{"id":968,"date":"2026-08-14T14:22:41","date_gmt":"2026-08-14T14:22:41","guid":{"rendered":"https:\/\/boochlin.com\/?p=968"},"modified":"2026-09-19T19:20:58","modified_gmt":"2026-09-19T19:20:58","slug":"android-%e7%88%9b%e8%a3%9d%e7%bd%ae%e6%83%b3%e8%b7%91%e4%ba%ba%e8%87%89%e8%be%a8%e8%ad%9819-%e9%9b%99%e9%8f%a1%e9%a0%ad%e7%9a%84%e6%99%82%e7%a9%ba%e4%bf%ae%e7%be%85%e5%a0%b4%ef%bc%9argb-%e8%88%87-to","status":"publish","type":"post","link":"https:\/\/boochlin.com\/?p=968","title":{"rendered":"Android \u721b\u88dd\u7f6e\u60f3\u8dd1\u4eba\u81c9\u8fa8\u8b5810 \u2013 \u96d9\u93e1\u982d\u7684\u6642\u7a7a\u4fee\u7f85\u5834\uff1aRGB \u8207 ToF"},"content":{"rendered":"<p>\u5728\u9580\u7981\u6a5f\u4e0a\uff0c\u55ae\u9760\u4e00\u9846\u666e\u901a RGB \u93e1\u982d\u505a\u4eba\u81c9\u8fa8\u8b58\uff0c\u57fa\u672c\u4e0a\u5c31\u662f\u628a\u5927\u9580\u655e\u958b\u7d66\u5f69\u8272\u5217\u5370\u7167\u7247\u3001iPad \u87a2\u5e55\u548c 3D \u77fd\u81a0\u9762\u5177\u96a8\u4fbf\u9032\u51fa\u3002<\/p>\n<p>\u70ba\u4e86\u901a\u904e\u56b4\u82db\u7684 <strong>BCTC\uff08\u9280\u884c\u5361\u6aa2\u6e2c\u4e2d\u5fc3\uff09\u91d1\u878d\u7d1a\u652f\u4ed8\u8a8d\u8b49<\/strong>\uff0c\u6211\u5011\u5728\u9019\u53f0\u7834\u677f\u5b50\u4e0a\uff0c\u540c\u6642\u639b\u4e86\u5169\u9846\u786c\u9ad4\u93e1\u982d\uff1a<\/p>\n<ul>\n<li><strong>RGB \u53ef\u898b\u5149\u93e1\u982d<\/strong>\uff1a\u6293\u53d6\u5f69\u8272\u4eba\u81c9\u7279\u5fb5\uff0c\u4f9b\u4eba\u985e\u5728\u87a2\u5e55\u4e0a\u770b\u5373\u6642\u9810\u89bd\u8207\u6a19\u8a18\u4eba\u81c9\u6846\u3002<\/li>\n<li><strong>Sony IMX516 iToF \u6df1\u5ea6\u93e1\u982d<\/strong>\uff1a\u8f38\u51fa IR \u7d05\u5916\u7070\u968e\u5716\u8207 16-bit \u7269\u7406\u9ede\u96f2\uff0c\u5c08\u9580\u5f9e 3D \u7a7a\u9593\u7dad\u5ea6\u6293\u771f\u5047\u4eba\u81c9\u3002<\/li>\n<\/ul>\n<p>\u786c\u9ad4\u5de5\u7a0b\u5e2b\u628a\u93e1\u982d\u63a5\u4e0a\u53bb\u5f88\u723d\uff0c\u4f46\u8edf\u9ad4\u7684\u707d\u96e3\u624d\u525b\u525b\u958b\u59cb\uff1a<\/p>\n<p><strong>\u4f60\u600e\u9ebc\u4fdd\u8b49\u9001\u9032 AI \u6a21\u578b\u7684\u5f69\u8272\u4eba\u81c9\u8ddf\u6df1\u5ea6\u9ede\u96f2\uff0c\u662f\u540c\u4e00\u77ac\u9593\u7684\u540c\u4e00\u500b\u4eba\uff1f<\/strong><\/p>\n<hr>\n<h2>\u81f4\u547d\u7684\u6642\u7a7a\u932f\u4f4d\uff1a\u4f60\u5728\u5de6\u908a\uff0c\u4f60\u7684\u6df1\u5ea6\u5728\u53f3\u908a<\/h2>\n<p>\u9019\u5169\u9846\u93e1\u982d\u5728\u786c\u9ad4\u7279\u6027\u4e0a\u5929\u5dee\u5730\u9060\uff1a<\/p>\n<ul>\n<li><strong>RGB \u93e1\u982d<\/strong>\uff1a\u786c\u9ad4 ISP \u81ea\u52d5\u66dd\u5149\u8207\u51fa\u5716\u6975\u5176\u9806\u66a2\uff0c\u7a69\u5b9a\u7dad\u6301\u5728 30fps\uff08\u6bcf 33.3ms \u5410\u4e00\u5e40\uff09\u3002<\/li>\n<li><strong>ToF \u6df1\u5ea6\u93e1\u982d<\/strong>\uff1a\u5fc5\u9808\u89e3\u8abf 4 \u500b\u76f8\u4f4d\u7684 Raw \u8a0a\u865f\u3001\u8a08\u7b97\u7a7a\u9593\u5ea7\u6a19\uff0c\u904b\u7b97\u7e41\u91cd\uff0c\u5e40\u7387\u7a0d\u4f4e\u4e14\u5076\u723e\u6296\u52d5\u3002<\/li>\n<\/ul>\n<p>\u9019\u5728\u52d5\u614b\u5834\u666f\u4e0b\u6703\u5f15\u7206\u6bc0\u6ec5\u6027\u7684 <strong>\u300c\u6642\u7a7a\u932f\u4f4d\u300d<\/strong>\uff1a<\/p>\n<p>\u7576\u6709\u4eba\u5feb\u6b65\u8d70\u5411\u9580\u7981\u6a5f\u6642\uff0cRGB \u93e1\u982d\u6293\u5230\u4ed6\u5728\u5de6\u908a\uff08\u7b2c 10 \u6beb\u79d2\u7684\u756b\u9762\uff09\uff0c\u800c ToF \u6df1\u5ea6\u93e1\u982d\u5728\u80cc\u666f\u6162\u541e\u541e\u5410\u51fa\u7684\u9ede\u96f2\uff0c\u537b\u9084\u505c\u7559\u5728\u4ed6\u5728\u53f3\u908a\u7684\u820a\u4f4d\u7f6e\uff08\u7b2c 25 \u6beb\u79d2\u7684\u756b\u9762\uff09\u3002<\/p>\n<p>\u5169\u5f35\u5716\u5f80 AI \u6a21\u578b\u4e00\u9001\uff0c\u5f69\u8272\u7684\u4eba\u81c9\u4e94\u5b98\u8ddf 3D \u7684\u9f3b\u6a11\u8f2a\u5ed3\u5b8c\u5168\u5c0d\u4e0d\u4e0a\uff01<\/p>\n<p>AI \u6d3b\u9ad4\u9632\u507d\u6f14\u7b97\u6cd5\u4e00\u770b\uff1a\u300c\u9019\u5f35\u81c9\u7684\u9f3b\u5b50\u584c\u9677\u3001\u773c\u7736\u61f8\u7a7a\uff0c\u6df1\u5ea6\u7279\u5fb5\u5b8c\u5168\u7834\u788e\u300d\uff0c\u7576\u5834\u5224\u5b9a\u70ba\u7167\u7247\u653b\u64ca\uff0c\u76f4\u63a5\u4eae\u7d05\u71c8\u62d2\u7d55\u901a\u884c\u3002<\/p>\n<p>\u6211\u5011\u5fc5\u9808\u5728\u8edf\u9ad4\u5c64\u628a\u9019\u5169\u8def\u5f71\u50cf<strong>\u5f37\u884c\u9396\u5728\u540c\u4e00\u500b\u6642\u9593\u5207\u7247\u4e0a<\/strong>\u3002<\/p>\n<hr>\n<h2>\u8edf\u9ad4\u89e3\u6cd5\uff1aRGB \u7576\u706b\u8eca\u982d\uff0cToF \u96a8\u53eb\u96a8\u5230<\/h2>\n<p>\u6211\u5011\u6c92\u6709\u8b93\u5169\u9846\u93e1\u982d\u5404\u81ea\u5728\u80cc\u666f\u4e82\u8df3\u56de\u547c\uff08Callback\uff09\uff0c\u800c\u662f\u8a2d\u8a08\u4e86\u4e00\u5957\u4ee5 RGB \u70ba\u57fa\u6e96\u7684\u300c\u975e\u963b\u585e\u62bd\u5e40\uff080ms\uff09\u300d\u8207\u300c\u4e1f\u820a\u4fdd\u65b0\uff08Drop-Oldest\uff09\u300d\u6e4a\u5305\u6a5f\u5236\u3002<\/p>\n<h3>1. RGB \u7576 Master \u6642\u9418\uff0c\u5e36\u6642\u9593\u6233\u8a18\u6821\u9a57\u62c9\u53d6 ToF<\/h3>\n<p>\u5728 <code>CameraInstance.java<\/code> \u4e2d\uff0c\u6211\u5011\u8b93\u5e40\u7387\u7a69\u5b9a\u7684 RGB \u93e1\u982d\u64d4\u4efb\u5168\u7cfb\u7d71\u7684\u706b\u8eca\u982d\u3002<\/p>\n<p>\u6bcf\u7576 RGB \u5410\u51fa\u4e00\u5e40\u756b\u9762\uff0c\u6211\u5011\u4ee5\u786c\u9ad4\u55ae\u8abf\u6642\u9593\u6233\u8a18\uff08<code>SENSOR_TIMESTAMP<\/code>\uff09\u53bb ToF \u4f47\u5217\u62c9\u53d6\u5339\u914d\u7684\u6df1\u5ea6\u5e40\uff0c\u4e26\u8a2d\u5b9a\u5fae\u79d2\u7d1a\u6642\u9593\u5dee\u95be\u503c\uff08\u4f8b\u5982 20ms\uff09\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-comment\">\/\/ CameraInstance.java<\/span>\nmRgbCamera.setFrameCallback((yuv, rgbTimestampNs) -&gt; {\n    <span class=\"hljs-keyword\">if<\/span> (yuv != <span class=\"hljs-literal\">null<\/span>) {\n        System.arraycopy(yuv, <span class=\"hljs-number\">0<\/span>, mYuvBuffer, <span class=\"hljs-number\">0<\/span>, yuv.length);\n\n        <span class=\"hljs-comment\">\/\/ \u6838\u5fc3\u5fc3\u6cd5\uff1a\u5e36\u6642\u9593\u6233\u8a18\u6821\u9a57\u7684\u6df1\u5ea6\u5c0d\u9f4a\uff08\u5bb9\u5fcd\u5dee 20ms\uff09<\/span>\n        <span class=\"hljs-type\">boolean<\/span> <span class=\"hljs-variable\">isTofAligned<\/span> <span class=\"hljs-operator\">=<\/span> mTof.getSynchronizedData(rgbTimestampNs, <span class=\"hljs-number\">20_000_000L<\/span>, tofRaw);\n\n        <span class=\"hljs-keyword\">if<\/span> (!isTofAligned) {\n            <span class=\"hljs-comment\">\/\/ \u6642\u7a7a\u4e0d\u540c\u6b65\u6642\uff1a\u50c5\u9001\u5165 RGB \u4f5c\u70ba\u4eba\u81c9\u8ffd\u8e64\uff0c\u7d55\u4e0d\u62ff\u904e\u671f\u6b98\u7559\u6df1\u5ea6\u9a19 AI<\/span>\n            mCameraFrameCallback.onFrameAvailable(mYuvBuffer, <span class=\"hljs-literal\">null<\/span>, <span class=\"hljs-literal\">null<\/span>);\n            <span class=\"hljs-keyword\">return<\/span>;\n        }\n\n        <span class=\"hljs-comment\">\/\/ \u5c0d\u9f4a\u6210\u529f\uff1a\u5c07\u7576\u524d\u5207\u7247\u7684 RGB (mYuvBuffer) \u8207\u6700\u65b0 ToF (tofRaw) \u6253\u5305\u9001\u9032 Pipeline<\/span>\n        mCameraFrameCallback.onFrameAvailable(mYuvBuffer, tofRaw, <span class=\"hljs-literal\">null<\/span>);\n    }\n});<\/code><\/pre>\n<h3>2. ToF \u7684\u56fa\u5b9a\u4f47\u5217\u8207 Drop-Oldest \u7b56\u7565<\/h3>\n<p>ToF \u7684\u8cc7\u6599\u7522\u751f\u5728\u80cc\u666f\u57f7\u884c\u7dd2\u8dd1\u3002\u5728 <code>CameraTofHelper.java<\/code> \u88e1\uff0c\u6211\u5011\u7dad\u8b77\u4e86\u4e00\u500b\u56fa\u5b9a\u9577\u5ea6\u70ba 3 \u7684 <code>ArrayBlockingQueue<\/code>\u3002<\/p>\n<p>\u5982\u679c ToF \u7522\u751f\u7684\u901f\u5ea6\u6bd4 RGB \u62ff\u53d6\u7684\u901f\u5ea6\u5feb\uff0c\u6216\u8005\u4f47\u5217\u585e\u6eff\u4e86\uff0c\u6211\u5011\u6703<strong>\u4e3b\u52d5\u4e1f\u68c4\u6700\u820a\u7684\u90a3\u4e00\u5e40<\/strong>\uff0c\u78ba\u4fdd\u4f47\u5217\u6700\u524d\u7aef\u6c38\u9060\u662f\u300c\u8ddd\u96e2\u73fe\u5728\u6700\u8fd1\u300d\u7684\u8cc7\u6599\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-comment\">\/\/ CameraTofHelper.java<\/span>\n<span class=\"hljs-keyword\">private<\/span> <span class=\"hljs-type\">ArrayBlockingQueue<\/span>&lt;TofFrame&gt; <span class=\"hljs-variable\">mRawQueue<\/span> <span class=\"hljs-operator\">=<\/span> <span class=\"hljs-keyword\">new<\/span> <span class=\"hljs-title class_\">ArrayBlockingQueue<\/span>&lt;&gt;(RAW_QUEUE_MAX_SIZE);\n<span class=\"hljs-keyword\">private<\/span> <span class=\"hljs-type\">ArrayBlockingQueue<\/span>&lt;<span class=\"hljs-type\">byte<\/span>[]&gt; <span class=\"hljs-variable\">mFreeRawQueue<\/span> <span class=\"hljs-operator\">=<\/span> ...;\n\n<span class=\"hljs-comment\">\/\/ \u7576 ToF \u5e95\u5c64\u5410\u51fa\u8cc7\u6599\u6642<\/span>\n<span class=\"hljs-keyword\">synchronized<\/span> (CameraTofHelper.<span class=\"hljs-built_in\">this<\/span>) {\n    <span class=\"hljs-keyword\">if<\/span> (mRawQueueSize &gt;= RAW_QUEUE_MAX_SIZE) {\n        <span class=\"hljs-comment\">\/\/ \u4f47\u5217\u6eff\u4e86\u4ee3\u8868 RGB \u9084\u6c92\u4f86\u62ff\uff0c\u4e3b\u52d5\u4e1f\u68c4\u6700\u820a\u7684\u4e00\u5e40\uff08Drop-Oldest\uff09<\/span>\n        <span class=\"hljs-type\">TofFrame<\/span> <span class=\"hljs-variable\">oldFrame<\/span> <span class=\"hljs-operator\">=<\/span> mRawQueue.poll(<span class=\"hljs-number\">0<\/span>, TimeUnit.MILLISECONDS);\n        <span class=\"hljs-keyword\">if<\/span> (oldFrame != <span class=\"hljs-literal\">null<\/span>) offerData(oldFrame.data);\n    }\n    mRawQueue.offer(<span class=\"hljs-keyword\">new<\/span> <span class=\"hljs-title class_\">TofFrame<\/span>(buffer, tofTimestampNs));\n}\n\n<span class=\"hljs-comment\">\/\/ \u4f9b RGB \u706b\u8eca\u982d\u547c\u53eb\u7684\u6642\u9593\u6233\u8a18\u540c\u6b65\u63d0\u53d6\u51fd\u5f0f<\/span>\n<span class=\"hljs-keyword\">public<\/span> <span class=\"hljs-type\">boolean<\/span> <span class=\"hljs-title function_\">getSynchronizedData<\/span><span class=\"hljs-params\">(<span class=\"hljs-type\">long<\/span> rgbTimestampNs, <span class=\"hljs-type\">long<\/span> maxTolerateDiffNs, <span class=\"hljs-type\">byte<\/span>[] outBuffer)<\/span> {\n    <span class=\"hljs-keyword\">synchronized<\/span> (CameraTofHelper.<span class=\"hljs-built_in\">this<\/span>) {\n        <span class=\"hljs-type\">TofFrame<\/span> <span class=\"hljs-variable\">latest<\/span> <span class=\"hljs-operator\">=<\/span> mRawQueue.peek();\n        <span class=\"hljs-keyword\">if<\/span> (latest == <span class=\"hljs-literal\">null<\/span>) {\n            <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">false<\/span>; <span class=\"hljs-comment\">\/\/ \u4f47\u5217\u70ba\u7a7a\uff0cToF \u5c1a\u672a\u5410\u51fa\u6df1\u5ea6\u8cc7\u6599<\/span>\n        }\n\n        <span class=\"hljs-type\">long<\/span> <span class=\"hljs-variable\">diff<\/span> <span class=\"hljs-operator\">=<\/span> Math.abs(latest.timestampNs - rgbTimestampNs);\n        <span class=\"hljs-keyword\">if<\/span> (diff &gt; maxTolerateDiffNs) {\n            mRawQueue.poll(); <span class=\"hljs-comment\">\/\/ \u4e3b\u52d5\u4e1f\u68c4\u9019\u500b\u904e\u820a\u7684 ToF \u5e40\uff0c\u9632\u6b62\u4e0b\u4e00\u8f2a\u91cd\u8907\u6bd4\u5c0d\u540c\u4e00\u500b\u7121\u6548\u5e40<\/span>\n            <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">false<\/span>; <span class=\"hljs-comment\">\/\/ \u6642\u9593\u5dee\u8d85\u9650\uff0c\u5224\u5b9a\u70ba\u6642\u7a7a\u6495\u88c2\uff0c\u62d2\u7d55\u6e4a\u5305<\/span>\n        }\n\n        System.arraycopy(latest.data, <span class=\"hljs-number\">0<\/span>, outBuffer, <span class=\"hljs-number\">0<\/span>, outBuffer.length);\n        mRawQueue.poll();\n        offerData(latest.data); <span class=\"hljs-comment\">\/\/ \u8a18\u61b6\u9ad4\u6c60\u56de\u6536\u91cd\u7528 (0-GC)<\/span>\n        <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">true<\/span>;\n    }\n}<\/code><\/pre>\n<p>\u900f\u904e\u9019\u5957\u56b4\u683c\u7684\u6642\u9593\u6233\u8a18\u96d9\u5411\u6821\u9a57\uff0c\u9001\u9032\u5f8c\u9762 Pipeline \u7684\u6bcf\u4e00\u5305 <code>CameraData<\/code>\uff0cRGB \u8207 ToF \u90fd\u662f\u5728\u5fae\u79d2\u7d1a\u786c\u9ad4\u6642\u9593\u6233\u8a18\u7a97\u53e3\u5167\u7cbe\u78ba\u5c0d\u9f4a\u3002<\/p>\n<hr>\n<h2>\u9032\u5165 Pipeline\uff1aToF \u9ede\u96f2\u8f49 IR\/Depth \u5716\u50cf<\/h2>\n<p>\u62ff\u5230\u6e4a\u597d\u5305\u7684 <code>CameraData<\/code> \u4e4b\u5f8c\uff0c\u7b2c\u4e00\u6b65\u662f\u5728 <code>TofRawToIrDepth<\/code> \u4e2d\u5c07 ToF \u5410\u51fa\u4f86\u7684 Raw \u8cc7\u6599\u8f49\u6210 OpenCV <code>Mat<\/code>\u3002<\/p>\n<p>\u6b64\u8655\u5fc5\u9808\u56b4\u683c\u606a\u5b88 Blog 05 \u8207 07.1 \u78ba\u7acb\u7684\u300c0-new \u9435\u5f8b\u300d\u2014\u2014<strong>\u7d55\u5c0d\u7981\u6b62\u5728 30fps \u7ba1\u7dda\u4e2d\u6bcf\u5e40 <code>new Mat()<\/code><\/strong>\uff0c\u5426\u5247\u5e7e\u5343\u500b\u5e36\u6709 <code>finalize()<\/code> \u7684\u5305\u88dd\u7269\u4ef6\u6703\u77ac\u9593\u585e\u7206 <code>FinalizerReference<\/code> \u4f47\u5217\u5f15\u767c\u6bc0\u6ec5\u6027\u7684 GC Thrashing\u3002<\/p>\n<p>\u6240\u6709\u4eba\u958b\u6a5f\u9810\u5148\u6e96\u5099\u9577\u58fd\u547d\u9435\u7897\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-keyword\">package<\/span> com.edge.ai.vision.steps;\n\n<span class=\"hljs-keyword\">public<\/span> <span class=\"hljs-keyword\">class<\/span> <span class=\"hljs-title class_\">TofRawToIrDepth<\/span> <span class=\"hljs-keyword\">implements<\/span> <span class=\"hljs-title class_\">Step<\/span>&lt;CameraData, DetectInfo&gt; {\n    <span class=\"hljs-comment\">\/\/ \u958b\u6a5f\u9810\u5206\u914d\u56fa\u5b9a\u9435\u7897\uff0c\u96a8 Pipeline \u751f\u547d\u9031\u671f\u7d42\u751f\u91cd\u7528\uff080-new \u9435\u5f8b\uff09<\/span>\n    <span class=\"hljs-keyword\">private<\/span> <span class=\"hljs-type\">Mat<\/span> <span class=\"hljs-variable\">mIrMat<\/span> <span class=\"hljs-operator\">=<\/span> <span class=\"hljs-literal\">null<\/span>;\n    <span class=\"hljs-keyword\">private<\/span> <span class=\"hljs-type\">int<\/span> <span class=\"hljs-variable\">mWidth<\/span> <span class=\"hljs-operator\">=<\/span> <span class=\"hljs-number\">0<\/span>;\n    <span class=\"hljs-keyword\">private<\/span> <span class=\"hljs-type\">int<\/span> <span class=\"hljs-variable\">mHeight<\/span> <span class=\"hljs-operator\">=<\/span> <span class=\"hljs-number\">0<\/span>;\n\n    <span class=\"hljs-meta\">@Override<\/span>\n    <span class=\"hljs-keyword\">public<\/span> <span class=\"hljs-type\">boolean<\/span> <span class=\"hljs-title function_\">process<\/span><span class=\"hljs-params\">(PipelineContext&lt;CameraData, DetectInfo&gt; context)<\/span> {\n        <span class=\"hljs-type\">CameraData<\/span> <span class=\"hljs-variable\">imageData<\/span> <span class=\"hljs-operator\">=<\/span> context.getInput();\n        <span class=\"hljs-type\">DetectInfo<\/span> <span class=\"hljs-variable\">detectInfo<\/span> <span class=\"hljs-operator\">=<\/span> context.getOutput();\n\n        <span class=\"hljs-keyword\">if<\/span> (imageData.getIrFrame() != <span class=\"hljs-literal\">null<\/span>) {\n            <span class=\"hljs-type\">int<\/span> <span class=\"hljs-variable\">curW<\/span> <span class=\"hljs-operator\">=<\/span> CameraProxy.getInstance().getIrFrameWidth();\n            <span class=\"hljs-type\">int<\/span> <span class=\"hljs-variable\">curH<\/span> <span class=\"hljs-operator\">=<\/span> CameraProxy.getInstance().getIrFrameHeight();\n\n            <span class=\"hljs-comment\">\/\/ \u50c5\u5728\u521d\u6b21\u57f7\u884c\u6216\u89e3\u6790\u5ea6\u52d5\u614b\u5207\u63db\u6642\u91cd\u8a2d\u5c3a\u5bf8\uff0c\u57f7\u884c\u671f 0 \u6b21\u7269\u4ef6\u5206\u914d<\/span>\n            <span class=\"hljs-keyword\">if<\/span> (mIrMat == <span class=\"hljs-literal\">null<\/span> || mWidth != curW || mHeight != curH) {\n                <span class=\"hljs-keyword\">if<\/span> (mIrMat != <span class=\"hljs-literal\">null<\/span>) {\n                    mIrMat.release(); <span class=\"hljs-comment\">\/\/ \u986f\u5f0f\u91cb\u653e\u820a Native \u8a18\u61b6\u9ad4<\/span>\n                }\n                mWidth = curW;\n                mHeight = curH;\n                mIrMat = <span class=\"hljs-keyword\">new<\/span> <span class=\"hljs-title class_\">Mat<\/span>(mHeight, mWidth, CvType.CV_8U);\n            }\n\n            <span class=\"hljs-comment\">\/\/ \u76f4\u63a5\u8986\u5beb Native \u8a18\u61b6\u9ad4\uff0c0 \u6b21 Java Heap \u5783\u573e\u30010 \u6b21 finalize \u4f47\u5217\u958b\u92b7<\/span>\n            mIrMat.put(<span class=\"hljs-number\">0<\/span>, <span class=\"hljs-number\">0<\/span>, imageData.getIrFrame());\n\n            <span class=\"hljs-comment\">\/\/ \u5b58\u6a94\u9664\u932f\u901a\u9053\u4f7f\u7528 mIrMat...<\/span>\n        }\n        <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">true<\/span>;\n    }\n}<\/code><\/pre>\n<p>\u539f\u672c\u5728 Java \u88e1\u89e3\u6790 4 \u901a\u9053\u9ede\u96f2\uff08640x480x4 = 122 \u842c\u6b21\u8fed\u4ee3\uff09\u9700\u8981 18 \u6beb\u79d2\uff0c\u6211\u5011\u628a\u9019\u6bb5\u5ea7\u6a19\u8f49\u63db\u4e0b\u6c89\u5230 C++ \u7528 NEON \u6307\u4ee4\u96c6\u4e00\u6b21\u62bd 4 \u500b float\uff0c\u8017\u6642\u76f4\u63a5\u7e2e\u77ed\u5230 2 \u6beb\u79d2\u4ee5\u4e0b\u3002<\/p>\n<hr>\n<h2>3D \u7a7a\u9593\u4eba\u81c9\u5c0d\u9f4a\uff1a\u6293\u9f3b\u5c16\u6df1\u5ea6\u8207\u63d0\u65e9\u77ed\u8def<\/h2>\n<p>\u6709\u4e86\u6df1\u5ea6\u77e9\u9663\uff0c\u63a5\u4e0b\u4f86\u8981\u5f9e 3D \u7a7a\u9593\u4e2d\u628a\u4eba\u81c9\u300c\u6316\u300d\u51fa\u4f86\u3002<\/p>\n<p>\u5728 <code>AlignDepthFace<\/code> \u6b65\u9a5f\u4e2d\uff0c\u6211\u5011\u900f\u904e <code>calculateNoseDepth<\/code> \u8a08\u7b97\u4eba\u81c9\u96e2\u93e1\u982d\u6700\u8fd1\u7684\u5e7e\u4f55\u7279\u5fb5\u9ede\u2014\u2014<strong>\u9f3b\u5c16\u6df1\u5ea6<\/strong>\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-keyword\">package<\/span> com.edge.ai.vision.steps;\n\n<span class=\"hljs-keyword\">public<\/span> <span class=\"hljs-keyword\">class<\/span> <span class=\"hljs-title class_\">AlignDepthFace<\/span> <span class=\"hljs-keyword\">implements<\/span> <span class=\"hljs-title class_\">Step<\/span>&lt;CameraData, DetectInfo&gt; {\n    <span class=\"hljs-meta\">@Override<\/span>\n    <span class=\"hljs-keyword\">public<\/span> <span class=\"hljs-type\">boolean<\/span> <span class=\"hljs-title function_\">process<\/span><span class=\"hljs-params\">(PipelineContext&lt;CameraData, DetectInfo&gt; context)<\/span> {\n        <span class=\"hljs-type\">CameraData<\/span> <span class=\"hljs-variable\">cameraData<\/span> <span class=\"hljs-operator\">=<\/span> context.getInput();\n        <span class=\"hljs-type\">DetectInfo<\/span> <span class=\"hljs-variable\">detectInfo<\/span> <span class=\"hljs-operator\">=<\/span> context.getOutput();\n\n        <span class=\"hljs-comment\">\/\/ \u9f3b\u5c16\u6df1\u5ea6\u6aa2\u6e2c\uff1a\u96e2\u93e1\u982d\u592a\u9060\uff08&gt; 1.2m\uff09\u6216\u592a\u8fd1\uff08&lt; 0.2m\uff09\u76f4\u63a5\u77ed\u8def\u9000\u5834\uff01<\/span>\n        <span class=\"hljs-type\">float<\/span> <span class=\"hljs-variable\">noseDepth<\/span> <span class=\"hljs-operator\">=<\/span> calculateNoseDepth(cameraData.getDepthFrame(), detectInfo.getFaceRect());\n        <span class=\"hljs-keyword\">if<\/span> (noseDepth &lt; <span class=\"hljs-number\">0.2f<\/span> || noseDepth &gt; <span class=\"hljs-number\">1.2f<\/span>) {\n            <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">false<\/span>; <span class=\"hljs-comment\">\/\/ \u63d0\u65e9\u7d42\u6b62 Pipeline\uff0c\u7701\u4e0b\u5f8c\u7e8c CNN \u904b\u7b97\uff01<\/span>\n        }\n\n        detectInfo.setNoseDepth(noseDepth);\n        <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-literal\">true<\/span>;\n    }\n}<\/code><\/pre>\n<p>\u9019\u5c31\u662f\u524d\u9762\u63d0\u5230\u7684\u968e\u68af\u5f0f\u6f0f\u6597\u54f2\u5b78\uff1a\u5982\u679c\u8d70\u904e\u4f86\u7684\u4eba\u8ddd\u96e2\u9580\u7981\u6a5f\u9084\u5728 2 \u516c\u5c3a\u5916\uff0c\u5149\u9760\u9f3b\u5c16\u6df1\u5ea6\u6aa2\u6e2c\u5728 0.5ms \u5167\u5c31\u80fd\u5224\u5b9a\u300c\u76ee\u6a19\u5c1a\u672a\u9032\u5165\u5237\u81c9\u8ddd\u96e2\u300d\uff0c\u7576\u5834\u7d42\u6b62\u5f8c\u7e8c\u8017\u6642 200ms \u7684 CNN \u904b\u7b97\u3002<\/p>\n<hr>\n<h2>\u8de8\u611f\u6e2c\u5668\u6642\u7a7a\u5b88\u9580\u8207\u6536\u5de5<\/h2>\n<ol>\n<li><strong>\u7570\u8cea\u96d9\u93e1\u982d\u5fc5\u9808\u6709\u4e3b\u5f9e<\/strong>\uff1a\u4e0d\u8981\u8a66\u5716\u8b93\u5169\u9846\u983b\u7387\u4e0d\u540c\u7684\u786c\u9ad4\u93e1\u982d\u5404\u81ea\u5c0d\u9f4a\uff0c\u6c38\u9060\u9078\u7a69\u5b9a\u9ad8\u983b\u7684 RGB \u7576\u706b\u8eca\u982d\uff0c\u6df1\u5ea6\u93e1\u982d\u7576\u88ab\u52d5\u62bd\u5c5c\u3002<\/li>\n<li><strong>\u7121\u60c5\u7684 Drop-Oldest \u662f\u5373\u6642\u6027\u7684\u552f\u4e00\u4fdd\u969c<\/strong>\uff1a\u4f47\u5217\u6eff\u4e86\u5c31\u8e22\u6389\u820a\u5e40\uff0c\u5728 30fps \u5f71\u50cf\u6d41\u88e1\uff0c\u904e\u671f\u7684\u8cc7\u6599\u6bd4\u5783\u573e\u9084\u4e0d\u5982\u3002<\/li>\n<li><strong>\u5e7e\u4f55\u908a\u754c\u63d0\u65e9\u77ed\u8def<\/strong>\uff1a\u5584\u7528 ToF \u7269\u7406\u7a7a\u9593\u7684\u6df1\u5ea6\u9580\u6abb\uff0c\u628a\u7121\u6548\u76ee\u6a19\u5728\u6700\u521d\u968e\u6bb5\u76f4\u63a5\u7be9\u9664\u3002<\/li>\n<\/ol>\n<p>\u4e0b\u4e00\u7bc7\uff0c\u6211\u5011\u6df1\u5165 Sony ToF \u93e1\u982d\u6700\u6838\u5fc3\u7684\u9ed1\u9b54\u6cd5\uff1a<strong>\u5982\u4f55\u628a RAW12 \u539f\u59cb\u8a0a\u865f\u5728 3ms \u5167\u5373\u6642\u8f49\u63db\u70ba 30 \u842c\u500b 3D \u7a7a\u9593\u5ea7\u6a19\u9ede\u96f2\uff01<\/strong><\/p>\n<p>\u611f\u8b1d\u89c0\u770b\uff0c\u6536\u5de5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u9580\u7981\u6a5f\u4e0a\uff0c\u55ae\u9760\u4e00\u9846\u666e\u901a RGB \u93e1\u982d\u505a\u4eba\u81c9\u8fa8\u8b58\uff0c\u57fa\u672c\u4e0a\u5c31\u662f\u628a\u5927\u9580\u655e\u958b\u7d66\u5f69\u8272\u5217\u5370\u7167\u7247\u3001iPad \u87a2\u5e55\u548c 3D \u9762\u5177\u96a8\u4fbf\u9032\u3002\u70ba\u4e86\u904e BCTC\uff08\u9280\u884c\u5361\u6aa2\u6e2c\u4e2d\u5fc3\uff09\u91d1\u878d\u7d1a\u652f\u4ed8\u8a8d\u8b49\uff0c\u6211\u5011\u5728 MSM8937 \u9019\u584a\u7834\u677f\u5b50\u4e0a\uff0c\u540c\u6642\u639b\u4e86 RGB \u76f8\u6a5f\u8207 3D ToF \u6df1\u5ea6\u611f\u6e2c\u5668\uff08\u5410\u51fa IR \u7070\u968e\u5716\u8207 16-bit \u9ede\u96f2\uff09\u3002<\/p>\n","protected":false},"author":1,"featured_media":1236,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[166],"tags":[216,284,302],"_links":{"self":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/968"}],"collection":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=968"}],"version-history":[{"count":14,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/968\/revisions"}],"predecessor-version":[{"id":1600,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/968\/revisions\/1600"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/media\/1236"}],"wp:attachment":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=968"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=968"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=968"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}