{"id":997,"date":"2026-08-19T10:17:28","date_gmt":"2026-08-19T10:17:28","guid":{"rendered":"https:\/\/boochlin.com\/?p=997"},"modified":"2026-08-21T10:18:11","modified_gmt":"2026-08-21T10:18:11","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%9811-tof-raw12-%e8%bd%89-3d-%e9%bb%9e%e9%9b%b2","status":"publish","type":"post","link":"https:\/\/boochlin.com\/?p=997","title":{"rendered":"Android \u721b\u88dd\u7f6e\u60f3\u8dd1\u4eba\u81c9\u8fa8\u8b5811 &#8211; ToF RAW12 \u8f49 3D \u9ede\u96f2"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663.jpg\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1024\" height=\"572\" src=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663-1024x572.jpg\" alt=\"\" class=\"wp-image-999\" srcset=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663-1024x572.jpg 1024w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663-300x167.jpg 300w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663-768x429.jpg 768w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/simulated_pcl_render_1787231547663.jpg 1376w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>\u5728\u9580\u7981\u6a5f\u7684\u771f\u5be6\u5c08\u6848\u4e2d\uff0c\u9664\u4e86\u9ed8\u9ed8\u5728\u5f8c\u53f0\u5237\u81c9\u958b\u9580\uff0c\u5f88\u591a\u5ba2\u6236\uff08\u7279\u5225\u662f\u9ad8\u7aef\u79d1\u6280\u5712\u5340\u3001\u5c55\u89bd\u9928\u6216\u91d1\u878d\u5c08\u6848\uff09\u6703\u63d0\u51fa\u4e00\u500b\u6975\u5177\u79d1\u6280\u611f\u7684\u8981\u6c42\uff1a<strong>\u5728\u87a2\u5e55\u4e0a\u5373\u6642\u5448\u73fe\u8cfd\u535a\u9f90\u514b\u98a8\u683c\u7684 3D \u9ede\u96f2\u4eba\u81c9\uff08Point Cloud View\uff09\uff0c\u4e26\u652f\u63f4\u624b\u6307\u6ed1\u52d5\u65cb\u8f49\u3002<\/strong><\/p>\n\n\n\n<p>\u666e\u901a RGB \u93e1\u982d\u62cd\u5230\u7684\u662f 2D \u5e73\u9762\u50cf\u7d20\uff0c\u800c iToF \u6df1\u5ea6\u93e1\u982d\u5410\u51fa\u4f86\u7684\u662f\u6574\u7247 3D \u7a7a\u9593\u7269\u7406\u5ea7\u6a19\u3002<\/p>\n\n\n\n<p>\u4f46\u554f\u984c\u4f86\u4e86\uff1a\u4e00\u5f35 640 \u00d7 480 \u7684\u5f71\u50cf\u6709\u6574\u6574 30.7 \u842c\u500b\u50cf\u7d20\u9ede\u3002\u8981\u628a Sony \u93e1\u982d\u5410\u51fa\u7684\u539f\u59cb\u751f\u8089\u96dc\u8a0a\u8cc7\u6599\uff08RAW12\uff09\uff0c\u5728 1.3GHz \u7684\u5f31\u6676\u7247\u4e0a\u89e3\u7b97\u51fa\u7cbe\u6e96\u7684 3D \u9ede\u96f2\u3001IR \u7070\u968e\u5716\uff0c\u4e26\u4ee5 30fps \u5373\u6642\u6e32\u67d3\u51fa\u4f86\uff0c\u5982\u679c\u7528\u50b3\u7d71 CPU \u6162\u6162\u7b97\uff0c\u6bcf\u5e40\u81f3\u5c11\u82b1\u8cbb 50ms \u4ee5\u4e0a\uff0c\u9580\u7981\u6a5f\u7576\u5834\u5361\u6b7b\u3002<\/p>\n\n\n\n<p>\u4eca\u5929\u5c31\u4f86\u6df1\u5ea6\u62c6\u89e3 <strong>iToF \u5149\u5b78\u7269\u7406\u8207\u6578\u5b78\u6620\u5c04<\/strong>\u3001<strong>3D \u9ede\u96f2\uff08Pcl\uff09\u7684\u5b8c\u6574\u88fd\u4f5c\u5de5\u85dd<\/strong>\uff0c\u4ee5\u53ca\u6838\u5fc3\u6f14\u7b97\u6cd5\u5eab <code>libRawToDepthSDK.so<\/code> \u4e2d\u7684 <strong><code>RawToIrDepthNew<\/code> \u8207 ARM NEON \u6975\u9650\u52a0\u901f\u6280\u8853<\/strong>\uff01<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001 iToF \u7269\u7406\u672c\u8cea\uff1a\u7269\u7406\u4e16\u754c\u8207\u6578\u5b78\u7684\u6975\u7c21\u6620\u5c04<\/h2>\n\n\n\n<p>\u5149\u901f\u6bcf\u79d2 30 \u842c\u516c\u91cc\uff0c\u5149\u7dda\u5f9e\u93e1\u982d\u51fa\u767c\u6253\u5230\u81c9\u4e0a\u518d\u5f48\u56de\uff0c\u53ea\u82b1\u4e86\u7d04 2 \u5948\u79d2\uff080.000000002 \u79d2\uff09\u3002\u666e\u901a\u6676\u7247\u6839\u672c\u6309\u4e0d\u51fa\u9019\u7a2e\u6975\u901f\u78bc\u9336\u3002<\/p>\n\n\n\n<p>iToF \u6f14\u7b97\u6cd5\u7684\u6700\u9ad8\u5883\u754c\uff0c\u5c31\u662f<strong>\u628a\u770b\u4e0d\u898b\u7684\u5149\u6ce2\u7269\u7406\u7279\u5fb5\uff0c\u76f4\u63a5\u6620\u5c04\u6210\u4e2d\u5b78\u5e7e\u4f55\u7684\u5411\u91cf\u6578\u5b78<\/strong>\uff1a<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001 Pcl 3D \u9ede\u96f2\u7684\u5b8c\u6574\u88fd\u4f5c\uff08\u5f9e RAW12 \u5230\u7a7a\u9593\u7c92\u5b50\uff09<\/h2>\n\n\n\n<p>\u628a Sony 640 \u00d7 1920 \u7684 RAW12 \u539f\u59cb\u751f\u8089\u6578\u64da\u8b8a\u6210\u87a2\u5e55\u4e0a\u7684 3D \u65cb\u8f49\u9ede\u96f2\uff0c\u5728\u5c08\u6848\u4e2d\u7d93\u904e\u4e86 5 \u9053\u6975\u70ba\u7cbe\u5bc6\u7684\u5de5\u5e8f\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u5de5\u5e8f 1\uff1aC++ \u7269\u7406\u5e7e\u4f55\u89e3\u7b97\uff08\u7522\u51fa 4 \u5e73\u9762\u9023\u7e8c\u6578\u64da <code>pCloud<\/code>\uff09<\/h3>\n\n\n\n<p>\u5728 <code>RawToDepthSDK.RawToIrDepthNew()<\/code> \u4e2d\uff0cC++ \u89e3\u7b97\u51fa\u5305\u542b 122.8 \u842c\u500b float \u7684\u4e00\u7dad\u9023\u7e8c\u9663\u5217\uff08640 \u00d7 480 \u00d7 4\uff09\uff1a<\/p>\n\n\n\n<ul>\n<li><code>[0 ~ 307,199]<\/code>\uff1aX \u7a7a\u9593\u5ea7\u6a19\uff08\u516c\u5c3a\uff09<\/li>\n\n\n\n<li><code>[307,200 ~ 614,399]<\/code>\uff1aY \u7a7a\u9593\u5ea7\u6a19\uff08\u516c\u5c3a\uff09<\/li>\n\n\n\n<li><code>[614,400 ~ 921,599]<\/code>\uff1aZ \u7269\u7406\u6df1\u5ea6\uff08\u516c\u5c3a\uff09<\/li>\n\n\n\n<li><code>[921,600 ~ 1,228,799]<\/code>\uff1aIR \u7d05\u5916\u53cd\u5c04\u5f37\u5ea6<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u5de5\u5e8f 2\uff1a\u7a7a\u9593\u904e\u6ffe\u8207\u80cc\u666f\u5243\u9664\uff08\u8ddd\u96e2 + \u5f37\u5ea6\u96d9\u9580\u6abb\uff09<\/h3>\n\n\n\n<p>\u5728 <code>CameraFrameContainerMK1.java<\/code> \u4e2d\u9032\u884c\u7a7a\u9593\u88c1\u5207\uff1a<\/p>\n\n\n\n<ul>\n<li><strong>\u7d05\u5916\u53cd\u5c04\u5f37\u5ea6\u9580\u6abb\uff08<code>pclIr &gt; pcl_ir_threshold: 25<\/code>\uff09<\/strong>\uff1a\u76f4\u63a5\u5254\u9664\u7a7a\u6c23\u4e2d\u7684\u5fae\u5875\u96dc\u8a0a\u8207\u6697\u8655\u566a\u9ede\u3002<\/li>\n\n\n\n<li><strong>\u7269\u7406\u7a7a\u9593\u8ddd\u96e2\u9580\u6abb\uff08<code>0.2 &lt; z &amp;&amp; z &lt; 1.2<\/code>\uff09<\/strong>\uff1a\u5f37\u5236\u53ea\u4fdd\u7559\u96e2\u93e1\u982d <strong>20 \u516c\u5206\u81f3 120 \u516c\u5206<\/strong> \u7684\u4eba\u9ad4\u9ede\u96f2\uff0c\u77ac\u9593\u5c07\u80cc\u5f8c\u7684\u5929\u82b1\u677f\u8207\u80cc\u666f\u7246\u58c1\u5243\u9664\u4e7e\u6de8\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u5de5\u5e8f 3\uff1a<code>sample<\/code> \u6b65\u9577\u52d5\u614b\u964d\u63a1\u6a23\uff08\u780d\u6389 80% GPU \u8ca0\u64d4\uff09<\/h3>\n\n\n\n<p>\u5168\u89e3\u6790\u5ea6\u4e0b\u6709 30.7 \u842c\u500b\u9ede\uff0c\u5982\u679c\u5168\u90e8\u9001\u9032 GPU \u7e6a\u5716\uff0c\u9ad8\u901a\u5f31 GPU \u6703\u7576\u5834\u5361\u6b7b\u3002\u6211\u5011\u900f\u904e <code>for(int xi=0; xi&lt;width; xi+=sample)<\/code> \u9032\u884c\u9694\u9ede\u62bd\u6a23\uff1a<\/p>\n\n\n\n<ul>\n<li><code>sample = 2<\/code>\uff1a\u62bd\u53d6\u7d04 7.6 \u842c\u9ede\uff08\u5c0d\u61c9\u5c55\u793a\u5716\u4e2d\u7d04 6.5 \u842c\u6709\u6548\u4eba\u81c9\u9ede\uff09\u3002<\/li>\n\n\n\n<li><code>sample = 4<\/code>\uff1a\u62bd\u53d6\u7d04 1.9 \u842c\u9ede\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u7cbe\u78ba\u5c07\u6bcf\u5e40\u9ede\u6578\u63a7\u5236\u5728 2~5 \u842c\u9ede\uff0c\u65e2\u7dad\u6301\u4e86\u4eba\u81c9\u4e94\u5b98\u7684\u7acb\u9ad4\u7cbe\u7d30\u5ea6\uff0c\u53c8\u89e3\u653e\u4e86 GPU 80% \u7684\u7b97\u529b\uff01<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u5de5\u5e8f 4\uff1a7-Float \u9802\u9ede\u4ea4\u932f\u6392\u5e03\uff08Stride = 28 bytes\uff09<\/h3>\n\n\n\n<p>\u70ba\u4e86\u8b93 OpenGL \u80fd\u5920\u4ee5\u6700\u9ad8\u6548\u7387\u8b80\u53d6\uff0c\u6bcf\u500b\u9ede\u6253\u5305\u6210 <strong>7 \u500b\u9023\u7e8c Float\uff087 \u00d7 4 = 28 bytes\uff09<\/strong>\uff1a<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n\/\/ CameraFrameContainerMK1.java\noutDepthResult&#x5B;pointsCount * 7]     = y; \/\/ X, Y, Z \u7a7a\u9593\u5750\u6a19\noutDepthResult&#x5B;pointsCount * 7 + 1] = x;\noutDepthResult&#x5B;pointsCount * 7 + 2] = z;\noutDepthResult&#x5B;pointsCount * 7 + 3] = colorArray&#x5B;0]; \/\/ R, G, B, A \u984f\u8272 (0, 253, 255 \u9713\u8679\u9752\u85cd)\noutDepthResult&#x5B;pointsCount * 7 + 4] = colorArray&#x5B;1];\noutDepthResult&#x5B;pointsCount * 7 + 5] = colorArray&#x5B;2];\noutDepthResult&#x5B;pointsCount * 7 + 6] = 1.0f;\npointsCount++;\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\">\u5de5\u5e8f 5\uff1aDirect Native \u8a18\u61b6\u9ad4\u96f6 GC \u7ba1\u7406<\/h3>\n\n\n\n<p>\u5728 <code>GlSurfacePclRenderMK1<\/code> \u521d\u59cb\u5316\u6642\uff0c\u76f4\u63a5\u5728 Native \u5806\u5916\u8a18\u61b6\u9ad4\u5206\u914d <code>ByteBuffer.allocateDirect()<\/code>\uff1a<\/p>\n\n\n\n<ul>\n<li>\u904b\u884c\u4e2d\u6bcf\u4e00\u5e40\u76f4\u63a5\u900f\u904e <code>mTriangle1Vertices.put(outDepthResult)<\/code> \u8986\u84cb\u5beb\u5165\u3002<\/li>\n\n\n\n<li><strong>\u5168\u7a0b 0 \u6b21 Java \u7269\u4ef6\u5206\u914d\u30010 \u6b21 GC \u505c\u9813<\/strong>\uff0c\u4fdd\u969c 30fps \u6975\u81f4\u7d72\u6ed1\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001 \u6975\u9650\u52a0\u901f\u5982\u4f55\u628a 50ms \u58d3\u9032 3ms\uff1f<\/h2>\n\n\n\n<p>\u4e00\u5f35 640 \u00d7 480 \u5f71\u50cf\u6709 307,200 \u500b\u50cf\u7d20\u9ede\uff0c\u6bcf\u500b\u9ede\u90fd\u8981\u7b97\u4e09\u89d2\u51fd\u6578\u3001\u5e73\u65b9\u6839\u8207\u6d6e\u9ede\u9664\u6cd5\u3002<\/p>\n\n\n\n<p>\u5982\u679c\u8b93\u55ae\u6838 CPU \u8dd1\u8ff4\u5708\u4e00\u500b\u4e00\u500b\u6162\u6162\u6539 30 \u842c\u5f35\u8003\u5377\uff0c\u4e00\u79d2\u6539 30 \u6b21\u76f4\u63a5\u5361\u6b7b\u3002\u6211\u5011\u5728 <code>TofRawToDepthNeon.cpp<\/code> \u88e1\u7528\u4e86 4 \u5927\u6bba\u624b\u9427\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. Atan2 \u4e5d\u4e5d\u4e58\u6cd5\u8868\u67e5\u8868\u6cd5\uff08O(1) \u8a18\u61b6\u9ad4\u5c0b\u5740\uff09<\/h3>\n\n\n\n<p>\u8a08\u7b97 arctan2(Q, I) \u9700\u8981\u8dd1\u6602\u8cb4\u7684\u591a\u9805\u5f0f\u6cf0\u52d2\u5c55\u958b\uff08\u8017\u8cbb 50~100 \u500b\u6642\u8108\uff09\u3002\u6211\u5011\u9810\u5148\u628a\u6240\u6709\u53ef\u80fd\u51fa\u73fe\u7684 (Q, I) \u7d44\u5408\u8a08\u7b97\u6210\u4e00\u5f35 <code>gAtan2Table<\/code> \u67e5\u627e\u77e9\u9663\u3002\u904b\u7b97\u6642<strong>\u76f4\u63a5\u7ffb\u8868\u67e5\u7b54\u6848<\/strong>\uff0c\u5c07\u8017\u6642\u7684\u4e09\u89d2\u51fd\u6578\u6d88\u6ec5\u70ba O(1) \u7684\u8a18\u61b6\u9ad4\u6aa2\u7d22\uff08\u53ea\u9700 1~2 \u500b\u6642\u8108\uff09\uff01<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. ARM NEON SIMD \u5411\u91cf\u4e26\u884c\uff088 \u50cf\u7d20\u540c\u6642\u79d2\u6bba\uff09<\/h3>\n\n\n\n<p>\u666e\u901a CPU \u66ab\u5b58\u5668\uff0832\/64-bit\uff09\u4e00\u6b21\u53ea\u80fd\u7b97 1 \u500b\u50cf\u7d20\u3002ARM NEON \u64c1\u6709 128-bit \u5411\u91cf\u66ab\u5b58\u5668\uff08<code>q0<\/code>~<code>q15<\/code>\uff09\uff0c\u786c\u9ad4\u5728 <strong>1 \u500b\u6642\u8108\u9031\u671f<\/strong> \u5167\u540c\u6642\u8f09\u5165 8 \u500b\u50cf\u7d20\u7684 A0, A1, A2, A3 \u9032\u884c\u4e26\u884c\u76f8\u6e1b\uff08<code>vsubq_u16<\/code>\uff09\uff0c\u904b\u7b97\u541e\u5410\u91cf\u76f4\u63a5\u66b4\u589e 8 \u500d\uff01<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3. \u725b\u9813-\u62c9\u5f17\u68ee\u903c\u8fd1\u958b\u65b9\uff08\u6d88\u6ec5\u9664\u6cd5\u8207\u958b\u6839\u865f\u786c\u9ad4\u5ef6\u9072\uff09<\/h3>\n\n\n\n<p>\u5728 CPU \u786c\u9ad4\u4e2d\uff0c\u6d6e\u9ede\u958b\u6839\u865f\u6307\u4ee4\uff08<code>fsqrt<\/code>\uff09\u9700\u8981 15~30 \u500b\u6642\u8108\uff0c\u6703\u8b93 CPU \u6d41\u6c34\u7dda\u56b4\u91cd\u505c\u64fa\u3002\u6211\u5011\u4f7f\u7528 ARM \u786c\u9ad4\u5c08\u5c6c\u6307\u4ee4 <code>vrsqrteq_f32<\/code> \u8207\u4e00\u8f2a\u725b\u9813\u758a\u4ee3\u4e58\u6cd5\uff0c\u5728 <strong>3 \u500b\u6642\u8108<\/strong> \u5167\u77ac\u9593\u5b8c\u6210\u958b\u65b9\uff1a<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n\/\/ TofRawToDepthNeon.cpp: \u725b\u9813-\u62c9\u5f17\u68ee\u903c\u8fd1\u958b\u65b9\ninline static float32x4_t vsqrt(float32x4_t v) {\n    float32x4_t r = vrsqrteq_f32(v);        \/\/ 1 \u500b\u6642\u8108\uff1a\u786c\u9ad4\u6c42\u5e73\u65b9\u6839\u5012\u6578\u521d\u59cb\u4f30\u8a08\n    r = vmulq_f32(vrsqrtsq_f32(v, r), r);   \/\/ 1 \u500b\u6642\u8108\uff1a\u725b\u9813\u758a\u4ee3\u903c\u8fd1\n    return vmulq_f32(v, r);                \/\/ 1 \u500b\u6642\u8108\uff1a\u8f49\u70ba\u958b\u65b9\n}\n<\/pre><\/div>\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001 OpenGL ES 3D \u9ede\u96f2\u5373\u6642\u6e32\u67d3\uff08<code>GL_POINTS<\/code>\uff09<\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><a href=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634.jpg\"><img decoding=\"async\" width=\"1024\" height=\"572\" src=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634-1024x572.jpg\" alt=\"\" class=\"wp-image-998\" srcset=\"https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634-1024x572.jpg 1024w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634-300x167.jpg 300w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634-768x429.jpg 768w, https:\/\/boochlin.com\/wp-content\/uploads\/2026\/08\/itof_phase_diagram_1787153109634.jpg 1376w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/a><\/figure>\n\n\n\n<p>\u89e3\u7b97\u51fa 30 \u842c\u500b 3D \u7a7a\u9593\u5ea7\u6a19\u4e26\u6253\u5305\u70ba 7-Float \u9802\u9ede\u5f8c\uff0c\u5728 <code>GlSurfacePclRenderMK1.java<\/code> \u9032\u884c\u87a2\u5e55\u7e6a\u88fd\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u7d81\u5b9a\u9802\u9ede\u5c6c\u6027\u6307\u91dd\uff08Stride = 28 bytes\uff09<\/h3>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n\/\/ GlSurfacePclRenderMK1.java\n\/\/ \u7d81\u5b9a Position (X, Y, Z) - Offset = 0\naTriangleBuffer.position(0);\nGLES20.glVertexAttribPointer(mPositionHandle, 3, GLES20.GL_FLOAT, false, 28, aTriangleBuffer);\nGLES20.glEnableVertexAttribArray(mPositionHandle);\n\n\/\/ \u7d81\u5b9a Color (R, G, B, A) - Offset = 3\naTriangleBuffer.position(3);\nGLES20.glVertexAttribPointer(mColorHandle, 4, GLES20.GL_FLOAT, false, 28, aTriangleBuffer);\nGLES20.glEnableVertexAttribArray(mColorHandle);\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\">2. MVP \u77e9\u9663\u8207\u8457\u8272\u5668\u6295\u5f71<\/h3>\n\n\n\n<p>\u5728 Vertex Shader \u4e2d\uff0c\u900f\u904e\u624b\u52e2\u65cb\u8f49\u77e9\u9663\uff08M\uff09\u3001\u865b\u64ec\u651d\u5f71\u6a5f\u8996\u89d2\uff08V\uff09\u8207\u900f\u8996\u6295\u5f71\uff08P\uff09\u4e09\u8005\u76f8\u4e58\uff0c\u4e00\u884c\u6307\u4ee4\u5728\u87a2\u5e55\u4e0a\u6295\u5c04\u51fa\u7acb\u9ad4\u65cb\u8f49\u4eba\u81c9\uff1a<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\nuniform mat4 u_MVPMatrix;\nuniform float u_PointSize;\nattribute vec4 a_Position;\nattribute vec4 a_Color;\nvarying vec4 v_Color;\n\nvoid main() {\n    v_Color = a_Color;\n    gl_PointSize = u_PointSize;             \/\/ \u63a7\u5236\u9ede\u7c92\u5b50\u7c97\u7d30 (\u4f8b\u5982 0.55)\n    gl_Position = u_MVPMatrix * a_Position; \/\/ 3D \u7a7a\u9593\u5750\u6a19\u8f49\u70ba\u87a2\u5e55 2D \u50cf\u7d20\uff01\n}\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\">3. \u55ae\u4e00 Draw Call \u7e6a\u88fd<\/h3>\n\n\n\n<p>\u547c\u53eb <code>GLES20.glDrawArrays(GLES20.GL_POINTS, 0, pointCount)<\/code>\uff0c\u5e7e\u842c\u9846\u8cfd\u535a\u9f90\u514b\u9752\u85cd\u8272\u7acb\u9ad4\u5149\u6688\u7c92\u5b50\u77ac\u9593\u5728\u87a2\u5e55\u4e0a\u65cb\u8f49\u7dbb\u653e\uff01<\/p>\n\n\n\n<p>\u8996\u89ba\u53c3\u6578\u7531 <code>pclview_ui.json<\/code> \u52d5\u614b\u914d\u7f6e\uff1a<\/p>\n\n\n\n<ul>\n<li><code>color: 0<\/code>\uff1a<code>blue0RGBArray<\/code> \u9713\u8679\u9752\u85cd\u5149\u6688\uff08RGB: 0, 253, 255\uff09\u3002<\/li>\n\n\n\n<li><code>point_size: 0.55<\/code>\uff1a\u5fae\u7c92\u5b50\u5927\u5c0f\u3002<\/li>\n\n\n\n<li><code>scale: 4.0<\/code>\uff1a\u87a2\u5e55\u5c45\u4e2d\u7e2e\u653e\u6bd4\u4f8b\u3002<\/li>\n\n\n\n<li><code>view_z: -0.7<\/code>\uff1a\u865b\u64ec\u651d\u5f71\u6a5f\u4fef\u8996\u8ddd\u96e2\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e0d\u9700\u91cd\u7de8\u8b6f\u4ee3\u78bc\u5373\u53ef\u96a8\u610f\u5fae\u8abf\u9ede\u96f2\u98a8\u683c\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><\/h2>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\u53c3\u8003\u8cc7\u6599 (References)<\/h2>\n\n\n\n<ol>\n<li><strong>Sony IMX516 Indirect Time-of-Flight (iToF) Sensor Principle &amp; Phase Demodulation<\/strong>.<\/li>\n\n\n\n<li><strong>ARM Cortex-A Series Programmer&#8217;s Guide: NEON Vectorization &amp; Newton-Raphson Reciprocal Engine<\/strong>.<br><a href=\"https:\/\/developer.arm.com\/documentation\/den0018\/a\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/developer.arm.com\/documentation\/den0018\/a\/<\/a><\/li>\n\n\n\n<li><strong>OpenGL ES 2.0 \/ 3.0 Reference Manual: Points Rendering (GL_POINTS) &amp; Shading Language<\/strong>.<br><a href=\"https:\/\/www.khronos.org\/registry\/OpenGL-Refpages\/es3.0\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.khronos.org\/registry\/OpenGL-Refpages\/es3.0\/<\/a><\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u9580\u7981\u6a5f\u7684\u771f\u5be6\u5c08\u6848\u4e2d\uff0c\u9664\u4e86\u9ed8\u9ed8\u5728\u5f8c\u53f0\u5237\u81c9\u958b\u9580\uff0c\u5f88\u591a\u5ba2\u6236\uff08\u7279\u5225\u662f\u9ad8\u7aef\u79d1\u6280\u5712\u5340\u3001\u5c55\u89bd\u9928\u6216\u91d1\u878d\u5c08\u6848\uff09\u6703\u63d0\u51fa\u4e00\u500b\u6975\u5177\u79d1\u6280\u611f\u7684\u8981\u6c42\uff1a\u5728\u87a2\u5e55\u4e0a\u5373\u6642\u5448\u73fe\u8cfd\u535a\u9f90\u514b\u98a8\u683c\u7684 3D \u9ede\u96f2\u4eba\u81c9\uff08Point Cloud View\uff09\uff0c\u4e26\u652f\u63f4\u624b\u6307\u6ed1\u52d5\u65cb\u8f49\u3002<\/p>\n","protected":false},"author":1,"featured_media":999,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[50,3,80],"tags":[],"_links":{"self":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/997"}],"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=997"}],"version-history":[{"count":6,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/997\/revisions"}],"predecessor-version":[{"id":1005,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/997\/revisions\/1005"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/media\/999"}],"wp:attachment":[{"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=997"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=997"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=997"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}