-code"><a href="#status-code" class="headerlink" title="status_code"></a>status_code</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line">TangoPoseStatusType TangoPoseData::status_code</div></pre></td></tr></table></figure>
<p>The status of the pose, according to the pose lifecycle.</p>
<h3 id="timestamp"><a href="#timestamp" class="headerlink" title="timestamp"></a>timestamp</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">double</span> TangoPoseData::timestamp</div></pre></td></tr></table></figure>
<p>The timestamp of the pose estimate, in seconds.</p>
<h3 id="translation"><a href="#translation" class="headerlink" title="translation"></a>translation</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">double</span> TangoPoseData::translation[<span class="number">3</span>]</div></pre></td></tr></table></figure>
<p>Translation, ordered x, y, z, of the pose of the target frame with reference to the base frame.</p>
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2017-07-28
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<h2 id="Basic-example-hello-depth-perception"><a href="#Basic-example-hello-depth-perception" class="headerlink" title="Basic example hello depth perception"></a>Basic example hello depth perception</h2><p>完整的代码可以在 <a href="https://github.com/googlesamples/tango-examples-c/blob/master/cpp_basic_examples/hello_depth_perception" target="_blank" rel="external">github</a> 上找到。</p>
<h2 id="On-tango-service-connected"><a href="#On-tango-service-connected" class="headerlink" title="On tango service connected"></a>On tango service connected</h2><p>范例基于 Android 开发，我们从 JNI 以下的代码说起。当连接到 tango 设备时的回调处理：<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div></pre></td><td class="code"><pre><div class="line">JNIEXPORT <span class="keyword">void</span> JNICALL</div><div class="line">Java_com_projecttango_examples_cpp_hellodepthperception_TangoJniNative_onTangoServiceConnected(</div><div class="line"> JNIEnv* env, jobject, jobject binder) {</div><div class="line"> app.OnTangoServiceConnected(env, binder);</div><div class="line">}</div></pre></td></tr></table></figure></p>
<figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div><div class="line">23</div><div class="line">24</div><div class="line">25</div><div class="line">26</div><div class="line">27</div><div class="line">28</div><div class="line">29</div><div class="line">30</div><div class="line">31</div><div class="line">32</div><div class="line">33</div><div class="line">34</div><div class="line">35</div><div class="line">36</div><div class="line">37</div><div class="line">38</div><div class="line">39</div><div class="line">40</div><div class="line">41</div><div class="line">42</div><div class="line">43</div><div class="line">44</div><div class="line">45</div><div class="line">46</div><div class="line">47</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">void</span> HelloVideoApp::OnTangoServiceConnected(JNIEnv* env, jobject binder) {</div><div class="line"> ...</div><div class="line"> <span class="comment">// Enable Depth Perception.</span></div><div class="line"> TangoErrorType err =</div><div class="line"> TangoConfig_setBool(tango_config_, <span class="string">"config_enable_depth"</span>, <span class="literal">true</span>);</div><div class="line"> <span class="keyword">if</span> (err != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"HelloDepthPerceptionApp::OnTangoServiceConnected,"</span></div><div class="line"> <span class="string">"config_enable_depth() failed with error code: %d."</span>,</div><div class="line"> err);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Need to specify the depth_mode as XYZC.</span></div><div class="line"> err = TangoConfig_setInt32(tango_config_, <span class="string">"config_depth_mode"</span>,</div><div class="line"> TANGO_POINTCLOUD_XYZC);</div><div class="line"> <span class="keyword">if</span> (err != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"Failed to set 'depth_mode' configuration flag with error"</span></div><div class="line"> <span class="string">" code: %d"</span>,</div><div class="line"> err);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Attach the OnPointCloudAvailable callback to the OnPointCloudAvailable</span></div><div class="line"> <span class="comment">// function defined above. The callback will be called every time a new</span></div><div class="line"> <span class="comment">// point cloud is acquired, after the service is connected.</span></div><div class="line"> err = TangoService_connectOnPointCloudAvailable(OnPointCloudAvailable);</div><div class="line"> <span class="keyword">if</span> (err != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"HelloDepthPerceptionApp::OnTangoServiceConnected,"</span></div><div class="line"> <span class="string">"Failed to connect to point cloud callback with error code: %d"</span>,</div><div class="line"> err);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Connect to the Tango Service, the service will start running:</span></div><div class="line"> <span class="comment">// point clouds can be queried and callbacks will be called.</span></div><div class="line"> err = TangoService_connect(<span class="keyword">this</span>, tango_config_);</div><div class="line"> <span class="keyword">if</span> (err != TANGO_SUCCESS) {</div><div class="line"> LOGE(</div><div class="line"> <span class="string">"HelloDepthPerceptionApp::OnTangoServiceConnected,"</span></div><div class="line"> <span class="string">"Failed to connect to the Tango service with error code: %d"</span>,</div><div class="line"> err);</div><div class="line"> <span class="built_in">std</span>::<span class="built_in">exit</span>(EXIT_SUCCESS);</div><div class="line"> }</div><div class="line">}</div></pre></td></tr></table></figure>
<p>从上面的代码可以看到我们启用了 depth 并设定格式为 XYZC，然后注册了 PointCloudAvailable 的回调 OnPointCloudAvailable。</p>
<h2 id="On-point-cloud-available"><a href="#On-point-cloud-available" class="headerlink" title="On point cloud available"></a>On point cloud available</h2><p>接下来我们看看在回调函数中如何处理点云数据：<br><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div><div class="line">2</div><div class="line">3</div><div class="line">4</div><div class="line">5</div><div class="line">6</div><div class="line">7</div><div class="line">8</div><div class="line">9</div><div class="line">10</div><div class="line">11</div><div class="line">12</div><div class="line">13</div><div class="line">14</div><div class="line">15</div><div class="line">16</div><div class="line">17</div><div class="line">18</div><div class="line">19</div><div class="line">20</div><div class="line">21</div><div class="line">22</div><div class="line">23</div><div class="line">24</div><div class="line">25</div><div class="line">26</div><div class="line">27</div><div class="line">28</div><div class="line">29</div><div class="line">30</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">namespace</span> {</div><div class="line"><span class="comment">// The minimum Tango Core version required from this application.</span></div><div class="line"><span class="keyword">constexpr</span> <span class="keyword">int</span> kTangoCoreMinimumVersion = <span class="number">9377</span>;</div><div class="line"></div><div class="line"><span class="comment">// This function logs point cloud data from OnPointCloudAvailable callbacks.</span></div><div class="line"><span class="comment">//</span></div><div class="line"><span class="comment">// @param context, this will be a pointer to a HelloDepthPerceptionApp</span></div><div class="line"><span class="comment">// instance on which to call callbacks. This parameter is hidden</span></div><div class="line"><span class="comment">// since it is not used.</span></div><div class="line"><span class="comment">// @param *point_cloud, point cloud data to log.</span></div><div class="line"><span class="function"><span class="keyword">void</span> <span class="title">OnPointCloudAvailable</span><span class="params">(<span class="keyword">void</span>* <span class="comment">/*context*/</span>,</span></span></div><div class="line"><span class="function"><span class="params"> <span class="keyword">const</span> TangoPointCloud* point_cloud)</span> </span>{</div><div class="line"> <span class="comment">// Number of points in the point cloud.</span></div><div class="line"> <span class="keyword">float</span> average_depth;</div><div class="line"></div><div class="line"> <span class="comment">// Calculate the average depth.</span></div><div class="line"> average_depth = <span class="number">0</span>;</div><div class="line"> <span class="comment">// Each xyzc point has 4 coordinates.</span></div><div class="line"> <span class="keyword">for</span> (<span class="keyword">size_t</span> i = <span class="number">0</span>; i < point_cloud->num_points; ++i) {</div><div class="line"> average_depth += point_cloud->points[i][<span class="number">2</span>];</div><div class="line"> }</div><div class="line"> <span class="keyword">if</span> (point_cloud->num_points) {</div><div class="line"> average_depth /= point_cloud->num_points;</div><div class="line"> }</div><div class="line"></div><div class="line"> <span class="comment">// Log the number of points and average depth.</span></div><div class="line"> LOGI(<span class="string">"HelloDepthPerceptionApp: Point count: %d. Average depth (m): %.3f"</span>,</div><div class="line"> point_cloud->num_points, average_depth);</div><div class="line">}</div><div class="line">} <span class="comment">// anonymous namespace</span></div></pre></td></tr></table></figure></p>
<p>点云数据被存储在一个叫做 TangoPointCloud 的结构体数组中，Tango SDK 提供了其描述文档。</p>
<h2 id="struct-TangoPointCloud"><a href="#struct-TangoPointCloud" class="headerlink" title="struct TangoPointCloud"></a>struct TangoPointCloud</h2><p>SDK 所提供的 TangoPointCloud，完整信息请查看 <a href="https://developers.google.com/tango/apis/c/reference/struct/tango-point-cloud" target="_blank" rel="external">官方文档</a>，下面只重点说明几个公共属性。</p>
<h3 id="num-points"><a href="#num-points" class="headerlink" title="num_points"></a>num_points</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">uint32_t</span> TangoPointCloud::num_points</div></pre></td></tr></table></figure>
<p>The number of points in depth_data_buffer populated successfully.</p>
<p>This is variable with each call to the function, and is returned as number of (x,y,z,c) points populated.</p>
<h3 id="points"><a href="#points" class="headerlink" title="points"></a>points</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">float</span>(* TangoPointCloud::points)[<span class="number">4</span>]</div></pre></td></tr></table></figure>
<p>An array of packed {X, Y, Z, C} values.</p>
<p>{X, Y, Z} is a coordinate triplet (in meters). C is a confidence value, in the range of [0, 1], where 1 corresponds to full confidence. +Z points in the direction of the camera’s optical axis, perpendicular to the plane of the camera. +X points toward the user’s right, and +Y points toward the bottom of the screen. The origin is the focal center of the depth camera.</p>
<h3 id="timestamp"><a href="#timestamp" class="headerlink" title="timestamp"></a>timestamp</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">double</span> TangoPointCloud::timestamp</div></pre></td></tr></table></figure>
<p>Time of capture of the depth data for this struct (in seconds).</p>
<h3 id="version"><a href="#version" class="headerlink" title="version"></a>version</h3><figure class="highlight cpp"><table><tr><td class="gutter"><pre><div class="line">1</div></pre></td><td class="code"><pre><div class="line"><span class="keyword">uint32_t</span> TangoPointCloud::version</div></pre></td></tr></table></figure>
<p>An integer denoting the version of the structure.</p>
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