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Within tango-examples-java/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java

shouldn't mCurrentTimeStamp be set before getting the current pose:

if (mTangoUx != null) {
mTangoUx.updateXyzCount(xyzIj.xyzCount);
}
mPointCloudManager.updateCallbackBufferAndSwap(xyzIj.xyz, xyzIj.xyzCount);
TangoPoseData pointCloudPose = mTango.getPoseAtTime(mCurrentTimeStamp,
framePairs.get(0));
mRenderer.updatePointCloudPose(pointCloudPose);

            // Make sure to have atomic access to TangoXyzIjData so that
            // UI loop doesn't interfere while onXYZijAvailable callback is updating
            // the mPoint cloud data.
            synchronized (mUiDepthLock) {
                mCurrentTimeStamp = (float) xyzIj.timestamp;
                mPointCloudFrameDelta = (mCurrentTimeStamp - mXyIjPreviousTimeStamp)
                        * SECS_TO_MILLISECS;
                mXyIjPreviousTimeStamp = mCurrentTimeStamp;
                mAverageDepth = getAveragedDepth(xyzIj.xyz);
                try {
                    mPointCount = xyzIj.xyzCount;
                } catch (TangoErrorException e) {
                    Toast.makeText(getApplicationContext(), R.string.TangoError,
                            Toast.LENGTH_SHORT).show();
                } catch (TangoInvalidException e) {
                    Toast.makeText(getApplicationContext(), R.string.TangoError,
                            Toast.LENGTH_SHORT).show();
                }
            }

Getting the error while installing the App

This project would integrate a lot more smoothly with Android Studio if its toplevel project included a build.gradle instructing how to build each of the example subprojects. Instead, there are a lot of obstacles directly importing it into AS from Github, making it smoother to first clone it to a local directory then import each example's subproject into a separate AS project. But that leaves the subprojects unintegrated with each other, redundant instances of eg. the utils subproject, etc.

Hello There,

It seems that I can not find the packages:
1- com.google.atap.tangoclient
2- com.google.atap.tangoapi

Anywhere in the code !!!,

Any body?

Hello everybody,

when I try to export a ADF File to SD-Card i get the following message:
I call: mTango.exportAreaDescriptionFile(uuid,getExternalFilesDir(null).getAbsolutePath()+"Test.adf");
Same when I do this:

 Intent exportIntent = new Intent();
        exportIntent.setClassName(INTENT_CLASSPACKAGE, INTENT_IMPORTEXPORT_CLASSNAME);
        exportIntent.putExtra(EXTRA_KEY_SOURCEUUID,uuid);
        exportIntent.putExtra(EXTRA_KEY_DESTINATIONFILE, getExternalFilesDir(null).getAbsolutePath()+"Test.adf");
        startActivityForResult(exportIntent, Tango.TANGO_INTENT_ACTIVITYCODE);

FATAL EXCEPTION: main Process: com.google.tango, PID: 8075 java.util.MissingFormatArgumentException: Format specifier: 2$s at java.util.Formatter.getArgument(Formatter.java:1111) at java.util.Formatter.doFormat(Formatter.java:1076) at java.util.Formatter.format(Formatter.java:1042) at java.util.Formatter.format(Formatter.java:1011) at java.lang.String.format(String.java:1964) at java.lang.String.format(String.java:1938) at com.google.atap.tango.RequestImportExportDialog.getColoredSpannedString(RequestImportExportDialog.java:138) at com.google.atap.tango.RequestImportExportDialog.onCreateView(RequestImportExportDialog.java:92) at android.app.Fragment.performCreateView(Fragment.java:1700) at android.app.FragmentManagerImpl.moveToState(FragmentManager.java:890) at android.app.FragmentManagerImpl.moveToState(FragmentManager.java:1062) at android.app.BackStackRecord.run(BackStackRecord.java:684) at android.app.FragmentManagerImpl.execPendingActions(FragmentManager.java:1447) at android.app.FragmentManagerImpl$1.run(FragmentManager.java:443) at android.os.Handler.handleCallback(Handler.java:733) at android.os.Handler.dispatchMessage(Handler.java:95) at android.os.Looper.loop(Looper.java:136) at android.app.ActivityThread.main(ActivityThread.java:5030) at java.lang.reflect.Method.invoke(Native Method) at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793) at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609) 11-22 18:08:04.916 908-1171/? W/ActivityManager: Force finishing activity com.google.tango/com.google.atap.tango.RequestImportExportActivity 11-22 18:08:04.917 908-1171/? W/ActivityManager: Force finishing activity com.wirthual.editsys/.StartActivity 11-22 18:08:05.417 908-954/? W/ActivityManager: Activity pause timeout for ActivityRecord{65317f40 u0 com.google.tango/com.google.atap.tango.RequestImportExportActivity t7 f}

Anyone a idea?
Code i got from here:
https://developers.google.com/tango/apis/java/java-user-permissions

Project "java_floor_plan_example" crashes when saving ADF with the following:

E/tango_client_api: TangoErrorType TangoService_saveAreaDescription(char (*)[37]): Internal Error: Could not save an area description. Is learning mode enabled?
A/art: art/runtime/check_jni.cc:64] JNI DETECTED ERROR IN APPLICATION: input is not valid Modified UTF-8: illegal start byte 0xb4
A/art: art/runtime/check_jni.cc:64]     string: ' ͏dp��d�'
A/art: art/runtime/check_jni.cc:64]     in call to NewStringUTF
A/art: art/runtime/check_jni.cc:64]     from int com.google.atap.tango.TangoJNINative.SaveAreaDescription(java.lang.String[])
A/art: art/runtime/check_jni.cc:64] "AsyncTask #1" prio=5 tid=19 Runnable

The project is unmodified so it has learning mode enabled, the correct load/save permissions etc.

First experienced this with my own project and been debugging this the whole day without much progress. Finally found out that the problem exists in the sample project as well so I'm posting this here.

It would seem that the encoding between Java and the C/C++ JNI of Tango lib is getting jumbled up. Check this: http://stackoverflow.com/questions/12127817/android-ics-4-0-ndk-newstringutf-is-crashing-down-the-app

I am completely lost as to how proceed..

Tango Android device run tango-example-java display Tango Service outdated.
How to solve？

When using the basic hello area description sample, the relocalization status is directly set to true at start. However, it should be set to true only when it is indeed relocalized with the ADF.
Apparently this happens since the Hopak release. Is this a regression problem of the Tango Core or is there a new way to detect the relocalization?

I noticed that adding an empty OnFrameAvailableListenerto the Tango service frequently causes a SIGSEGVcrash when a lifecycle transition happens (i.e. onPause() / onResume() etc.). This is quite a problem for me since I need to perform operations on image data itself using OpenCV. If someone has a workaround for accessing raw image data without crashes, please let me know.

Steps to reproduce:

• add the following code at the end of setTangoListeners() in the java_augmented_reality_exampleproject:

mTango.experimentalConnectOnFrameListener(TangoCameraIntrinsics.TANGO_CAMERA_COLOR, new Tango.OnFrameAvailableListener() {
    @Override
    public void onFrameAvailable(TangoImageBuffer tangoImageBuffer, int i) {

    }
});

• launch the app, trigger some lifecycle events by switching back and forth between android and the app

Logcat:

10-02 21:03:54.656 31675-31675/com.projecttango.experiments.augmentedrealitysample I/tango-client-api-jni: DisconnectTexture context 0x4b0cc0f0, camera 0
10-02 21:03:54.656 31675-31675/com.projecttango.experiments.augmentedrealitysample I/tango_client_api: TangoErrorType TangoService_disconnectCamera(TangoCameraId): Disconnecting camera_id = 0...
10-02 21:03:54.656 31675-31675/com.projecttango.experiments.augmentedrealitysample I/tango_client_api: TangoErrorType TangoService_disconnectCamera(TangoCameraId): Done disconnecting camera.
10-02 21:03:54.656 31675-31675/com.projecttango.experiments.augmentedrealitysample I/tango_client_api: void TangoService_disconnect(): Disconnecting from Tango...

Backtrace:

(lldb) bt
* thread #13: tid = 31692, 0x4b088ee0 libtango_client_api.so`Tango::TangoGraphicBuffer::unlock() const + 8, name = 'Binder_2', stop reason = signal SIGSEGV: invalid address (fault address: 0x44)
    frame #0: 0x4b088ee0 libtango_client_api.so`Tango::TangoGraphicBuffer::unlock() const + 8
    frame #1: 0x4b077df2 libtango_client_api.so`TangoListener::onGraphicBufferAvailable(android::sp<Tango::TangoGraphicBuffer> const&) + 162
    frame #2: 0x4b084722 libtango_client_api.so`Tango::ClientListener::onTransact(unsigned int, android::Parcel const&, android::Parcel*, unsigned int) + 446
    frame #3: 0x401cb226 libbinder.so`android::BBinder::transact(unsigned int, android::Parcel const&, android::Parcel*, unsigned int) + 62
    frame #4: 0x401cf79a libbinder.so`android::IPCThreadState::executeCommand(int) + 510
    frame #5: 0x401cfb1a libbinder.so`android::IPCThreadState::getAndExecuteCommand() + 42
    frame #6: 0x401cfb90 libbinder.so`android::IPCThreadState::joinThreadPool(bool) + 52
    frame #7: 0x401d39ac libbinder.so
    frame #8: 0x4019ea5a libutils.so`android::Thread::_threadLoop(void*) + 218
    frame #9: 0x4022beb2 libandroid_runtime.so`android::AndroidRuntime::javaThreadShell(void*) + 70
    frame #10: 0x4019e58c libutils.so
    frame #11: 0x401231b4 libc.so`__thread_entry + 76
  * frame #12: 0x4012334c libc.so`pthread_create + 244

Version Info:

Both Tango Core and TangoRelaseLibs / Tango Examples are at relase version "Vega".

Hello,

I'm trying to sign project with tango library and receive these errors

Proguard returned with error code 1. See console
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango$1$1: can't find superclass or interface com.google.atap.tangocloudservice.IOnTileAvailable$Stub
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango$1: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService$Stub
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango$1: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 - Homestyler-Default] Warning: com.google.atap.tangoservice.Tango$1: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService$Stub
[2015-11-16 11:56:40 - Homestyler-Default] Warning: com.google.atap.tangoservice.Tango$1: can't find referenced class com.google.atap.tangocloudservice.ITangoCloudService
[2015-11-16 11:56:40 - Homestyler-Default] Warning: com.google.atap.tangoservice.Tango$1$1: can't find referenced class com.google.atap.tangocloudservice.IOnTileAvailable$Stub
[2015-11-16 11:56:40 - Homestyler-Default] Warning: com.google.atap.tangoservice.Tango$1$1: can't find referenced class com.google.atap.tangocloudservice.IOnTileAvailable$Stub
[2015-11-16 11:56:40 --Default] Warning: com.google.atap.tangoservice.Tango$1$1: can't find referenced class com.google.atap.tangocloudservice.IOnTileAvailable
[2015-11-16 11:56:40 --Default] Warning: there were 13 unresolved references to classes or interfaces.
[2015-11-16 11:56:40 --Default] You may need to specify additional library jars (using '-libraryjars').
[2015-11-16 11:56:40 --Default] java.io.IOException: Please correct the above warnings first.
[2015-11-16 11:56:40 --Default] at proguard.Initializer.execute(Initializer.java:321)
[2015-11-16 11:56:40 --Default] at proguard.ProGuard.initialize(ProGuard.java:212)
[2015-11-16 11:56:40 --Default] at proguard.ProGuard.execute(ProGuard.java:87)
[2015-11-16 11:56:40 --Default] at proguard.ProGuard.main(ProGuard.java:493)

I tried using the standard way to keep the classes:

-keep class com.google.** { ; }
-keep interface com.google.* { *; }

and its still not working...

如何更改 tango core 版本

Hi, can you have a look at my error?
Cannot reload AVD list: cvc-enumeration-valid: Value '280dpi' is
not facet-valid with respect to enumeration[ldpi, mdpi, tvdpi, hdpi,
xhdpi, 400dpi, xxdpi, 560dpi, xxxhdpi] it must be a value from the enumeration.

http://stackoverflow.com/questions/35808585/cant-run-the-sample-project-tango-app-in-android-studio

Heres the output:

11-08 11:45:52.526 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] JNI DETECTED ERROR IN APPLICATION: input is not valid Modified UTF-8: illegal start byte 0x9b 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] string: '8 �d' 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] in call to NewStringUTF 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] from int com.google.atap.tango.TangoJNINative.GetAreaDescriptionUUIDList(java.lang.String[]) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] "main" prio=5 tid=1 Runnable 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] | group="main" sCount=0 dsCount=0 obj=0x646d3b70 self=0x416e1ea8 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] | sysTid=6832 nice=0 cgrp=apps sched=0/0 handle=0x4002c154 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] | state=R schedstat=( 207051834 53324753 478 ) utm=13 stm=7 core=1 HZ=100 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] | stack=0xbe2c8000-0xbe2cc000 stackSize=8MB 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: art::Thread::DumpStack(std::ostream&) const+87 [0x4162fb78] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: ??? [0x414db8a6] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: art::JniAbortF(char const*, char const*, ...)+51 [0x414dc254] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: ??? [0x414dc2f4] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: ??? [0x414df842] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: ??? [0x414e55ee] (libart.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] native: Java_com_google_atap_tango_TangoJNINative_GetAreaDescriptionUUIDList+25 [0x48a2dc76] (libtango_client_api.so) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at com.google.atap.tango.TangoJNINative.GetAreaDescriptionUUIDList(Native method) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at com.google.atap.tangoservice.Tango.listAreaDescriptions(Tango.java:665) 11-08 11:45:52.527 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at com.projecttango.examples.java.planefitting.PlaneFittingActivity.onResume(PlaneFittingActivity.java:197) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.Instrumentation.callActivityOnResume(Instrumentation.java:1192) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.Activity.performResume(Activity.java:5310) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread.performResumeActivity(ActivityThread.java:2788) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread.handleResumeActivity(ActivityThread.java:2826) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2251) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread.access$800(ActivityThread.java:136) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1197) 11-08 11:45:52.528 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.os.Handler.dispatchMessage(Handler.java:102) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.os.Looper.loop(Looper.java:136) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at android.app.ActivityThread.main(ActivityThread.java:5030) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at java.lang.reflect.Method.invoke(Native method) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609) 11-08 11:45:52.529 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/check_jni.cc:64] 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] Runtime aborting... 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] Aborting thread: 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "main" prio=5 tid=1 Runnable 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x646d3b70 self=0x416e1ea8 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6832 nice=0 cgrp=apps sched=0/0 handle=0x4002c154 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=R schedstat=( 224846999 56025504 500 ) utm=14 stm=7 core=1 HZ=100 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0xbe2c8000-0xbe2cc000 stackSize=8MB 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::Thread::DumpStack(std::ostream&) const+87 [0x4162fb78] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41627c62] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::Runtime::Abort()+79 [0x41628204] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::LogMessage::~LogMessage()+507 [0x414d389c] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414dbad4] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::JniAbortF(char const*, char const*, ...)+51 [0x414dc254] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414dc2f4] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414df842] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414e55ee] (libart.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: Java_com_google_atap_tango_TangoJNINative_GetAreaDescriptionUUIDList+25 [0x48a2dc76] (libtango_client_api.so) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.google.atap.tango.TangoJNINative.GetAreaDescriptionUUIDList(Native method) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.google.atap.tangoservice.Tango.listAreaDescriptions(Tango.java:665) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.projecttango.examples.java.planefitting.PlaneFittingActivity.onResume(PlaneFittingActivity.java:197) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.Instrumentation.callActivityOnResume(Instrumentation.java:1192) 11-08 11:45:52.690 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.Activity.performResume(Activity.java:5310) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.performResumeActivity(ActivityThread.java:2788) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.handleResumeActivity(ActivityThread.java:2826) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2251) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.access$800(ActivityThread.java:136) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1197) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.os.Handler.dispatchMessage(Handler.java:102) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.os.Looper.loop(Looper.java:136) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.main(ActivityThread.java:5030) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.reflect.Method.invoke(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] Dumping all threads without appropriate locks held: thread list lock mutator lock 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] All threads: 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] DALVIK THREADS (15): 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "main" prio=5 tid=1 Native 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x646d3b70 self=0x416e1ea8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6832 nice=0 cgrp=apps sched=0/0 handle=0x4002c154 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=R schedstat=( 242573832 56298421 503 ) utm=16 stm=8 core=1 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0xbe2c8000-0xbe2cc000 stackSize=8MB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::Thread::DumpStack(std::ostream&) const+87 [0x4162fb78] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::ThreadList::DumpLocked(std::ostream&)+69 [0x4163ab16] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41627d14] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::Runtime::Abort()+79 [0x41628204] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::LogMessage::~LogMessage()+507 [0x414d389c] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414dbad4] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::JniAbortF(char const*, char const*, ...)+51 [0x414dc254] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414dc2f4] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414df842] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x414e55ee] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: Java_com_google_atap_tango_TangoJNINative_GetAreaDescriptionUUIDList+25 [0x48a2dc76] (libtango_client_api.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.google.atap.tango.TangoJNINative.GetAreaDescriptionUUIDList(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.google.atap.tangoservice.Tango.listAreaDescriptions(Tango.java:665) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.projecttango.examples.java.planefitting.PlaneFittingActivity.onResume(PlaneFittingActivity.java:197) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.Instrumentation.callActivityOnResume(Instrumentation.java:1192) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.Activity.performResume(Activity.java:5310) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.performResumeActivity(ActivityThread.java:2788) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.handleResumeActivity(ActivityThread.java:2826) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2251) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.access$800(ActivityThread.java:136) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1197) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.os.Handler.dispatchMessage(Handler.java:102) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.os.Looper.loop(Looper.java:136) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.app.ActivityThread.main(ActivityThread.java:5030) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.reflect.Method.invoke(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Thread pool worker 0" prio=5 tid=2 Native (still starting up) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x4703a168 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6837 nice=0 cgrp=apps sched=0/0 handle=0x43ecd648 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 1341501 435834 8 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x43d82000-0x43d86000 stackSize=1024KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x43ec6384] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Thread pool worker 2" prio=5 tid=3 Native (still starting up) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x43eb8c10 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6840 nice=0 cgrp=apps sched=0/0 handle=0x43eb89c8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 177667 1813499 3 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4723f000-0x47243000 stackSize=1024KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x43ec6384] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Thread pool worker 1" prio=5 tid=4 Native (still starting up) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x43ecb2d0 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6839 nice=0 cgrp=apps sched=0/0 handle=0x43ecab20 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 200583 2382501 3 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4713f000-0x47143000 stackSize=1024KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x43ec6384] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Signal Catcher" daemon prio=5 tid=5 WaitingInMainSignalCatcherLoop 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x64867c10 self=0x43ec6de8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6841 nice=0 cgrp=apps sched=0/0 handle=0x43ecba58 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 848417 346583 3 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4733f000-0x47343000 stackSize=1016KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x4162bca7] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::SignalCatcher::WaitForSignal(art::Thread*, art::SignalSet&)+46 [0x4162c01b] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::SignalCatcher::Run(void*)+172 [0x4162d5b9] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: __thread_entry+72 [0x4004f1b0] (libc.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: pthread_create+240 [0x4004f348] (libc.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "JDWP" daemon prio=5 tid=6 WaitingInMainDebuggerLoop 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x648679f0 self=0x43ec7b68 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6842 nice=0 cgrp=apps sched=0/0 handle=0x43ec7920 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 1972999 4078417 11 ) utm=0 stm=0 core=1 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4743d000-0x47441000 stackSize=1016KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: art::JDWP::JdwpState::Run()+366 [0x4157c7ef] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x4157dae3] (libart.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: __thread_entry+72 [0x4004f1b0] (libc.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: pthread_create+240 [0x4004f348] (libc.so) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "FinalizerDaemon" daemon prio=5 tid=7 Waiting 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x6485fdb0 self=0x43ec90f8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6844 nice=0 cgrp=apps sched=0/0 handle=0x43ec9478 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 395167 5967167 5 ) utm=0 stm=0 core=1 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4763f000-0x47643000 stackSize=1040KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - waiting on <0x60a82618> (a java.lang.ref.ReferenceQueue) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Object.java:411) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.ref.ReferenceQueue.remove(ReferenceQueue.java:102) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x60a82618> (a java.lang.ref.ReferenceQueue) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.ref.ReferenceQueue.remove(ReferenceQueue.java:73) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$FinalizerDaemon.run(Daemons.java:173) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "FinalizerWatchdogDaemon" daemon prio=5 tid=8 Sleeping 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x64860f90 self=0x43ec9c38 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6845 nice=0 cgrp=apps sched=0/0 handle=0x43ec9fb8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 137667 115917 2 ) utm=0 stm=0 core=3 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x47743000-0x47747000 stackSize=1040KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.sleep(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - sleeping on <0x64862110> (a java.lang.Object) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.sleep(Thread.java:1010) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x64862110> (a java.lang.Object) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.sleep(Thread.java:978) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$FinalizerWatchdogDaemon.sleepFor(Daemons.java:251) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$FinalizerWatchdogDaemon.waitForFinalization(Daemons.java:261) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$FinalizerWatchdogDaemon.run(Daemons.java:215) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "GCDaemon" daemon prio=5 tid=9 Waiting 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x64863348 self=0x471385a0 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6847 nice=0 cgrp=apps sched=0/0 handle=0x47138820 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 11354164 6896670 26 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4794b000-0x4794f000 stackSize=1040KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - waiting on <0x60a89fe0> (a java.lang.Daemons$GCDaemon) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$GCDaemon.run(Daemons.java:330) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x60a89fe0> (a java.lang.Daemons$GCDaemon) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "ReferenceQueueDaemon" daemon prio=5 tid=10 Waiting 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x64867a90 self=0x43ec82f0 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6843 nice=0 cgrp=apps sched=0/0 handle=0x43ec8570 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 259166 3306751 5 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x4753b000-0x4753f000 stackSize=1040KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - waiting on <0x600c2780> (a java.lang.Class<java.lang.ref.ReferenceQueue>) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$ReferenceQueueDaemon.run(Daemons.java:133) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x600c2780> (a java.lang.Class<java.lang.ref.ReferenceQueue>) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "HeapTrimmerDaemon" daemon prio=5 tid=11 Waiting 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="system" sCount=0 dsCount=0 obj=0x64862140 self=0x471380d8 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6846 nice=0 cgrp=apps sched=0/0 handle=0x47138358 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 119500 4812583 2 ) utm=0 stm=0 core=1 HZ=100 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x47847000-0x4784b000 stackSize=1040KB 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Native method) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - waiting on <0x60a89ff0> (a java.lang.Daemons$HeapTrimmerDaemon) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Daemons$HeapTrimmerDaemon.run(Daemons.java:299) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x60a89ff0> (a java.lang.Daemons$HeapTrimmerDaemon) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Binder_1" prio=5 tid=12 Native 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x6486a598 self=0x4713a188 11-08 11:45:52.691 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6849 nice=0 cgrp=apps sched=0/0 handle=0x471398c0 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 1396419 1563749 22 ) utm=0 stm=0 core=3 HZ=100 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x47b4d000-0x47b51000 stackSize=1016KB 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::talkWithDriver(bool)+140 [0x400fb3ed] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::getAndExecuteCommand()+6 [0x400fbaf7] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::joinThreadPool(bool)+48 [0x400fbb8d] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x400ff9a9] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::Thread::_threadLoop(void*)+216 [0x400caa59] (libutils.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::AndroidRuntime::javaThreadShell(void*)+68 [0x40157eb1] (libandroid_runtime.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x400ca58b] (libutils.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: __thread_entry+72 [0x4004f1b0] (libc.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: pthread_create+240 [0x4004f348] (libc.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Binder_2" prio=5 tid=13 Native 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x6486be48 self=0x43e98250 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6850 nice=0 cgrp=apps sched=0/0 handle=0x43e98008 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 2311500 3784666 10 ) utm=0 stm=0 core=0 HZ=100 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x47c4b000-0x47c4f000 stackSize=1016KB 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::talkWithDriver(bool)+140 [0x400fb3ed] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::getAndExecuteCommand()+6 [0x400fbaf7] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::IPCThreadState::joinThreadPool(bool)+48 [0x400fbb8d] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x400ff9a9] (libbinder.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::Thread::_threadLoop(void*)+216 [0x400caa59] (libutils.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: android::AndroidRuntime::javaThreadShell(void*)+68 [0x40157eb1] (libandroid_runtime.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x400ca58b] (libutils.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: __thread_entry+72 [0x4004f1b0] (libc.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: pthread_create+240 [0x4004f348] (libc.so) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] (no managed stack frames) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "Thread-548" prio=5 tid=14 Native 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x648dd7a0 self=0x43ea4778 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6854 nice=0 cgrp=apps sched=0/0 handle=0x43ea4a78 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 113833 0 1 ) utm=0 stm=0 core=3 HZ=100 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x486ba000-0x486be000 stackSize=1040KB 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: oatexec+16147960 [0x633205f8] (system@[email protected]) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.net.LocalSocketImpl.accept(Native method) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.net.LocalSocketImpl.accept(LocalSocketImpl.java:328) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.net.LocalServerSocket.accept(LocalServerSocket.java:94) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at com.android.tools.fd.runtime.Server$SocketServerThread.run(Server.java:150) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Thread.run(Thread.java:811) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] "GLThread 549" prio=5 tid=15 Waiting 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | group="main" sCount=0 dsCount=0 obj=0x649aff28 self=0x48a008a0 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | sysTid=6855 nice=0 cgrp=apps sched=0/0 handle=0x487cc538 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | state=S schedstat=( 267250 0 1 ) utm=0 stm=0 core=1 HZ=100 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] | stack=0x48b3f000-0x48b43000 stackSize=1040KB 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] native: ??? [0x41490dd4] ([anon:libc_malloc]) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at java.lang.Object.wait(Native method) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - waiting on <0x648e8c78> (a android.opengl.GLSurfaceView$GLThreadManager) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.opengl.GLSurfaceView$GLThread.guardedRun(GLSurfaceView.java:1458) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] - locked <0x648e8c78> (a android.opengl.GLSurfaceView$GLThreadManager) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] at android.opengl.GLSurfaceView$GLThread.run(GLSurfaceView.java:1240) 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/art: art/runtime/runtime.cc:203] 11-08 11:45:52.693 6832-6832/com.projecttango.experiments.planefittingsample A/libc: Fatal signal 6 (SIGABRT) at 0x00001ab0 (code=-6), thread 6832 (nefittingsample)

I'm writing an app with Tango and getting a strange bug.
My program successfully connected to the tango service,and i have setup a callback with "mTango.connectListener(framePairs, new Tango.TangoUpdateCallback() {...});",but i can not get any tango datas because the callback have never been called.
here is my main code
` 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 {
TangoSupport.initialize();
if (mConfig == null) {
mConfig = setupTangoConfig(mTango, false, false);
}
mTango.connect(mConfig);
startupTango();
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 (mView.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;
            mTangoPoseData = TangoSupport.getPoseAtTime(
                    mTangoTime,
                    TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                    TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
                    TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                    TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                    mDisplayRotation);
            if (mTangoPoseData.statusCode == TangoPoseData.POSE_VALID) {
                //更新地球位置(实际改变的opengl中camera的位置)
                mRenderer.onPoseUpdated(mTangoPoseData);
                mView.updatePose(mTangoPoseData);
                Log.d(TAG, "setupRenderer-onPoseUpdated");
            }
        }

        @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");
}`

Hi everyone,

I implemented an anonymous OnTangoUpdateListener() with the following code:

mPoseListener = new Tango.OnTangoUpdateListener() {
            @Override
            public void onPoseAvailable(TangoPoseData pose) {
                //do something
            }
            @Override
            public void onFrameAvailable(int cameraId) {
                //do something
            }
            @Override
            public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
                //do something
            }
            @Override
            public void onTangoEvent(TangoEvent event) {
                // do something
            }
            @Override
            public void onPointCloudAvailable(TangoPointCloudData tangoPointCloudData) {
                // do something
            }
        };

When I run the code, every time new data is avaiable, the callbacks are called. OnPoseAvaiable() is working perfectly fine, but when a new XYZIj is avaiable, the app crashes with the following error:

JNI ERROR (app bug): attempt to pass an instance of com.google.atap.tangoservice.TangoPointCloudData as argument 1 to void com.projecttango.examples.java.motiontracking.MainActivity$1.onXyzIjAvailable(com.google.atap.tangoservice.TangoXyzIjData)
11-24 10:16:18.813 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64] JNI DETECTED ERROR IN APPLICATION: bad arguments passed to void com.projecttango.examples.java.motiontracking.MainActivity$1.onXyzIjAvailable(com.google.atap.tangoservice.TangoXyzIjData) (see above for details)
"Binder_1" prio=5 tid=12 Runnable
11-24 10:16:18.813 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64]   | group="main" sCount=0 dsCount=0 obj=0x6486ae70 self=0x43f55008
11-24 10:16:18.813 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64]   | sysTid=28697 nice=0 cgrp=apps sched=0/0 handle=0x471f8cb8
11-24 10:16:18.813 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64]   | state=R schedstat=( 8498002 11716580 39 ) utm=0 stm=0 core=3 HZ=100
11-24 10:16:18.814 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64]   | stack=0x47c0a000-0x47c0e000 stackSize=1016KB
11-24 10:16:18.814 28681-28697/com.projecttango.experiments.javamotiontracking A/art: art/runtime/check_jni.cc:64]   (no managed stack frames)

After this, numerous threads are aborted.

As far as a understand that message, the callback is called wrongly by the underlying service.

I got the code from here.

Does anybody encounter the same problem or has any suggestions on what to do to fix this?

Thanks in advance!

all of the apps close when button 'Start' is pressed

hello,

i'm trying to test the examples for the Project Tango tablet, and they all works fine except for two of them: "java_area_description_example" and "java_motion_tracking_example" both with the same error when trying to upload to the Tango:

one thing that i noted when importing those two projects is that I wasn't prompted to upgrade to Gradle 2.10.0 as in the others.

i'm interested especially in "java_motion_tracking_example"

my setup:
Project Tango with Android 4.4.2
Android Studio 2.0
Windows 10 64bit

Since today's last update to Tango Core the hello_area_description sample is failing as soon as the learning activity starts.

The error log is the following:

E/tango-client-api-jni: Unable to get method ref for onPointCloudAvailable
A/art: art/runtime/check_jni.cc:64] JNI DETECTED ERROR IN APPLICATION: JNI GetMethodID called with pending exception 'java.lang.NoSuchMethodError' thrown in int com.google.atap.tango.TangoJNINative.ConnectListener(int[], com.google.atap.tangoservice.Tango$OnTangoUpdateListener, com.google.atap.tangoservice.TangoPoseData, com.google.atap.tangoservice.TangoXyzIjData, com.google.atap.tangoservice.TangoEvent):-2
A/art: art/runtime/check_jni.cc:64]     in call to GetMethodID
A/art: art/runtime/check_jni.cc:64]     from int com.google.atap.tango.TangoJNINative.ConnectListener(int[], com.google.atap.tangoservice.Tango$OnTangoUpdateListener, com.google.atap.tangoservice.TangoPoseData, com.google.atap.tangoservice.TangoXyzIjData, com.google.atap.tangoservice.TangoEvent)
A/art: art/runtime/check_jni.cc:64] "Thread-437" prio=5 tid=14 Runnable
A/art: art/runtime/check_jni.cc:64]   | group="main" sCount=0 dsCount=0 obj=0x648dc438 self=0x49b8d4e0
A/art: art/runtime/check_jni.cc:64]   | sysTid=13096 nice=0 cgrp=apps sched=0/0 handle=0x49b90008
A/art: art/runtime/check_jni.cc:64]   | state=R schedstat=( 11150250 3312333 23 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/check_jni.cc:64]   | stack=0x49d68000-0x49d6c000 stackSize=1040KB
A/art: art/runtime/check_jni.cc:64]   native: art::Thread::DumpStack(std::ostream&) const+87 [0x41626b78] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: ??? [0x414d28a6] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: art::JniAbortF(char const*, char const*, ...)+51 [0x414d3254] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: ??? [0x414d517c] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: ??? [0x414d53e6] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: ??? [0x414d80fa] (libart.so)
A/art: art/runtime/check_jni.cc:64]   native: Java_com_google_atap_tango_TangoJNINative_ConnectListener+843 [0x49c18270] (libtango_client_api.so)
A/art: art/runtime/check_jni.cc:64]   at com.google.atap.tango.TangoJNINative.ConnectListener(Native method)
A/art: art/runtime/check_jni.cc:64]   at com.google.atap.tangoservice.Tango.connectListener(Tango.java:451)
A/art: art/runtime/check_jni.cc:64]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.setUpTangoListeners(HelloAreaDescriptionActivity.java:228)
A/art: art/runtime/check_jni.cc:64]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.access$500(HelloAreaDescriptionActivity.java:47)
A/art: art/runtime/check_jni.cc:64]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity$1.run(HelloAreaDescriptionActivity.java:102)
A/art: art/runtime/check_jni.cc:64]   - locked <0x648c77b0> (a com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity)
A/art: art/runtime/check_jni.cc:64]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/check_jni.cc:64] 
A/art: art/runtime/runtime.cc:203] Runtime aborting...
A/art: art/runtime/runtime.cc:203] Aborting thread:
A/art: art/runtime/runtime.cc:203] "Thread-437" prio=5 tid=14 Runnable
A/art: art/runtime/runtime.cc:203]   | group="main" sCount=0 dsCount=0 obj=0x648dc438 self=0x49b8d4e0
A/art: art/runtime/runtime.cc:203]   | sysTid=13096 nice=0 cgrp=apps sched=0/0 handle=0x49b90008
A/art: art/runtime/runtime.cc:203]   | state=R schedstat=( 33245249 11359917 91 ) utm=2 stm=1 core=1 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x49d68000-0x49d6c000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: art::Thread::DumpStack(std::ostream&) const+87 [0x41626b78] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x4161ec62] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::Runtime::Abort()+79 [0x4161f204] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::LogMessage::~LogMessage()+507 [0x414ca89c] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d2ad4] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::JniAbortF(char const*, char const*, ...)+51 [0x414d3254] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d517c] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d53e6] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d80fa] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: Java_com_google_atap_tango_TangoJNINative_ConnectListener+843 [0x49c18270] (libtango_client_api.so)
A/art: art/runtime/runtime.cc:203]   at com.google.atap.tango.TangoJNINative.ConnectListener(Native method)
A/art: art/runtime/runtime.cc:203]   at com.google.atap.tangoservice.Tango.connectListener(Tango.java:451)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.setUpTangoListeners(HelloAreaDescriptionActivity.java:228)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.access$500(HelloAreaDescriptionActivity.java:47)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity$1.run(HelloAreaDescriptionActivity.java:102)
A/art: art/runtime/runtime.cc:203]   - locked <0x648c77b0> (a com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] Pending exception java.lang.NoSuchMethodError thrown by 'int com.google.atap.tango.TangoJNINative.ConnectListener(int[], com.google.atap.tangoservice.Tango$OnTangoUpdateListener, com.google.atap.tangoservice.TangoPoseData, com.google.atap.tangoservice.TangoXyzIjData, com.google.atap.tangoservice.TangoEvent):-2'
A/art: art/runtime/runtime.cc:203] java.lang.NoSuchMethodError: no non-static method "Lcom/projecttango/examples/java/helloareadescription/HelloAreaDescriptionActivity$2;.onPointCloudAvailable(Lcom/google/atap/tangoservice/TangoPointCloudData;)V"
A/art: art/runtime/runtime.cc:203]   at int com.google.atap.tango.TangoJNINative.ConnectListener(int[], com.google.atap.tangoservice.Tango$OnTangoUpdateListener, com.google.atap.tangoservice.TangoPoseData, com.google.atap.tangoservice.TangoXyzIjData, com.google.atap.tangoservice.TangoEvent) (TangoJNINative.java:-2)
A/art: art/runtime/runtime.cc:203]   at void com.google.atap.tangoservice.Tango.connectListener(java.util.List, com.google.atap.tangoservice.Tango$OnTangoUpdateListener) (Tango.java:451)
A/art: art/runtime/runtime.cc:203]   at void com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.setUpTangoListeners() (HelloAreaDescriptionActivity.java:228)
A/art: art/runtime/runtime.cc:203]   at void com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.access$500(com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity) (HelloAreaDescriptionActivity.java:47)
A/art: art/runtime/runtime.cc:203]   at void com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity$1.run() (HelloAreaDescriptionActivity.java:102)
A/art: art/runtime/runtime.cc:203]   at void java.lang.Thread.run() (Thread.java:811)
A/art: art/runtime/runtime.cc:203] Dumping all threads without appropriate locks held: thread list lock mutator lock
A/art: art/runtime/runtime.cc:203] All threads:
A/art: art/runtime/runtime.cc:203] DALVIK THREADS (14):
A/art: art/runtime/runtime.cc:203] "main" prio=5 tid=1 Native
A/art: art/runtime/runtime.cc:203]   | group="main" sCount=0 dsCount=0 obj=0x646d9b70 self=0x416d8ea8
A/art: art/runtime/runtime.cc:203]   | sysTid=12968 nice=0 cgrp=apps sched=0/0 handle=0x40022154
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 333231391 221460189 1432 ) utm=16 stm=16 core=0 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0xbe3c4000-0xbe3c8000 stackSize=8MB
A/art: art/runtime/runtime.cc:203]   native: android::Looper::pollOnce(int, int*, int*, void**)+92 [0x400c294d] (libutils.so)
A/art: art/runtime/runtime.cc:203]   native: android::NativeMessageQueue::pollOnce(_JNIEnv*, int)+22 [0x4016b331] (libandroid_runtime.so)
A/art: art/runtime/runtime.cc:203]   native: oatexec+18086364 [0x634f99dc] (system@[email protected])
A/art: art/runtime/runtime.cc:203]   at android.os.MessageQueue.nativePollOnce(Native method)
A/art: art/runtime/runtime.cc:203]   at android.os.MessageQueue.next(MessageQueue.java:138)
A/art: art/runtime/runtime.cc:203]   at android.os.Looper.loop(Looper.java:123)
A/art: art/runtime/runtime.cc:203]   at android.app.ActivityThread.main(ActivityThread.java:5030)
A/art: art/runtime/runtime.cc:203]   at java.lang.reflect.Method.invoke(Native method)
A/art: art/runtime/runtime.cc:203]   at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:793)
A/art: art/runtime/runtime.cc:203]   at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:609)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Thread pool worker 0" prio=5 tid=2 Native (still starting up)
A/art: art/runtime/runtime.cc:203]   | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x43eba6a8
A/art: art/runtime/runtime.cc:203]   | sysTid=12974 nice=0 cgrp=apps sched=0/0 handle=0x43ebe4c8
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 189082 0 6 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x43d79000-0x43d7d000 stackSize=1024KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x42731dcc] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Thread pool worker 1" prio=5 tid=3 Native (still starting up)
A/art: art/runtime/runtime.cc:203]   | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x47030fe0
A/art: art/runtime/runtime.cc:203]   | sysTid=12975 nice=0 cgrp=apps sched=0/0 handle=0x43ebe8d8
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 144833 0 6 ) utm=0 stm=0 core=3 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47136000-0x4713a000 stackSize=1024KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x42731dcc] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Thread pool worker 2" prio=5 tid=4 Native (still starting up)
A/art: art/runtime/runtime.cc:203]   | group="" sCount=0 dsCount=0 obj=0x00000000 self=0x4712c7b8
A/art: art/runtime/runtime.cc:203]   | sysTid=12976 nice=0 cgrp=apps sched=0/0 handle=0x4712bc88
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 90250 23166 3 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47236000-0x4723a000 stackSize=1024KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x42731dcc] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Signal Catcher" daemon prio=5 tid=5 WaitingInMainSignalCatcherLoop
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x6486dcc8 self=0x416dee10
A/art: art/runtime/runtime.cc:203]   | sysTid=12977 nice=0 cgrp=apps sched=0/0 handle=0x4712cb40
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 410250 0 1 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47336000-0x4733a000 stackSize=1016KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41622ca7] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::SignalCatcher::WaitForSignal(art::Thread*, art::SignalSet&)+46 [0x4162301b] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::SignalCatcher::Run(void*)+172 [0x416245b9] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: __thread_entry+72 [0x400451b0] (libc.so)
A/art: art/runtime/runtime.cc:203]   native: pthread_create+240 [0x40045348] (libc.so)
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "JDWP" daemon prio=5 tid=6 WaitingInMainDebuggerLoop
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x6486dab0 self=0x43ec2bc8
A/art: art/runtime/runtime.cc:203]   | sysTid=12978 nice=0 cgrp=apps sched=0/0 handle=0x416df090
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 10013503 53042915 95 ) utm=0 stm=0 core=0 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47434000-0x47438000 stackSize=1016KB
A/art: art/runtime/runtime.cc:203]   native: art::JDWP::JdwpState::Run()+366 [0x415737ef] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41574ae3] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: __thread_entry+72 [0x400451b0] (libc.so)
A/art: art/runtime/runtime.cc:203]   native: pthread_create+240 [0x40045348] (libc.so)
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "ReferenceQueueDaemon" daemon prio=5 tid=7 Waiting
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x6486db50 self=0x43ebf9a8
A/art: art/runtime/runtime.cc:203]   | sysTid=12979 nice=0 cgrp=apps sched=0/0 handle=0x43ebfc28
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 83667 0 1 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47532000-0x47536000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41487dd4] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Native method)
A/art: art/runtime/runtime.cc:203]   - waiting on <0x600c2780> (a java.lang.Class<java.lang.ref.ReferenceQueue>)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$ReferenceQueueDaemon.run(Daemons.java:133)
A/art: art/runtime/runtime.cc:203]   - locked <0x600c2780> (a java.lang.Class<java.lang.ref.ReferenceQueue>)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "FinalizerDaemon" daemon prio=5 tid=8 Waiting
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x64865d30 self=0x4712d510
A/art: art/runtime/runtime.cc:203]   | sysTid=12980 nice=0 cgrp=apps sched=0/0 handle=0x4712d790
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 53750 0 2 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47636000-0x4763a000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41487dd4] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Native method)
A/art: art/runtime/runtime.cc:203]   - waiting on <0x60a82618> (a java.lang.ref.ReferenceQueue)
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Object.java:411)
A/art: art/runtime/runtime.cc:203]   at java.lang.ref.ReferenceQueue.remove(ReferenceQueue.java:102)
A/art: art/runtime/runtime.cc:203]   - locked <0x60a82618> (a java.lang.ref.ReferenceQueue)
A/art: art/runtime/runtime.cc:203]   at java.lang.ref.ReferenceQueue.remove(ReferenceQueue.java:73)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$FinalizerDaemon.run(Daemons.java:173)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "FinalizerWatchdogDaemon" daemon prio=5 tid=9 Waiting
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x64866f48 self=0x4712dfe8
A/art: art/runtime/runtime.cc:203]   | sysTid=12981 nice=0 cgrp=apps sched=0/0 handle=0x4712e268
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 39250 0 1 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x4773a000-0x4773e000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41487dd4] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Native method)
A/art: art/runtime/runtime.cc:203]   - waiting on <0x60a89fc0> (a java.lang.Daemons$FinalizerWatchdogDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$FinalizerWatchdogDaemon.waitForObject(Daemons.java:233)
A/art: art/runtime/runtime.cc:203]   - locked <0x60a89fc0> (a java.lang.Daemons$FinalizerWatchdogDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$FinalizerWatchdogDaemon.run(Daemons.java:210)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "HeapTrimmerDaemon" daemon prio=5 tid=10 Waiting
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x648680f8 self=0x4712eb30
A/art: art/runtime/runtime.cc:203]   | sysTid=12982 nice=0 cgrp=apps sched=0/0 handle=0x4712ee30
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 38083 0 1 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x4783e000-0x47842000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41487dd4] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Native method)
A/art: art/runtime/runtime.cc:203]   - waiting on <0x60a89ff0> (a java.lang.Daemons$HeapTrimmerDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$HeapTrimmerDaemon.run(Daemons.java:299)
A/art: art/runtime/runtime.cc:203]   - locked <0x60a89ff0> (a java.lang.Daemons$HeapTrimmerDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "GCDaemon" daemon prio=5 tid=11 Waiting
A/art: art/runtime/runtime.cc:203]   | group="system" sCount=0 dsCount=0 obj=0x64869300 self=0x4712f6f8
A/art: art/runtime/runtime.cc:203]   | sysTid=12983 nice=0 cgrp=apps sched=0/0 handle=0x47133998
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 63584 0 1 ) utm=0 stm=0 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47942000-0x47946000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: ??? [0x41487dd4] ([anon:libc_malloc])
A/art: art/runtime/runtime.cc:203]   at java.lang.Object.wait(Native method)
A/art: art/runtime/runtime.cc:203]   - waiting on <0x60a8a010> (a java.lang.Daemons$GCDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Daemons$GCDaemon.run(Daemons.java:330)
A/art: art/runtime/runtime.cc:203]   - locked <0x60a8a010> (a java.lang.Daemons$GCDaemon)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Binder_1" prio=5 tid=12 Native
A/art: art/runtime/runtime.cc:203]   | group="main" sCount=0 dsCount=0 obj=0x64870418 self=0x47134718
A/art: art/runtime/runtime.cc:203]   | sysTid=12984 nice=0 cgrp=apps sched=0/0 handle=0x471344d0
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 2738665 4193166 17 ) utm=0 stm=0 core=1 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47b44000-0x47b48000 stackSize=1016KB
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::talkWithDriver(bool)+140 [0x400f13ed] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::getAndExecuteCommand()+6 [0x400f1af7] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::joinThreadPool(bool)+48 [0x400f1b8d] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x400f59a9] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::Thread::_threadLoop(void*)+216 [0x400c0a59] (libutils.so)
A/art: art/runtime/runtime.cc:203]   native: android::AndroidRuntime::javaThreadShell(void*)+68 [0x4014deb1] (libandroid_runtime.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x400c058b] (libutils.so)
A/art: art/runtime/runtime.cc:203]   native: __thread_entry+72 [0x400451b0] (libc.so)
A/art: art/runtime/runtime.cc:203]   native: pthread_create+240 [0x40045348] (libc.so)
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Binder_2" prio=5 tid=13 Native
A/art: art/runtime/runtime.cc:203]   | group="main" sCount=0 dsCount=0 obj=0x64870570 self=0x471356a8
A/art: art/runtime/runtime.cc:203]   | sysTid=12985 nice=0 cgrp=apps sched=0/0 handle=0x47135460
A/art: art/runtime/runtime.cc:203]   | state=S schedstat=( 3763254 3662332 21 ) utm=0 stm=0 core=1 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x47c42000-0x47c46000 stackSize=1016KB
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::talkWithDriver(bool)+140 [0x400f13ed] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::getAndExecuteCommand()+6 [0x400f1af7] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::IPCThreadState::joinThreadPool(bool)+48 [0x400f1b8d] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x400f59a9] (libbinder.so)
A/art: art/runtime/runtime.cc:203]   native: android::Thread::_threadLoop(void*)+216 [0x400c0a59] (libutils.so)
A/art: art/runtime/runtime.cc:203]   native: android::AndroidRuntime::javaThreadShell(void*)+68 [0x4014deb1] (libandroid_runtime.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x400c058b] (libutils.so)
A/art: art/runtime/runtime.cc:203]   native: __thread_entry+72 [0x400451b0] (libc.so)
A/art: art/runtime/runtime.cc:203]   native: pthread_create+240 [0x40045348] (libc.so)
A/art: art/runtime/runtime.cc:203]   (no managed stack frames)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] "Thread-437" prio=5 tid=14 Native
A/art: art/runtime/runtime.cc:203]   | group="main" sCount=0 dsCount=0 obj=0x648dc438 self=0x49b8d4e0
A/art: art/runtime/runtime.cc:203]   | sysTid=13096 nice=0 cgrp=apps sched=0/0 handle=0x49b90008
A/art: art/runtime/runtime.cc:203]   | state=R schedstat=( 129179162 23876504 194 ) utm=5 stm=7 core=2 HZ=100
A/art: art/runtime/runtime.cc:203]   | stack=0x49d68000-0x49d6c000 stackSize=1040KB
A/art: art/runtime/runtime.cc:203]   native: art::Thread::DumpStack(std::ostream&) const+87 [0x41626b78] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::ThreadList::DumpLocked(std::ostream&)+69 [0x41631b16] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x4161ed14] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::Runtime::Abort()+79 [0x4161f204] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::LogMessage::~LogMessage()+507 [0x414ca89c] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d2ad4] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: art::JniAbortF(char const*, char const*, ...)+51 [0x414d3254] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d517c] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d53e6] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: ??? [0x414d80fa] (libart.so)
A/art: art/runtime/runtime.cc:203]   native: Java_com_google_atap_tango_TangoJNINative_ConnectListener+843 [0x49c18270] (libtango_client_api.so)
A/art: art/runtime/runtime.cc:203]   at com.google.atap.tango.TangoJNINative.ConnectListener(Native method)
A/art: art/runtime/runtime.cc:203]   at com.google.atap.tangoservice.Tango.connectListener(Tango.java:451)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.setUpTangoListeners(HelloAreaDescriptionActivity.java:228)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity.access$500(HelloAreaDescriptionActivity.java:47)
A/art: art/runtime/runtime.cc:203]   at com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity$1.run(HelloAreaDescriptionActivity.java:102)
A/art: art/runtime/runtime.cc:203]   - locked <0x648c77b0> (a com.projecttango.examples.java.helloareadescription.HelloAreaDescriptionActivity)
A/art: art/runtime/runtime.cc:203]   at java.lang.Thread.run(Thread.java:811)
A/art: art/runtime/runtime.cc:203] 
A/art: art/runtime/runtime.cc:203] 
A/libc: Fatal signal 6 (SIGABRT) at 0x000032a8 (code=-6), thread 13096 (Thread-437)

if i call pose.toString() in the example Motion Tracking Activity, in the method:

 protected void onRender(long ellapsedRealtime, double deltaTime))

of the class:

MotionTrackingRajawaliRenderer()

it thorws:

05-30 12:00:43.132 21775-21824/com.projecttango.experiments.javamotiontracking E/AndroidRuntime: FATAL EXCEPTION: GLThread 1267
Process: com.projecttango.experiments.javamotiontracking, PID: 21775
java.lang.ArrayIndexOutOfBoundsException: length=11; index=11
at com.google.atap.tangoservice.TangoPoseData.toString(TangoPoseData.java:278)
at com.projecttango.examples.java.motiontracking.MotionTrackingRajawaliRenderer.onRender(MotionTrackingRajawaliRenderer.java:108)
at org.rajawali3d.renderer.RajawaliRenderer.onRenderFrame(RajawaliRenderer.java:387)
at org.rajawali3d.surface.RajawaliSurfaceView$RendererDelegate.onDrawFrame(RajawaliSurfaceView.java:228)
at android.opengl.GLSurfaceView$GLThread.guardedRun(GLSurfaceView.java:1523)
at android.opengl.GLSurfaceView$GLThread.run(GLSurfaceView.java:1240)

i've digged a bit and i've discovered that when the class TangoPoseData builds the string

public String toString() {
        String infoString = String.format("TangoPoseData: status: %d (%s), time: %f, base: %d (%s), target: %d (%s)\n", new Object[]{Integer.valueOf(this.statusCode), STATUS_NAMES[this.statusCode], Double.valueOf(this.timestamp), Integer.valueOf(this.baseFrame), FRAME_NAMES[this.baseFrame], Integer.valueOf(this.targetFrame), FRAME_NAMES[this.targetFrame]});
        String poseString = String.format("               p: [%.3f, %.3f, %.3f], q: [%.4f, %.4f, %.4f, %.4f]\n", new Object[]{Double.valueOf(this.translation[0]), Double.valueOf(this.translation[1]), Double.valueOf(this.translation[2]), Double.valueOf(this.rotation[0]), Double.valueOf(this.rotation[1]), Double.valueOf(this.rotation[2]), Double.valueOf(this.rotation[3])});
        return infoString + poseString;
    }

statusCode is equal to 11 and STATUS_NAMES has 11 items, this wouldn't be a big issue except that when i use Messages to communicate with the main thread and UI the method in some way gets called, i suspect, and the app crash.
this is the code that i use:

public class MotionTrackingRajawaliRenderer extends RajawaliRenderer {
.....
public Message messageToSend = new Message();
    @Override
    protected void onRender(long ellapsedRealtime, double deltaTime) {
        // Update the scene objects with the latest device position and orientation information.
        // Synchronize to avoid concurrent access from the Tango callback thread below.
        try {
            TangoPoseData pose =
                TangoSupport.getPoseAtTime(0.0, TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                                     TangoPoseData.COORDINATE_FRAME_DEVICE,
                                     TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                                     mCurrentScreenRotation);
            if (pose.statusCode == TangoPoseData.POSE_VALID) {
                getCurrentCamera().setPosition((float) pose.translation[0],
                                               (float) pose.translation[1],
                                               (float) pose.translation[2]);


                Quaternion invOrientation = new Quaternion((float) pose.rotation[3],
                                                            (float) pose.rotation[0],
                                                            (float) pose.rotation[1],
                                                            (float) pose.rotation[2]);

                // For some reason, rajawalli's orientation is inversed.
                Quaternion orientation = invOrientation.inverse();
                getCurrentCamera().setOrientation(orientation);


                // here i send the pose, that is valid
                messageToSend.obj = pose;
                mta.handler.sendMessage(messageToSend);
            }
        } catch (TangoErrorException e) {
            Log.e(TAG, "TangoSupport.getPoseAtTime error", e);
        }

        // Perform the actual OpenGL rendering of the updated objects
        super.onRender(ellapsedRealtime, deltaTime);
    }
}


public class MotionTrackingActivity extends Activity {
......

   public TextView textViewRawTangoData;
    public Handler handler;
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_motion_tracking);

        mRenderer = setupGLViewAndRenderer();



        textViewRawTangoData = (TextView) findViewById(R.id.textViewRawTangoData);


        handler = new Handler(Looper.getMainLooper()) {
            @Override
            public void handleMessage(Message msg) {
                super.handleMessage(msg);
                TangoPoseData pose = (TangoPoseData) msg.obj;
                if (pose == null) return;
                String txt = customPoseToString(pose);
                if (txt == null) return;
                textViewRawTangoData.setTextColor(Color.RED);
                textViewRawTangoData.setText(txt);
            }
        };


        // Check the current screen rotation and set it to the renderer.
        WindowManager mWindowManager = (WindowManager) getSystemService(WINDOW_SERVICE);
        Display mDisplay = mWindowManager.getDefaultDisplay();
        mRenderer.setCurrentScreenRotation(mDisplay.getOrientation());
    }

    public String customPoseToString(TangoPoseData pose) {
        int statusCode = pose.statusCode;
        String statusName = pose.STATUS_NAMES[pose.statusCode];
        double timestamp = pose.timestamp;

        int baseFrame = pose.baseFrame;
        String stringBaseFrame;
        if (baseFrame < pose.FRAME_NAMES.length)
            stringBaseFrame = pose.FRAME_NAMES[baseFrame];
        else
            stringBaseFrame = "NULL";

        String stringTargetFrame;
        int targetFrame = pose.targetFrame;
        if (targetFrame < pose.FRAME_NAMES.length)
            stringTargetFrame = pose.FRAME_NAMES[targetFrame];
        else
            stringTargetFrame = "NULL_2";

        String infoString = String.format("TangoPoseData: status: %d (%s), time: %f, base: %d (%s), target: %d (%s)\n",
                statusCode, statusName, timestamp, baseFrame, stringBaseFrame, targetFrame, stringTargetFrame);



        String poseString = String.format("               p: [%.3f, %.3f, %.3f], q: [%.4f, %.4f, %.4f, %.4f]\n",
                pose.translation[0], pose.translation[1], pose.translation[2],
                pose.rotation[0], pose.rotation[1], pose.rotation[2], pose.rotation[3]);


        return infoString + poseString;
    }
}

Hey ,

Does anybody succeeded to sign tango libs with proguard ?

I'm trying to sign it using eclipse, and receive many errors...

I/DEBUG (29248): Build fingerprint: 'google/tango/yellowstone:4.4.2/KOT49H.160224/160224002:user/release-keys'
I/DEBUG (29248): #13 pc 000151fb /data/app-lib/com.projecttango.tango-2/libtango_client_api.so (Java_com_google_atap_tango_TangoJNINative_GetConfig+98)
I/tango_client_api(28153): TangoErrorType TangoService_initialize(JNIEnv_, jobject): Beginning initialization...
I/tango_client_api(28153): Tango Service: com.projecttango.tango, versionCode: 8579 (client requires >= 2705)
I/tango_client_api(28153): TangoErrorType TangoService_initialize(JNIEnv_, jobject): (in TangoErrorType TangoService_initializeLOCKED(const char_)) Doing new initialization...
I/tango_client_api(28153): TangoErrorType TangoService_initialize(JNIEnv_, jobject): Done initializing, error code = 0.
I/tango_client_api(28153): void* TangoService_getConfig(TangoConfigType): Getting config...
I/tango_client_api(18238): Tango Service: getConfig, internal status 0
I/tango_client_api(28153): void* TangoService_getConfig(TangoConfigType): Done getting config.
F/art (28153): art/runtime/thread.cc:1011] at void com.google.atap.tango.TangoJNINative.GetConfig(int, com.google.atap.b.d) (SourceFile:-2)
F/art (28153): art/runtime/runtime.cc:203] native: Java_com_google_atap_tango_TangoJNINative_GetConfig+95 0x4d4a41f8
F/art (28153): art/runtime/runtime.cc:203] at com.google.atap.tango.TangoJNINative.GetConfig(Native method)
F/art (28153): art/runtime/runtime.cc:203] Pending exception java.lang.NoSuchMethodError thrown by 'void com.google.atap.tango.TangoJNINative.GetConfig(int, com.google.atap.b.d):-2'
F/art (28153): art/runtime/runtime.cc:203] at void com.google.atap.tango.TangoJNINative.GetConfig(int, com.google.atap.b.d) (SourceFile:-2)
F/art (28153): art/runtime/runtime.cc:203] native: Java_com_google_atap_tango_TangoJNINative_GetConfig+95 0x4d4a41f8
F/art (28153): art/runtime/runtime.cc:203] at com.google.atap.tango.TangoJNINative.GetConfig(Native method)
I/DEBUG (29248): Build fingerprint: 'google/tango/yellowstone:4.4.2/KOT49H.160224/160224002:user/release-keys'
I/DEBUG (29248): #13 pc 000151fb /data/app-lib/com.projecttango.tango-2/libtango_client_api.so (Java_com_google_atap_tango_TangoJNINative_GetConfig+98)

Crash:
IllegalArgumentException: The concrete class implementing IObjectWrapper must have exactly one declared private field for the wrapped object. Preferably, this is an instance of the ObjectWrapper class

Hi, I tried this example AugmentedRealityActivity in Lenovo Phab2 Pro and I continuosly get this
"W/AugmentedRealityActivity: Can't get device pose at time: ..." and depth perception seems that doesnt work

In android studio , when I install the apk to my Tango , it goes to "Failure [INSTALL_FAILED_MISSING_SHARED_LIBRARY]"

I've downloaded the latest version of your code and want to run it on my Dev Kit. The folowing exception is thrown:

09-29 15:20:58.831 22796-22818/com.projecttango.experiments.javafloorplanreconstructionexample E/art: dlopen("/data/app-lib/com.projecttango.experiments.javafloorplanreconstructionexample-1/libtango_java_3d_reconstruction_api.so", RTLD_LAZY) failed: dlopen failed: could not load library "libtango_3d_reconstruction.so" needed by "libtango_java_3d_reconstruction_api.so"; caused by cannot locate symbol "rand" referenced by "libtango_3d_reconstruction.so"... 09-29 15:20:58.833 22796-22818/com.projecttango.experiments.javafloorplanreconstructionexample E/AndroidRuntime: FATAL EXCEPTION: Thread-967 Process: com.projecttango.experiments.javafloorplanreconstructionexample, PID: 22796 java.lang.UnsatisfiedLinkError: dlopen failed: could not load library "libtango_3d_reconstruction.so" needed by "libtango_java_3d_reconstruction_api.so"; caused by cannot locate symbol "rand" referenced by "libtango_3d_reconstruction.so"... at java.lang.Runtime.loadLibrary(Runtime.java:364) at java.lang.System.loadLibrary(System.java:526) at com.google.atap.tango.reconstruction.Tango3dReconstructionConfig.<clinit>(Tango3dReconstructionConfig.java:67) at com.projecttango.examples.java.floorplanreconstruction.TangoFloorplanner.<init>(TangoFloorplanner.java:66) at com.projecttango.examples.java.floorplanreconstruction.FloorPlanReconstructionActivity.startupTango(FloorPlanReconstructionActivity.java:222) at com.projecttango.examples.java.floorplanreconstruction.FloorPlanReconstructionActivity.access$400(FloorPlanReconstructionActivity.java:64) at com.projecttango.examples.java.floorplanreconstruction.FloorPlanReconstructionActivity$2.run(FloorPlanReconstructionActivity.java:175) at java.lang.Thread.run(Thread.java:811)

Please help me.

A few issues here, the API doesn't match the current library. The API says there is a doubleTransformPointCloud method that does not exist.

Also, when trying to use transformPointCloud with a double[] matrix and the current point cloud, I am receiving an error of: "JNI DETECTED ERROR IN APPLICATION: attempt to set field java.nio.FloatBuffer com.google.atap.tangoservice.TangoXyzIjData.xyz with value of wrong type: java.nio.DirectByteBuffer"

Thought it might have been my issue until I saw the same thing come up on StackOverflow: http://stackoverflow.com/questions/37836422/java-tangosupport-transforming-several-cloud-point-snapshots-to-the-same-space

Failed to set up Android modules in project 'PointCloudJava': Unsupported method: BaseArtifact.getJavaCompileTaskName()

Android Studio version - 0.8.6

May I please have the solution for this?

Since the latest updates im only getting crashes on my app and the Sample Apps

10-31 15:17:43.908 3597-3620/com.projecttango.experiments.planefittingsample E/tango_client_api: virtual void TangoMortician::binderDied(const android::wp<android::IBinder>&): Internal Error: TangoService died.
10-31 15:17:43.908 3597-3641/com.projecttango.experiments.planefittingsample E/tango: TangoClient.cc:679 Tango Service binder transaction failed! Transaction type code = 1, status = -32.
10-31 15:17:43.909 3597-3642/com.projecttango.experiments.planefittingsample E/tango_client_api: TangoErrorType TangoService_connect(void*, TangoConfig): Internal Error: Connect failed internally: -1
10-31 15:17:43.910 3597-3642/com.projecttango.experiments.planefittingsample E/PlaneFittingActivity: Tango exception!
                                                                                                     com.google.atap.tangoservice.TangoErrorException
                                                                                                         at com.google.atap.tangoservice.Tango.throwTangoExceptionIfNeeded(Tango.java:840)
                                                                                                         at com.google.atap.tangoservice.Tango.connect(Tango.java:435)
                                                                                                         at com.projecttango.examples.java.planefitting.PlaneFittingActivity$1.run(PlaneFittingActivity.java:122)
                                                                                                         at java.lang.Thread.run(Thread.java:811)

The Tango Core crashed and in some cases, the tango device restarts.
Im testing this with the "Project Tango Development Kit"

Hi, everyone,

I'm using project tango for 3D reconstruction project. I'm curious about the accuracy of motion tracking. I know that tango combines both visual features and IMU data, and I expect pixel accuracy. By pixel accuracy, I mean the reprojection error. However, In practice I found the drift among frames is fairly large. More specifically:

1.When the motion is purely translational in xy plane, the tracking error is pretty large. I expect that in feature based SLAM system, this error should be small.
2. When the motion is purely translational along z axis, the motion tracking is terrible. This is reasonable to me.
3. When the motion is purely rotational around y axis (rotate horizontally), the error is relatively small. I think this might thank to IMU sensor.

I also tried to perform ICP after getting all point clouds, but this doesn't help much. Because the depth resolution is pretty low, small error in 3D space will easily cause more than 20 pixels reprojection error on image.

The way I'm using the pose data is that I recorded the timestamp of each frame, and query their poses using mTango.getPoseAtTime() API at the end.

So I'm curious about whether I'm doing the right thing. And are there any suggestions about how to improve motion tracking?

Thanks all!

In step 3 of the CameraPreview Tutorial Wiki the code shows loading libs which I do not see in the latest version of the SDK. Have they been deprecated or is there another JAR/AAR file I need? If they have been deprecated what it the last version that supported them?

import com.google.atap.tangoapi.VioStatus;
import com.google.atap.tangoclient.TangoCameraView;
import com.google.atap.tangoclient.TangoCameraView.OnStatusUpdateListener;
import com.google.atap.tangoclient.TangoClient;

Built application asks for export ADF file permissions and areaDescription.ExportToFile(kb.text) returns true, but no file is written on desired location (/sdcard/file.adf or any other internal like /storage/emulated/0/somefile.adf)... Using Unity 5.6.1 and Lenovo Phab 2 Pro, clean project with most recent Tango package imported. Anybody experienced similar isue ?

Is it possible to change ADF file storage to some accessible folder ?

Thank You