Connectonframeavailable() Provides Tangoimagebuffer With Curious Format Infos

Also trying to get access to color data bytes from color cam of Tango, I was stuck on java API by being able to connect tango Cam to a surface for display (but just OK for display

Solution 1:

1) Regarding the image from the camera, I came to the same conclusion you did - only availability of image data is through the C API

2) Regarding the image - I haven't had any issues with YUV, and my last encounter with this stuff was when I wrote JPEG stuff - the format is naked, i.e. it's an organizational structure and has no header information save the undefined metadata in the first line of pixels mentioned here - Here's a link to some code that may help you decode the image in a response to another message here

3) Regarding point cloud returns - Please note this information is anecdotal, and to some degree the product of superstition - what works for me only does that sometimes, and may not work at all for you

• Tango does seem to have a remarkable knack to simply stop producing point clouds. I think a lot of it has to do with very sensitive timing internally (I wonder if anyone mentioned that Linux ain't an RTOS when this was first crafted)
• Almost all issues I encounter can be attributed to screwing up the timing where

• A. Debugging the C level can may point clouds stop coming

• B. Bugs in the native or java code that cause hiccups in the threads that are handling the callbacks can cause point clouds to stop coming

• C. Excessive load can cause the system to loose sync, at which point the point clouds will stop coming - this is detectable, you will start to see a silvery grid pattern appear in rectangular areas of the image, and point clouds will cease. Rarely, the system will recover if load decreases, the silvery pattern goes away, and point clouds come back - more commonly the silvery pattern (I think its the 3d spatializing grid) grows to cover more of the image - at least a restart of the app is required for me, and a full tablet reboot every 3rd time or so

Summarizing, that's my suspicions and countermeasures, but it's based completely on personal experience -