Question

我正在用Tango编写一个应用程序并得到一个奇怪的bug 我的程序成功连接到探戈服务，我已经设置了一个回调“mTango.connectListener（framePairs，new Tango.TangoUpdateCallback（）{...}）;”但我无法得到任何探戈数据因为回调有从来没有被叫过这是我的主要代码

 private void bindTangoService() {
    Log.d(TAG, "正在绑定Tango 服务");
    if (mIsConnected) {
        return;
    }
    mTango = new Tango(mContext, new Runnable() {
        @Override
        public void run() {
            synchronized (TangoAR.this) {
                try {
                    mConfig = setupTangoConfig(mTango, false, false);
                    mTango.connect(mConfig);
                    startupTango();
                    TangoSupport.initialize(mTango);
                    mIsConnected = true;
                    onRotationUpdated(Util.getDisplayRotation(mContext));
                    makeToast("tango 连接成功");
                    Log.d(TAG, "tango 连接成功");
                } catch (TangoOutOfDateException e) {
                    makeToast("TangoOutOfDateException");
                } catch (Throwable e) {
                    makeToast(e.getMessage());
                }
            }
        }
    });
}

private TangoConfig setupTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
    Log.d(TAG, "setupTangoConfig");
    TangoConfig config = tango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
    //在tango连接后使用相机必须使用true
    config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, false);
    //motion
    config.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
    config.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, true);
    config.putBoolean(TangoConfig.KEY_BOOLEAN_DRIFT_CORRECTION, true);
    //depth
    config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
    config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true);
    config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD);//使用点云，不使用老版本的TANGO_DEPTH_MODE_XYZ_IJ

    //area learning
    if (isLearningMode) {
        //区域学习需要权限授权
        if (checkAndRequestTangoPermissions(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE)) {
            Log.d(TAG, "PERMISSIONTYPE_ADF_LOAD_SAVE 开启");
            config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);
        }
    }
    if (isLoadAdf) {
        //加载ADF
        ArrayList<String> fullUuidList;
        fullUuidList = tango.listAreaDescriptions();
        if (fullUuidList.size() > 0) {
            config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
                    fullUuidList.get(fullUuidList.size() - 1));
        }
    }
    return config;
}

private void startupTango() {
    Log.d(TAG, "startupTango");
    ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<>();
    //设置参考系，0，0,0点为tango服务启动时设备的位置，测量目标为设备的位置
    Log.d(TAG, "startup");
    framePairs.add(new TangoCoordinateFramePair(
            TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
            TangoPoseData.COORDINATE_FRAME_DEVICE));
    Log.d(TAG, "startup-listener");
    mTango.connectListener(framePairs, new Tango.TangoUpdateCallback() {
        @Override
        public void onPoseAvailable(final TangoPoseData pose) {
            //motion
            Log.d(TAG, "onPoseAvailable");
            //获取手机新的状态
            mTangoTime = pose.timestamp;
            TangoPoseData poseData = TangoSupport.getPoseAtTime(
                    mTangoTime,
                    TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                    TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
                    TangoSupport.ENGINE_OPENGL,
                    TangoSupport.ENGINE_OPENGL,
                    mDisplayRotation);
            if (poseData.statusCode == TangoPoseData.POSE_VALID) {
                mTangoPoseData = poseData;
            }
        }

        @Override
        public void onPointCloudAvailable(TangoPointCloudData pointCloud) {
            //记录当扫描到到的深度信息
            mPointCloudManager.updatePointCloud(pointCloud);
            Log.d(TAG, "depth size:" + pointCloud.numPoints);
        }

        @Override
        public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
            Log.d(TAG, "onXyzIjAvailable");
        }

        @Override
        public void onFrameAvailable(int cameraId) {
            Log.d(TAG, "onFrameAvailable");
        }

        @Override
        public void onTangoEvent(TangoEvent event) {
            Log.d(TAG, event.eventValue);
        }
    });
    Log.d(TAG, "startup-listener-end");
}

mTango.connect（mConfig）;成功执行，没有任何例外我被这个问题困扰了三天。我需要一个英雄。谢谢大家注意：后置摄像头不能用于探戈，因为我在其他地方使用它。

Answer 1

我遇到了同样的问题。对我来说，解决方案是请求权限：

startActivityForResult(
    Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
    Tango.TANGO_INTENT_ACTIVITYCODE);

没有调用回调

1 个答案: