使用Android camera2 API内在功能来生成深度输出。这可以使用基于IR（红外）相机的深度传感器或TOF（飞行时间）摄像机来实现。在代码示例中，我们使用了一个支持深度输出的IR摄像机来展示如何使用Android camera2 API内在功能来生成深度地图。

private CameraCaptureSession.StateCallback mCaptureSessionCallback
       = new CameraCaptureSession.StateCallback() {

       @Override
       public void onConfigured(CameraCaptureSession cameraCaptureSession) {
           mCameraCaptureSession = cameraCaptureSession;
           try {
               CaptureRequest.Builder builder = mCameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_PREVIEW);
               builder.addTarget(mSurfaceTexture);
               builder.addTarget(mDepthImageReader.getSurface());

               mCameraCaptureSession.setRepeatingRequest(builder.build(), null, mHandler);
           } catch (CameraAccessException e) {
               e.printStackTrace();
           }
       }

       @Override
       public void onConfigureFailed(CameraCaptureSession cameraCaptureSession) {
            Log.e(TAG, "Failed to configure CameraCaptureSession");
       }
   };

   private ImageReader.OnImageAvailableListener mDepthImageListener
       = new ImageReader.OnImageAvailableListener() {
       @Override
       public void onImageAvailable(ImageReader reader) {
           Image depthImage = reader.acquireLatestImage();
           // Process the depth image here
           depthImage.close();
       }
   };

   private void openCamera() {
       CameraManager cameraManager = (CameraManager) getSystemService(CAMERA_SERVICE);
       try {
           String cameraId = cameraManager.getCameraIdList()[0];
           CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(cameraId);

           StreamConfigurationMap streamConfigs = characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP);
           Size[] outputSizes = streamConfigs.getOutputSizes(ImageFormat.DEPTH16);

           mDepthImageReader = ImageReader.newInstance(outputSizes[0].getWidth(), outputSizes[0].getHeight(),
                   ImageFormat.DEPTH16, 1);
           mDepthImageReader.setOnImageAvailableListener(mDepthImageListener, mHandler);

           // Check if the camera supports the DEPTH_OUTPUT capability
           int[]