使用java接口

windows和linux平台

准备工作

引入开发包中的java/astra-wrapper.jar到你的工程.

现在开始吧！

以深度为例, 流程和之前的c++接口类似.

import com.orbbec.astra.*;
import java.nio.ShortBuffer;
 
public class Main {
 
    public static int frameCount = 0;
 
    public static void main(String[] args) {
 
        Astra.initialize();//初始化 Astra SDK
 
        StreamSet streamSet = StreamSet.open();//构造StreamSet
        StreamReader reader = streamSet.createReader();//创建StreamReader
        DepthStream depthStream = DepthStream.get(reader);//取得深度流
 
        for (ImageMode mode: depthStream.getAvailableModes()) {
            System.out.println("mode: " + mode.toString());
        }
 
        reader.addFrameListener(new StreamReader.FrameListener() {
            @Override
            public void onFrameReady(StreamReader reader, ReaderFrame frame) {
 
                frameCount++;
                DepthFrame depthFrame = DepthFrame.get(frame);
                ShortBuffer depthData = depthFrame.getDepthBuffer();//拿到深度数据
                int width = depthFrame.getWidth();
                int height = depthFrame.getHeight();
                short middle = depthData.get(width * (height / 2) + (width / 2));
                System.out.println("Frame #" + depthFrame.getFrameIndex() + ", value:" + middle);
            }
        });//注册监听类
 
        depthStream.start();//启动深度流
 
        while (frameCount < 100) {
            Astra.update();//更新循环
        }
 
        depthStream.stop();//关闭深度流
 
        reader.destroy();//销毁StreamReader
 
        Astra.terminate();//关闭 Astra SDK
    }
}

android平台

准备工作

Android Studio的配置参考 Android Studio 环境搭建 .

现在开始吧！

安卓平台仅在初始化和关闭sdk时与java有所不同, 其他方面是一致的.

    AstraAndroidContext astraAndroidContext = new AstraAndroidContext(this.getApplication(), new AstraDeviceManagerListener() {
        @Override
        public void onOpenAllDevicesCompleted(Iterable<UsbDevice> iterable) {
            //在这里进行打开streamset, 创建流和注册监听.
        }
 
        @Override
        public void onOpenDeviceCompleted(UsbDevice usbDevice, boolean b) {
 
        }
 
        @Override
        public void onNoDevice() {
            Toast.makeText(MainActivity.this, "device not found", Toast.LENGTH_LONG).show();
        }
 
        @Override
        public void onPermissionDenied(UsbDevice usbDevice) {
            Toast.makeText(MainActivity.this, "PermissionDenied", Toast.LENGTH_LONG).show();
        }
    });
    astraAndroidContext.initialize();//初始化 Astra SDK
    astraAndroidContext.openAllDevices();//请求usb设备权限
 
//在另一个线程调用 Astra.update.最好使用互斥锁保证不同时调用sdk的api.
    boolean loopFlag = true;
    Thread thread = new Thread(new Runnable() {
        @Override
        public void run() {
            while (loopFlag) {
                Astra.update();
                try {
                    Thread.sleep(20);//可以降低cpu开销但不是必须的
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }
    });
    thread.start();
 
...
 
//activity结束时关闭 Astra SDK
    astraAndroidContext.terminate();