I forgot to say it, but I solved my problem.
The Tango's API doesn't allow to get the raw data (IMU and RGBD). But you can get the RGB with the c api via the TangoImageBuffer. You will get an MV21 picture. You will be able to convert each pixel in "RGB single pixel" and then convert this pixel in RGBA data.
For the IMU, just forget the Tango's API and use the android API. You can get it easily and then transfer it to a server. I my case I do this by using ros publisher. Thanks to this I'm able to get something like 500 poses/sec, 35 point cloud/sec and 900 IMU/sec.
If you are interested by using ros you can check this ROS Rviz visualization of Tango Pose data.
----- EDIT --------
Here the code from my git (see next question in comment) as I'll delete it :
import android.Manifest;
import android.app.Activity;
import android.content.Context;
import android.content.pm.PackageManager;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
import android.os.Bundle;
import android.support.v4.app.ActivityCompat;
public class IMU implements SensorEventListener {
private long timestampAccelerometerSensor, timestampLinearAccelerationSensor, timestampRotationSensor;
private long timestampGravitySensor, timestampGyroscopeSensor, timestampMagneticFieldSensor;
private String tAccelerometerSensor, tLinearAccelerationSensor, tRotationSensor;
private String tGravitySensor, tGyroscopeSensor, tMagneticFieldSensor, tGPS;
private long countAccelerometerSensor, countLinearAccelerationSensor, countRotationSensor;
private long countGravitySensor, countGyroscopeSensor, countMagneticFieldSensor;
//for GPS
private LocationManager locationManager;
private LocationListener locationListener;
private double longitude, latitude;
//for IMU
private SensorManager mSensorManager;
private Sensor accelerometerSensor;
private Sensor linearAccelerationSensor;
private Sensor rotationSensor;
private Sensor gravitySensor;
private Sensor gyroscopeSensor;
private Sensor magneticFieldSensor;
float accelerationForce[] = new float[3];//Including gravity, Acceleration force along x,y,z axis in m/s²
float linearAccelerationForce[] = new float[3];//Excluding gravity, Acceleration force along x,y,z axis in m/s²
float gravity[] = new float[3];//Force of gravity along x,y,z axis in m/s²
float gyroscope[] = new float[3];//Rate of rotation around x,y,z axis in rad/s
float rotation[] = new float[4]; //Rotation vector component along the x,y,z axis and Scalar component of the rotation vector
float magneticField[] = new float[3];//Geomagnetic field strength along x,y,z axis uT
public void create(){
mSensorManager = (SensorManager) mainActivity.getSystemService(Context.SENSOR_SERVICE);
locationManager = (LocationManager) mainActivity.getSystemService(Context.LOCATION_SERVICE);
locationListener = new LocationListener() {
@Override
public void onLocationChanged(Location location) {
//gpsView.setText("Longitude: " + location.getLongitude() + "\nLatitude: " + location.getLatitude());
//Log.i("GPS","Longitude: " + location.getLongitude() + "\nLatitude: " + location.getLatitude());
tGPS = TangoJNINative.getCurrentTimeMillisString();
longitude = location.getLongitude();
latitude = location.getLatitude();
}
@Override
public void onStatusChanged(String provider, int status, Bundle extras) {
}
@Override
public void onProviderEnabled(String provider) {
//gpsStatusView.setText("GPS ---> On");
}
@Override
public void onProviderDisabled(String provider) {
//gpsStatusView.setText("GPS ---> Off");
}
};
if (ActivityCompat.checkSelfPermission(mainActivity, Manifest.permission.ACCESS_FINE_LOCATION) != PackageManager.PERMISSION_GRANTED && ActivityCompat.checkSelfPermission(mainActivity, Manifest.permission.ACCESS_COARSE_LOCATION) != PackageManager.PERMISSION_GRANTED) {
// TODO: Consider calling
// ActivityCompat#requestPermissions
// here to request the missing permissions, and then overriding
// public void onRequestPermissionsResult(int requestCode, String[] permissions,
// int[] grantResults)
// to handle the case where the user grants the permission. See the documentation
// for ActivityCompat#requestPermissions for more details.
return;
}
locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, locationListener);
String locationProvider = LocationManager.NETWORK_PROVIDER;
Location firstLocation = locationManager.getLastKnownLocation(locationProvider);
longitude = firstLocation.getLongitude();
latitude = firstLocation.getLatitude();
setSensors();
setSensorsListeners();
}
public void pause(){
mSensorManager.unregisterListener(this);
}
public void resume(){
setSensorsListeners();
}
private void setSensors(){
accelerometerSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
linearAccelerationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
rotationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
gravitySensor = mSensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY);
gyroscopeSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
magneticFieldSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
}
private void setSensorsListeners(){
mSensorManager.registerListener(this, accelerometerSensor , SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, linearAccelerationSensor , SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, rotationSensor , SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, gravitySensor , SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, gyroscopeSensor , SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, magneticFieldSensor , SensorManager.SENSOR_DELAY_NORMAL);
}
@Override
public void onSensorChanged(SensorEvent event) {
getIMU(event);
}
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
private void getIMU(SensorEvent e){
switch(e.sensor.getType()){
case Sensor.TYPE_ACCELEROMETER:
accelerationForce[0] = e.values[0];
accelerationForce[1] = e.values[1];
accelerationForce[2] = e.values[2];
countAccelerometerSensor++;
timestampAccelerometerSensor = e.timestamp;
tAccelerometerSensor = TangoJNINative.getCurrentTimeMillisString();
break;
case Sensor.TYPE_LINEAR_ACCELERATION:
linearAccelerationForce[0] = e.values[0];
linearAccelerationForce[1] = e.values[1];
linearAccelerationForce[2] = e.values[2];
countLinearAccelerationSensor++;
timestampLinearAccelerationSensor = e.timestamp;
tLinearAccelerationSensor = TangoJNINative.getCurrentTimeMillisString();
break;
case Sensor.TYPE_ROTATION_VECTOR:
rotation[0] = e.values[0];
rotation[1] = e.values[1];
rotation[2] = e.values[2];
rotation[3] = e.values[3];
countRotationSensor++;
timestampRotationSensor = e.timestamp;
tRotationSensor = TangoJNINative.getCurrentTimeMillisString();
break;
case Sensor.TYPE_GRAVITY:
gravity[0] = e.values[0];
gravity[1] = e.values[1];
gravity[2] = e.values[2];
countGravitySensor++;
timestampGravitySensor = e.timestamp;
tGravitySensor = TangoJNINative.getCurrentTimeMillisString();
break;
case Sensor.TYPE_GYROSCOPE:
gyroscope[0] = e.values[0];
gyroscope[1] = e.values[1];
gyroscope[2] = e.values[2];
countGyroscopeSensor++;
timestampGyroscopeSensor= e.timestamp;
tGyroscopeSensor = TangoJNINative.getCurrentTimeMillisString();
break;
case Sensor.TYPE_MAGNETIC_FIELD:
magneticField[0] = e.values[0];
magneticField[1] = e.values[1];
magneticField[2] = e.values[2];
countMagneticFieldSensor++;
timestampMagneticFieldSensor = e.timestamp;
tMagneticFieldSensor = TangoJNINative.getCurrentTimeMillisString();
break;
}
}
}
