好吧，我想出了一个办法让它发挥作用。
Update:我的工作解决方案在这里：
https://github.com/stevehenderson/GoogleTango_AR_VideoCapture
我基本上在渲染管道上设置了“中间人（渲染器）”攻击。
这种方法拦截了SetRenderer呼叫来自TangoCameraPreview基类，并允许访问
到基础渲染器的OnDraw()方法和 GL 上下文。然后，我向此扩展渲染器添加其他方法，以允许读取 GL 缓冲区。
一般的做法
1) 延长TangoCameraPreview类（例如在我的例子中ReadableTangoCameraPreview）。覆盖setRenderer(GLSurfaceView.Renderer renderer)，保留对基本渲染器的引用，并用您自己的“包装”替换渲染器GLSUrface.Renderer渲染器将添加将后台缓冲区渲染到设备上的图像的方法。
2）创建你自己的GLSurfaceView.Renderer界面（例如我的ScreenGrabRenderer类）实现了所有GLSurfaceView.Renderer方法，将它们传递到步骤 1 中捕获的基本渲染器。此外，当您想要抓取图像时，添加一些新方法来“提示”。
3) 实施ScreenGrabRenderer上述步骤 2 中已描述。
4）使用回调接口（我的TangoCameraScreengrabCallback) 在复制图像时进行通信
它工作得很好，并且允许人们在不root设备的情况下抓取图像中的相机位。
Note:我不需要将捕获的图像与点云紧密同步。所以我没有检查延迟。为了获得最佳结果，您可能需要调用 Mark 提出的 C 方法。
这是我的每个课程的样子..
///Main Activity Class where bulk of Tango code is
.
.
.
// Create our Preview view and set it as the content of our activity.
mTangoCameraPreview = new ReadableTangoCameraPreview(getActivity());
RelativeLayout preview = (RelativeLayout) view.findViewById(R.id.camera_preview);
preview.addView(mTangoCameraPreview);
.
.
.
//When you want to take a snapshot, call the takeSnapShotMethod()
//(you can make this respond to a button)
mTangoCameraPreview.takeSnapShot();
.
.
.
.
.
//Main Tango Listeners
@Override
public void onFrameAvailable(final int cameraId) {
// Update the UI with TangoPose information
runOnUiThread(new Runnable() {
@Override
public void run() {
if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_COLOR) {
tangoCameraPreview.onFrameAvailable();
}
}
});
}
ReadableTangoCameraPreview 类
public class ReadableTangoCameraPreview extends TangoCameraPreview implements TangoCameraScreengrabCallback {
Activity mainActivity;
private static final String TAG = ReadableTangoCameraPreview.class.getSimpleName();
//An intercept renderer
ScreenGrabRenderer screenGrabRenderer;
private boolean takeSnapShot = false;
@Override
public void setRenderer(GLSurfaceView.Renderer renderer) {
//Create our "man in the middle"
screenGrabRenderer= new ScreenGrabRenderer(renderer);
//Set it's call back
screenGrabRenderer.setTangoCameraScreengrabCallback(this);
//Tell the TangoCameraPreview class to use this intermediate renderer
super.setRenderer(screenGrabRenderer);
Log.i(TAG,"Intercepted the renderer!!!");
}
/**
* Set a trigger for snapshot. Call this from main activity
* in response to a use input
*/
public void takeSnapShot() {
takeSnapShot = true;
}
@Override
public void onFrameAvailable() {
super.onFrameAvailable();
if(takeSnapShot) {
//screenGrabWithRoot();
screenGrabRenderer.grabNextScreen(0,0,this.getWidth(),this.getHeight());
takeSnapShot = false;
}
}
public ReadableTangoCameraPreview(Activity context) {
super(context);
mainActivity = context;
}
public void newPhoto(String aNewPhotoPath) {
//This gets called when a new photo was grabbed created in the renderer
Log.i(TAG,"New image available at" + aNewPhotoPath);
}
}
ScreenGrabRenderer 接口
（重载 TangoCameraPreview 默认渲染器）
/**
* This is an intermediate class that intercepts all calls to the TangoCameraPreview's
* default renderer.
*
* It simply passes all render calls through to the default renderer.
*
* When required, it can also use the renderer methods to dump a copy of the frame to a bitmap
*
* @author henderso
*
*/
public class ScreenGrabRenderer implements GLSurfaceView.Renderer {
TangoCameraScreengrabCallback mTangoCameraScreengrabCallback;
GLSurfaceView.Renderer tangoCameraRenderer;
private static final String TAG = ScreenGrabRenderer.class.getSimpleName();
private String lastFileName = "unset";
boolean grabNextScreen = false;
int grabX = 0;
int grabY = 0;
int grabWidth = 640;
int grabHeight = 320;
public void setTangoCameraScreengrabCallback(TangoCameraScreengrabCallback aTangoCameraScreengrabCallback) {
mTangoCameraScreengrabCallback = aTangoCameraScreengrabCallback;
}
/**
* Cue the renderer to grab the next screen. This is a signal that will
* be detected inside the onDrawFrame() method
*
* @param b
*/
public void grabNextScreen(int x, int y, int w, int h) {
grabNextScreen = true;
grabX=x;
grabY=y;
grabWidth=w;
grabHeight=h;
}
@Override
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
tangoCameraRenderer.onSurfaceCreated(gl, config);
}
@Override
public void onSurfaceChanged(GL10 gl, int width, int height) {
tangoCameraRenderer.onSurfaceChanged(gl, width, height);
}
@Override
public void onDrawFrame(GL10 gl) {
tangoCameraRenderer.onDrawFrame(gl);
if(grabNextScreen) {
screenGrab(gl);
grabNextScreen=false;
}
}
/**
*
* Creates a bitmap given a certain dimension and an OpenGL context
*
* This code was lifted from here:
*
* http://stackoverflow.com/questions/5514149/capture-screen-of-glsurfaceview-to-bitmap
*/
private Bitmap createBitmapFromGLSurface(int x, int y, int w, int h, GL10 gl)
throws OutOfMemoryError {
int bitmapBuffer[] = new int[w * h];
int bitmapSource[] = new int[w * h];
IntBuffer intBuffer = IntBuffer.wrap(bitmapBuffer);
intBuffer.position(0);
try {
gl.glReadPixels(x, y, w, h, GL10.GL_RGBA, GL10.GL_UNSIGNED_BYTE, intBuffer);
int offset1, offset2;
for (int i = 0; i < h; i++) {
offset1 = i * w;
offset2 = (h - i - 1) * w;
for (int j = 0; j < w; j++) {
int texturePixel = bitmapBuffer[offset1 + j];
int blue = (texturePixel >> 16) & 0xff;
int red = (texturePixel << 16) & 0x00ff0000;
int pixel = (texturePixel & 0xff00ff00) | red | blue;
bitmapSource[offset2 + j] = pixel;
}
}
} catch (GLException e) {
Log.e(TAG,e.toString());
return null;
}
return Bitmap.createBitmap(bitmapSource, w, h, Bitmap.Config.ARGB_8888);
}
/**
* Writes a copy of the GLSurface backbuffer to storage
*/
private void screenGrab(GL10 gl) {
long fileprefix = System.currentTimeMillis();
String targetPath =Environment.getExternalStorageDirectory() + "/RavenEye/Photos/";
String imageFileName = fileprefix + ".png";
String fullPath = "error";
Bitmap image = createBitmapFromGLSurface(grabX,grabY,grabWidth,grabHeight,gl);
if(!(new File(targetPath)).exists()) {
new File(targetPath).mkdirs();
}
try {
File targetDirectory = new File(targetPath);
File photo=new File(targetDirectory, imageFileName);
FileOutputStream fos=new FileOutputStream(photo.getPath());
image.compress(CompressFormat.PNG, 100, fos);
fos.flush();
fos.close();
fullPath =targetPath + imageFileName;
Log.i(TAG, "Grabbed an image in target path:" + fullPath);
///Notify the outer class(es)
if(mTangoCameraScreengrabCallback != null) {
mTangoCameraScreengrabCallback.newPhoto(fullPath);
} else {
Log.i(TAG, "Callback not set properly..");
}
} catch (FileNotFoundException e) {
Log.e(TAG,"Exception " + e);
e.printStackTrace();
} catch (IOException e) {
Log.e(TAG,"Exception " + e);
e.printStackTrace();
}
lastFileName = fullPath;
}
/**
* Constructor
* @param baseRenderer
*/
public ScreenGrabRenderer(GLSurfaceView.Renderer baseRenderer) {
tangoCameraRenderer = baseRenderer;
}
}
TangoCameraScreengrab回调接口
（除非您想从屏幕抓取渲染器传回信息，否则不需要）
/*
* The TangoCameraScreengrabCallback is a generic interface that provides callback mechanism
* to an implementing activity.
*
*/
interface TangoCameraScreengrabCallback {
public void newPhoto(String aNewPhotoPath);
}
