问题
In my Lab, we are considering buying a Google Tango development kit. But first we would like to make sure that we can get what we need out of it. From what I could check online, it is possible to acquire the pose estimate calculated by the device, along with the point-clouds acquired by its RGB-D camera. However, so far I could not find any references to acquiring raw IMU data, meaning the raw values obtained from the device's accelerometers and gyroscopes. Ideally, the raw IMU and RGB-D data would be timestamped; so that the IMU values can be integrated between the timestamps of two consecutive RGB-D images.
Is this even possible?
Is there any existing code already doing this for Google Tango?
回答1:
It is not possible to get raw IMU or RGBD data via Project Tango API. From the API the only data you can query are 1.Poses as TangoPoseData objects, 2. RGB Image as either using a texture id or raw buffer and 3. Depth data in the form of point clouds. Ofcourse all of this data is timestamped which can be used to synchronize.
回答2:
Actually, I was talking to a colleague about this problem, and there are some Apps that already access the raw IMU data. As an example, the App Sensorstream IMU+GPS can acquire this data.
It is not yet clear to me what Android API calls need to be used to acquire it. However, I am sure now that raw IMU data can be acquired at least in the devices that have a proper integration with Android, and I guess that this must be the case of the Google Tango.
来源：https://stackoverflow.com/questions/32232641/is-it-possible-to-acquire-raw-imu-and-rgb-d-data-with-google-tango