{"id":997,"date":"2026-08-19T10:17:28","date_gmt":"2026-08-19T10:17:28","guid":{"rendered":"https:\/\/boochlin.com\/?p=997"},"modified":"2026-09-19T19:20:59","modified_gmt":"2026-09-19T19:20:59","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 \u2013 ToF RAW12 \u8f49 3D \u9ede\u96f2"},"content":{"rendered":"<p><img decoding=\"async\" src=\"..\/..\/assets\/images\/simulated_pcl_render_1787231547663.jpg\" alt=\"\"><\/p>\n<p>\u5728\u4eba\u81c9\u8fa8\u8b58\u9580\u7981\u6a5f\u7684\u771f\u5be6\u5c08\u6848\u4e2d\uff0c\u9664\u4e86\u9ed8\u9ed8\u5728\u80cc\u666f\u5237\u81c9\u958b\u9580\uff0c\u5f88\u591a\u9ad8\u7aef\u5ba2\u6236\uff08\u7279\u5225\u662f\u79d1\u6280\u5712\u5340\u3001\u5c55\u89bd\u9928\u6216\u91d1\u878d\u91d1\u5eab\uff09\u6703\u63d0\u51fa\u4e00\u500b\u6975\u5177\u79d1\u6280\u611f\u7684\u9700\u6c42\uff1a<\/p>\n<p><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<p>\u666e\u901a RGB \u93e1\u982d\u62cd\u5230\u7684\u53ea\u662f 2D \u5e73\u9762\u50cf\u7d20\uff0c\u800c Sony iToF \u6df1\u5ea6\u93e1\u982d\u5410\u51fa\u4f86\u7684\u662f\u6574\u7247 3D \u7a7a\u9593\u7684\u7269\u7406\u5ea7\u6a19\u3002<\/p>\n<p>\u4f46\u7b97\u76e4\u4e00\u64a5\uff0c\u5c0f\u5b78\u7b97\u8853\u7acb\u523b\u6572\u788e\u4e86\u6240\u6709\u6d6a\u6f2b\u5e7b\u60f3\uff1a<\/p>\n<p>\u4e00\u5f35 640&#215;480 \u7684\u6df1\u5ea6\u5f71\u50cf\uff0c\u6574\u6574\u5305\u542b <strong>307,200 \u500b\u50cf\u7d20\u9ede<\/strong>\u3002<\/p>\n<p>\u6bcf\u500b\u9ede\u90fd\u8981\u505a 4 \u76f8\u4f4d\u89e3\u8abf\u3001\u4e09\u89d2\u51fd\u6578\uff08Atan2\uff09\u3001\u5e73\u65b9\u6839\u958b\u65b9\u8207\u900f\u8996\u6295\u5f71\u8f49\u63db\u3002\u8981\u628a Sony IMX516 \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\u8207 IR \u7070\u968e\u5716\uff0c\u4e26\u4ee5 30fps \u5373\u6642\u6e32\u67d3\u51fa\u4f86\u2014\u2014<\/p>\n<p>\u5982\u679c\u7167\u8457\u4e00\u822c\u6559\u79d1\u66f8\u5beb\u500b\u96d9\u91cd for \u8ff4\u5708\u6162\u6162\u7b97\uff0c\u55ae\u5e40\u8017\u6642\u8d85\u904e <strong>50 \u6beb\u79d2<\/strong>\uff01\u9580\u7981\u6a5f\u7576\u5834\u5361\u6b7b\u5728 15fps \u4ee5\u4e0b\uff0c\u4eba\u81c9\u8fa8\u8b58\u76f4\u63a5\u5d29\u6f70\u3002<\/p>\n<p>\u9019\u7bc7\u5c31\u4f86\u6df1\u5ea6\u62c6\u89e3\u6211\u5011\u5982\u4f55\u7528 <strong>5 \u9053\u5de5\u5e8f<\/strong>\u3001<strong>ARM NEON \u5411\u91cf\u5316<\/strong> \u8207 <strong>OpenGL ES \u8457\u8272\u5668<\/strong>\uff0c\u628a\u9019 30 \u842c\u500b\u9ede\u7684\u89e3\u7b97\u6642\u9593\u5f9e 50ms \u786c\u751f\u751f\u58d3\u9032 <strong>3ms<\/strong>\uff01<\/p>\n<hr>\n<h2>\u4e00\u3001 iToF \u7269\u7406\u672c\u8cea\uff1a\u628a\u5149\u901f\u6620\u5c04\u6210\u5e7e\u4f55\u5411\u91cf<\/h2>\n<p>\u5149\u901f\u6bcf\u79d2 30 \u842c\u516c\u91cc\u3002\u5149\u7dda\u5f9e\u93e1\u982d\u767c\u5c04\u6253\u5230\u4eba\u81c9\u518d\u5f48\u56de\uff0c\u53ea\u82b1\u4e86\u7d04 2 \u5948\u79d2\uff080.000000002 \u79d2\uff09\u3002\u666e\u901a\u5fae\u8655\u7406\u5668\u6839\u672c\u6309\u4e0d\u51fa\u9019\u7a2e\u6975\u901f\u78bc\u9336\u3002<\/p>\n<p>Sony iToF \u63a1\u7528\u7684\u662f <strong>\u9593\u63a5\u98db\u884c\u6642\u9593\u6cd5\uff08Indirect ToF\uff09<\/strong>\uff1a<br \/>\n\u767c\u5c04\u7279\u5b9a\u983b\u7387\u8abf\u8b8a\u7684\u7d05\u5916\u5149\u6ce2\uff0c\u4e26\u5728 0\u00b0\u300190\u00b0\u3001180\u00b0\u3001270\u00b0 \u56db\u500b\u76f8\u4f4d\uff08A0, A1, A2, A3\uff09\u5206\u5225\u7a4d\u5206\u53d6\u6a23\u3002<\/p>\n<p>\u900f\u904e\u7269\u7406\u516c\u5f0f\uff1a<\/p>\n<blockquote>\n<p>I = (A0 &#8211; A2)<br \/>\nQ = (A1 &#8211; A3)<br \/>\n\u76f8\u4f4d\u5dee \u03c6 = atan2(Q, I)<br \/>\n\u8ddd\u96e2 d = (c \/ 4\u03c0f) * \u03c6<\/p>\n<\/blockquote>\n<p>\u628a\u770b\u4e0d\u898b\u7684\u5948\u79d2\u5149\u901f\uff0c\u8f49\u5316\u70ba\u55ae\u7d14\u7684\u5dee\u5206\u8207\u4e09\u89d2\u51fd\u6578\u904b\u7b97\u3002<\/p>\n<hr>\n<h2>\u4e8c\u3001 3D \u9ede\u96f2\u7684 5 \u9053\u6975\u81f4\u5de5\u5e8f<\/h2>\n<p>\u628a Sony 640&#215;1920 \u7684 RAW12 \u539f\u59cb\u8cc7\u6599\u8b8a\u6210\u87a2\u5e55\u4e0a\u7684 3D \u65cb\u8f49\u9ede\u96f2\uff0c\u5728\u5c08\u6848\u4e2d\u7d93\u904e\u4e86 5 \u9053\u7cbe\u5bc6\u5de5\u5e8f\uff1a<\/p>\n<h3>\u5de5\u5e8f 1\uff1aC++ \u7269\u7406\u5e7e\u4f55\u89e3\u7b97\uff08\u7522\u51fa 4 \u5e73\u9762\u9023\u7e8c\u8cc7\u6599 <code>pCloud<\/code>\uff09<\/h3>\n<p>\u5728 <code>RawToDepthSDK<\/code> \u4e2d\uff0cC++ \u89e3\u7b97\u51fa\u5305\u542b 122.8 \u842c\u500b float \u7684\u4e00\u7dad\u9023\u7e8c\u9663\u5217\uff08640x480x4\uff09\uff1a<\/p>\n<ul>\n<li><code>[0 ~ 307,199]<\/code>\uff1aX \u7a7a\u9593\u5ea7\u6a19\uff08\u516c\u5c3a\uff09<\/li>\n<li><code>[307,200 ~ 614,399]<\/code>\uff1aY \u7a7a\u9593\u5ea7\u6a19\uff08\u516c\u5c3a\uff09<\/li>\n<li><code>[614,400 ~ 921,599]<\/code>\uff1aZ \u7269\u7406\u6df1\u5ea6\uff08\u516c\u5c3a\uff09<\/li>\n<li><code>[921,600 ~ 1,228,799]<\/code>\uff1aIR \u7d05\u5916\u53cd\u5c04\u5f37\u5ea6<\/li>\n<\/ul>\n<h3>\u5de5\u5e8f 2\uff1a\u7a7a\u9593\u904e\u6ffe\u8207\u80cc\u666f\u5254\u9664\uff08\u8ddd\u96e2 + \u5f37\u5ea6\u96d9\u9580\u6abb\uff09<\/h3>\n<p>\u5728 <code>CameraFrameContainer.java<\/code> \u4e2d\u9032\u884c\u7a7a\u9593\u88c1\u5207\uff1a<\/p>\n<ul>\n<li><strong>\u7d05\u5916\u53cd\u5c04\u5f37\u5ea6\u9580\u6abb\uff08<code>pclIr &gt; 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<li><strong>\u7269\u7406\u7a7a\u9593\u8ddd\u96e2\u9580\u6abb\uff08<code>0.2m &lt; z &lt; 1.2m<\/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\u5254\u9664\u4e7e\u6de8\u3002<\/li>\n<\/ul>\n<h3>\u5de5\u5e8f 3\uff1a<code>sample<\/code> \u6b65\u9577\u52d5\u614b\u964d\u63a1\u6a23\uff08\u780d\u6389 80% GPU \u8ca0\u64d4\uff09<\/h3>\n<p>\u5168\u89e3\u6790\u5ea6\u4e0b\u6709 30.7 \u842c\u500b\u9ede\uff0c\u5982\u679c\u5168\u90e8\u585e\u7d66 GPU \u7e6a\u5716\uff0c\u9ad8\u901a\u5f31 GPU \u6703\u7576\u5834\u904e\u71b1\u5361\u9813\u3002\u6211\u5011\u900f\u904e <code>xi += sample<\/code> \u9032\u884c\u9694\u9ede\u62bd\u6a23\uff1a<\/p>\n<ul>\n<li><code>sample = 2<\/code>\uff1a\u62bd\u53d6\u7d04 7.6 \u842c\u9ede\uff08\u7d04 6.5 \u842c\u6709\u6548\u4eba\u81c9\u9ede\uff09\u3002<\/li>\n<li><code>sample = 4<\/code>\uff1a\u62bd\u53d6\u7d04 1.9 \u842c\u9ede\u3002<\/li>\n<\/ul>\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<h3>\u5de5\u5e8f 4\uff1a7-Float \u9802\u9ede\u4ea4\u932f\u6392\u5e03\uff08Stride = 28 bytes\uff09\u8207\u525b\u9ad4\u5ea7\u6a19\u8b8a\u63db<\/h3>\n<p>\u5de5\u63a7\u9580\u7981\u6a5f\u5927\u591a\u70ba\u76f4\u7acb\u5b89\u88dd\uff08\u76f4\u5f0f\u87a2\u5e55 Portrait\uff0c\u4f8b\u5982 8 \u540b 800&#215;1280\uff09\uff0c\u7136\u800c ToF \u611f\u6e2c\u5668\uff08\u5982 Sony IMX516\uff09\u5728 PCB \u786c\u9ad4\u4f48\u5c40\u53d7\u9650\u65bc\u908a\u6846\u5bec\u5ea6\uff0c\u901a\u5e38\u63a1\u7528 90\u00b0 \u6a6b\u7f6e\u5b89\u88dd\uff08Landscape\uff09\u3002\u56e0\u6b64\u5f9e\u76f8\u6a5f\u89e3\u7b97\u51fa\u7684\u611f\u6e2c\u5668\u5c40\u90e8\u5ea7\u6a19 $(x_{sensor}, y_{sensor}, z_{sensor})$\uff0c\u5fc5\u9808\u7d93\u904e\u6b63\u4ea4\u525b\u9ad4\u65cb\u8f49\u6620\u5c04\u81f3\u87a2\u5e55\u7684\u4e16\u754c\u5ea7\u6a19\u7cfb $(worldX, worldY, worldZ)$\u3002<\/p>\n<p>\u70ba\u4e86\u8b93 OpenGL \u80fd\u5920\u4ee5\u6700\u9ad8\u786c\u9ad4\u983b\u5bec\u9023\u7e8c\u8b80\u53d6\uff0c\u6bcf\u500b\u9ede\u6253\u5305\u6210 <strong>7 \u500b\u9023\u7e8c Float\uff087 x 4 = 28 bytes\uff09<\/strong>\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-comment\">\/\/ CameraFrameContainer.java<\/span>\n<span class=\"hljs-comment\">\/\/ 90\u00b0 \u9006\u6642\u91dd\u525b\u9ad4\u65cb\u8f49\u6620\u5c04\uff1a(x,y) \u2192 (-y, x)\uff0c\u4fee\u6b63\u6a6b\u7f6e\u611f\u6e2c\u5668\u8207\u76f4\u7acb\u87a2\u5e55\u7684\u5ea7\u6a19\u6b63\u4ea4\u95dc\u4fc2<\/span>\n<span class=\"hljs-type\">float<\/span> <span class=\"hljs-variable\">worldX<\/span> <span class=\"hljs-operator\">=<\/span> -y; \n<span class=\"hljs-type\">float<\/span> <span class=\"hljs-variable\">worldY<\/span> <span class=\"hljs-operator\">=<\/span> x;\n<span class=\"hljs-type\">float<\/span> <span class=\"hljs-variable\">worldZ<\/span> <span class=\"hljs-operator\">=<\/span> z;\n\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span>]     = worldX; <span class=\"hljs-comment\">\/\/ \u4e16\u754c\u7a7a\u9593\u5ea7\u6a19 X<\/span>\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">1<\/span>] = worldY; <span class=\"hljs-comment\">\/\/ \u4e16\u754c\u7a7a\u9593\u5ea7\u6a19 Y<\/span>\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">2<\/span>] = worldZ; <span class=\"hljs-comment\">\/\/ \u4e16\u754c\u7a7a\u9593\u5ea7\u6a19 Z<\/span>\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">3<\/span>] = colorArray[<span class=\"hljs-number\">0<\/span>]; <span class=\"hljs-comment\">\/\/ R, G, B, A \u984f\u8272 (\u9713\u8679\u9752\u85cd)<\/span>\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">4<\/span>] = colorArray[<span class=\"hljs-number\">1<\/span>];\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">5<\/span>] = colorArray[<span class=\"hljs-number\">2<\/span>];\noutDepthResult[pointsCount * <span class=\"hljs-number\">7<\/span> + <span class=\"hljs-number\">6<\/span>] = <span class=\"hljs-number\">1.0f<\/span>;\npointsCount++;<\/code><\/pre>\n<h3>\u5de5\u5e8f 5\uff1aDirect Native \u8a18\u61b6\u9ad4\u96f6 GC \u7ba1\u7406<\/h3>\n<p>\u5728 <code>GlSurfacePclRender<\/code> \u521d\u59cb\u5316\u6642\uff0c\u76f4\u63a5\u5728 Native \u5806\u5916\u8a18\u61b6\u9ad4\u5206\u914d <code>ByteBuffer.allocateDirect()<\/code>\uff1a<\/p>\n<p>\u904b\u4f5c\u4e2d\u6bcf\u4e00\u5e40\u76f4\u63a5\u900f\u904e <code>mTriangle1Vertices.put(outDepthResult)<\/code> \u8986\u84cb\u5beb\u5165\u3002<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<\/p>\n<hr>\n<h2>\u4e09\u3001 \u6975\u9650\u52a0\u901f\uff1a\u5982\u4f55\u628a 50ms \u58d3\u9032 3ms\uff1f<\/h2>\n<p>\u5728 <code>TofRawToDepthNeon.cpp<\/code> \u88e1\uff0c\u6211\u5011\u7528\u4e86 3 \u5927\u6bba\u624b\u9427\u6d88\u6ec5 CPU \u74f6\u9838\uff1a<\/p>\n<h3>1. Atan2 \u4e5d\u4e5d\u4e58\u6cd5\u8868\u67e5\u8868\u6cd5\uff08O(1) \u8a18\u61b6\u9ad4\u5b9a\u5740\uff09<\/h3>\n<p>\u8a08\u7b97 <code>arctan2(Q, I)<\/code> \u9700\u8981\u8dd1\u6602\u8cb4\u7684\u6cf0\u52d2\u591a\u9805\u5f0f\u5c55\u958b\uff08\u8017\u8cbb 50<del>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<\/del>2 \u500b\u6642\u8108\uff09\uff01<\/p>\n<h3>2. ARM NEON SIMD \u5411\u91cf\u4e26\u884c\uff088 \u50cf\u7d20\u540c\u6642\u79d2\u6bba\uff09<\/h3>\n<p>\u666e\u901a CPU \u66ab\u5b58\u5668\u4e00\u6b21\u53ea\u80fd\u7b97 1 \u500b\u50cf\u7d20\u3002ARM NEON \u64c1\u6709 128-bit \u5411\u91cf\u66ab\u5b58\u5668\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<h3>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<p>\u6bcf\u4e00\u5e40 640\u00d7480 \u5305\u542b\u6574\u6574 <strong>307,200 \u500b\u9ede<\/strong>\uff0c\u6bcf\u500b\u9ede\u90fd\u8981\u7b97\u958b\u65b9 $Z = \\sqrt{A0^2 + A1^2 + A2^2 + A3^2}$\u3002<\/p>\n<h4>\u70ba\u4ec0\u9ebc\u7d14 CPU \u7d14\u91cf\u958b\u65b9\uff0850ms\uff09\u6703\u8b93\u76f8\u6a5f\u5d29\u6f70\uff1f<\/h4>\n<p>\u5728 Cortex-A53 \u6838\u5fc3\u4e0a\uff0c\u6a19\u6e96 C \u8a9e\u8a00\u7684 <code>sqrtf()<\/code> \u8d70\u7684\u662f\u7d14\u91cf\u5fae\u6307\u4ee4\uff0c\u55ae\u6b21\u8017\u6642\u9ad8\u9054 <strong>25 \u500b\u6642\u8108\u9031\u671f\uff08Cycles\uff09<\/strong>\uff1a<br \/>\n$$307,200 \\times 25\\text{ cycles} \\approx 7,680,000\\text{ cycles}$$<br \/>\n\u5728 1.3GHz \u8655\u7406\u5668\u4e0a\uff0c\u7d14\u958b\u65b9\u904b\u7b97\u7406\u8ad6\u6642\u9593\u5c31\u9700\u8981 5.91ms\u3002\u52a0\u4e0a 4 \u76f8\u4f4d\u76f8\u6e1b\u3001\u5ea7\u6a19\u6620\u5c04\u4e09\u89d2\u51fd\u6578\u3001\u8a18\u61b6\u9ad4\u5feb\u53d6\u672a\u547d\u4e2d\uff08Cache Miss\uff09\u8207\u5206\u652f\u8df3\u8f49\uff0c<strong>\u771f\u5be6\u55ae\u5e40\u8017\u6642\u98c6\u81f3 48 ~ 52 ms<\/strong>\uff0c\u76f4\u63a5\u6253\u7ffb 30fps\uff08\u5e40\u9810\u7b97 33.3ms\uff09\u7684\u7269\u7406\u4e0a\u9650\uff01<\/p>\n<h4>ARM NEON \u725b\u9813-\u62c9\u5f17\u68ee\u5411\u91cf\u7ba1\u7dda\uff0811.2ms\uff09<\/h4>\n<p>\u6211\u5011\u6539\u7528\u725b\u9813-\u62c9\u5f17\u68ee\u516c\u5f0f\u6c42\u5e73\u65b9\u6839\u5012\u6578 $y \\approx \\frac{1}{\\sqrt{v}}$\uff1a<br \/>\n$$y_{n+1} = y_n \\cdot \\left(\\frac{3 &#8211; v \\cdot y_n^2}{2}\\right)$$<\/p>\n<p>ARM NEON \u786c\u9ad4\u6307\u4ee4 <code>vrsqrtsq_f32(a, b)<\/code> \u8a08\u7b97\u7684\u6b63\u662f $\\frac{3 &#8211; a \\cdot b}{2}$\u3002\u914d\u5408 128-bit \u66ab\u5b58\u5668<strong>\u4e00\u689d\u6307\u4ee4\u4e26\u884c\u8a08\u7b97 4 \u500b float<\/strong>\uff0c\u8ff4\u5708\u6b21\u6578\u76f4\u63a5\u9664\u4ee5 4\uff08\u964d\u81f3 76,800 \u6b21\uff09\uff1a<\/p>\n<pre><code class=\"hljs language-cpp\"><span class=\"hljs-comment\">\/\/ TofRawToDepthNeon.cpp: \u725b\u9813-\u62c9\u5f17\u68ee\u5411\u91cf\u903c\u8fd1\u958b\u65b9<\/span>\n<span class=\"hljs-function\"><span class=\"hljs-keyword\">inline<\/span> <span class=\"hljs-type\">static<\/span> <span class=\"hljs-type\">float32x4_t<\/span> <span class=\"hljs-title\">vsqrt<\/span><span class=\"hljs-params\">(<span class=\"hljs-type\">float32x4_t<\/span> v)<\/span> <\/span>{\n    <span class=\"hljs-type\">float32x4_t<\/span> r = <span class=\"hljs-built_in\">vrsqrteq_f32<\/span>(v);                     <span class=\"hljs-comment\">\/\/ 1. \u786c\u9ad4\u67e5\u8868\u53d6\u521d\u59cb\u5012\u6578\u4f30\u8a08\u503c<\/span>\n    <span class=\"hljs-type\">float32x4_t<\/span> step = <span class=\"hljs-built_in\">vrsqrtsq_f32<\/span>(<span class=\"hljs-built_in\">vmulq_f32<\/span>(r, r), v); <span class=\"hljs-comment\">\/\/ 2. \u8a08\u7b97 (3.0 - r^2 * v) \/ 2.0<\/span>\n    r = <span class=\"hljs-built_in\">vmulq_f32<\/span>(r, step);                              <span class=\"hljs-comment\">\/\/ 3. \u7cbe\u7149\u4f30\u8a08\u503c<\/span>\n    <span class=\"hljs-keyword\">return<\/span> <span class=\"hljs-built_in\">vmulq_f32<\/span>(v, r);                              <span class=\"hljs-comment\">\/\/ 4. \u5012\u6578\u9084\u539f\u70ba\u5e73\u65b9\u6839\uff1av * (1\/sqrt(v)) = sqrt(v)<\/span>\n}<\/code><\/pre>\n<ul>\n<li><strong>\u6642\u8108\u6536\u76ca<\/strong>\uff1aNEON 4-lane \u8dd1 7.68 \u842c\u6b21\uff0c\u5e73\u5747 5 \u500b\u6642\u8108\u7b97\u4e00\u7d44\uff08\u7d04 38.4 \u842c\u6642\u8108\uff0c\u6307\u4ee4\u6642\u9593\u4e0d\u5230 1ms\uff09\u3002\u52a0\u4e0a L1\/L2 \u5feb\u53d6\u9023\u7e8c\u8a18\u61b6\u9ad4\u8f09\u5165\uff0c<strong>\u7e3d\u9ede\u96f2\u89e3\u7b97\u6642\u9593\u7cbe\u78ba\u6536\u6582\u81f3 11.2ms<\/strong>\uff0c\u7a69\u8dd1 30fps \u5373\u6642\u6d3b\u9ad4\u9632\u507d\uff01<\/li>\n<\/ul>\n<hr>\n<h2>\u56db\u3001 OpenGL ES 3D \u9ede\u96f2\u5373\u6642\u6e32\u67d3<\/h2>\n<p>\u89e3\u7b97\u51fa\u5ea7\u6a19\u4e26\u6253\u5305\u70ba 7-Float \u9802\u9ede\u5f8c\uff0c\u5728 <code>GlSurfacePclRender.java<\/code> \u9032\u884c\u87a2\u5e55\u7e6a\u88fd\uff1a<\/p>\n<pre><code class=\"hljs language-java\"><span class=\"hljs-comment\">\/\/ GlSurfacePclRender.java<\/span>\n<span class=\"hljs-comment\">\/\/ \u7d81\u5b9a Position (X, Y, Z) - Offset = 0, Stride = 28 bytes<\/span>\naTriangleBuffer.position(<span class=\"hljs-number\">0<\/span>);\nGLES20.glVertexAttribPointer(mPositionHandle, <span class=\"hljs-number\">3<\/span>, GLES20.GL_FLOAT, <span class=\"hljs-literal\">false<\/span>, <span class=\"hljs-number\">28<\/span>, aTriangleBuffer);\nGLES20.glEnableVertexAttribArray(mPositionHandle);\n\n<span class=\"hljs-comment\">\/\/ \u7d81\u5b9a Color (R, G, B, A) - Offset = 3, Stride = 28 bytes<\/span>\naTriangleBuffer.position(<span class=\"hljs-number\">3<\/span>);\nGLES20.glVertexAttribPointer(mColorHandle, <span class=\"hljs-number\">4<\/span>, GLES20.GL_FLOAT, <span class=\"hljs-literal\">false<\/span>, <span class=\"hljs-number\">28<\/span>, aTriangleBuffer);\nGLES20.glEnableVertexAttribArray(mColorHandle);\n\n<span class=\"hljs-comment\">\/\/ \u547c\u53eb GL_POINTS \u7e6a\u88fd\u7a7a\u9593\u7c92\u5b50<\/span>\nGLES20.glDrawArrays(GLES20.GL_POINTS, <span class=\"hljs-number\">0<\/span>, pointsCount);<\/code><\/pre>\n<p>\u900f\u904e Vertex Shader \u4e2d\u7684 MVP \u77e9\u9663\u76f8\u4e58\uff0c30 \u842c\u500b\u9ede\u5728\u87a2\u5e55\u4e0a\u6295\u5c04\u51fa\u96a8\u624b\u6307\u6ed1\u52d5\u5373\u6642\u65cb\u8f49\u7684 3D \u4eba\u81c9\u7c92\u5b50\u3002<\/p>\n<hr>\n<h2>\u9ede\u96f2\u7a7a\u9593\u6295\u5f71\u6975\u9650\u8207\u6536\u5de5<\/h2>\n<ol>\n<li><strong>\u67e5\u8868\u6cd5\u662f\u6548\u80fd\u738b\u9053<\/strong>\uff1a\u4e0d\u8981\u8b93 CPU \u5728\u9ad8\u983b\u5faa\u74b0\u88e1\u7b97\u4e09\u89d2\u51fd\u6578\uff0c\u80fd\u67e5\u8868\u7684\u5168\u90e8\u9810\u7b97\u6210\u77e9\u9663\u3002<\/li>\n<li><strong>\u7b97\u5b50\u878d\u5408\u8207\u5411\u91cf\u5316<\/strong>\uff1a\u5584\u7528 ARM NEON <code>vld4q<\/code> \u8207\u725b\u9813\u903c\u8fd1\uff0c\u6d88\u6ec5\u9664\u6cd5\u8207\u958b\u6839\u865f\u7684\u7ba1\u7dda\u963b\u585e\u3002<\/li>\n<li><strong>\u8a18\u61b6\u9ad4\u4ea4\u932f\u6392\u5e03\uff08Interleaved Stride\uff09<\/strong>\uff1a\u5c0d\u9f4a GPU \u5feb\u53d6\u884c\uff0c\u914d\u5408 DirectBuffer \u5be6\u73fe\u5168\u93c8\u8def 0-GC\u3002<\/li>\n<\/ol>\n<p>\u4e0b\u4e00\u7bc7\uff0c\u6211\u5011\u628a\u8996\u91ce\u62c9\u56de\u5de5\u63a7\u7db2\u8def\u4e16\u754c\uff1a<strong>\u770b\u4e00\u53f0\u639b\u5728\u5167\u7db2\u6df1\u8655\u7684\u9580\u7981\u6a5f\uff0c\u5982\u4f55\u7528 WebSocket \u8207 Protobuf \u625b\u4f4f\u65b7\u7db2\u8207\u9ad8\u4e26\u884c\u901a\u8a0a\uff01<\/strong><\/p>\n<p>\u611f\u8b1d\u89c0\u770b\uff0c\u6536\u5de5\u3002<\/p>\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":1235,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[166],"tags":[110,267,277,302],"_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":16,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/997\/revisions"}],"predecessor-version":[{"id":1601,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/posts\/997\/revisions\/1601"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/boochlin.com\/index.php?rest_route=\/wp\/v2\/media\/1235"}],"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}]}}