我目前正在使用 tango 项目的开发套件来构建一个简单的 AR 场景。 作为基础，我使用了 SDK 提供的 AR 演示。 我意识到，每当我将设备移动得太快或太靠近某个物体时，应用程序就会崩溃(纯示例应用程序也有这个问题)。 另一方面，我发现市场上有很多 tango+unity 应用程序，它们不会崩溃，而是在屏幕顶部显示错误消息。 知道如何在我的应用程序中拥有相同的功能吗？
我刚刚又试了一次，它的重现性是 100%:
- 创建一个新的 Unity 项目
- 导入 tango Okul 以实现统一
- 从 SDK 打开示例场景 AugmentedReality
- 构建它并在开发套件上运行
- 摇动设备
=>崩溃
崩溃前的日志:
W/TangoConsumer(32004): [ProCamera::mCpuConsumer] Max buffers have been locked (16), cannot lock anymore.
D/NvOsDebugPrintf(18410): routeResultFromCAM: WARNING: only 0 requests in flight on sensor 0, frame drops likely
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
E/Sensors ( 895): [nosae] setDelay: 8000000 sec
D/Sensors ( 895): Writing packet 54 32 0A 04 40 1F 00 00 74
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
I/WindowState( 895): WIN DEATH: Window{6580c378 u0 com.tango.sample/com.google.unity.GoogleUnityActivity}
W/InputDispatcher( 895): Attempted to unregister already unregistered input channel '6580c378 com.tango.sample/com.google.unity.GoogleUnityActivity (server)'
D/Sensors ( 895): Writing packet 54 36 0C 00 74
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
I/WindowState( 895): WIN DEATH: Window{64923f78 u0 SurfaceView}
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
D/Sensors ( 895): Writing packet 54 31 0C 00 74
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/tango (32004): tango-image-callback.cc:72 Could not promote most recent fisheye image
W/MediaFocusControl( 895): AudioFocus audio focus client died
I/MediaFocusControl( 895): AudioFocus removeFocusStackEntry(): removing entry for android.os.BinderProxy@6535f660
E/Sensors ( 895): [nosae] setDelay: 10000000 sec
D/Sensors ( 895): Writing packet 54 32 0B 04 10 27 00 00 74
E/Sensors ( 895): [nosae] setDelay: 8000000 sec
D/Sensors ( 895): Writing packet 54 32 0A 04 40 1F 00 00 74
I/tango (32004): data-manager.cc:1141 Behind by: 1.87951 seconds, skip current frame.
I/tango (32004): data-manager.cc:1141 Behind by: 1.76053 seconds, skip current frame.
E/Sensors ( 895): [nosae] setDelay: 10000000 sec
D/Sensors ( 895): Writing packet 54 32 0B 04 10 27 00 00 74
I/tango (32004): data-manager.cc:1141 Behind by: 1.5368 seconds, skip current frame.
E/Sensors ( 895): [nosae] setDelay: 8000000 sec
D/Sensors ( 895): Writing packet 54 32 0A 04 40 1F 00 00 74
W/st-log (32004): Final features: 0
I/tango (32004): data-manager.cc:1141 Behind by: 1.30901 seconds, skip current frame.
D/Sensors ( 895): Writing packet 54 36 0B 00 74
I/tango (32004): data-manager.cc:1141 Behind by: 1.07433 seconds, skip current frame.
D/Sensors ( 895): Writing packet 54 31 0B 00 74
I/tango (32004): data-manager.cc:1141 Behind by: 0.846438 seconds, skip current frame.
I/art ( 164): Process 2786 terminated by signal (11)
I/tango (32004): vio-fault-detector.cc:131 Stop recording last good pose.
I/tango (32004): data-manager.cc:1141 Behind by: 0.585513 seconds, skip current frame.
I/tango (32004): data-manager.cc:1141 Behind by: 0.40689 seconds, skip current frame.
I/tango (32004): data-manager.cc:1141 Behind by: 0.344115 seconds, skip current frame.
I/tango (32004): data-manager.cc:1141 Behind by: 0.259456 seconds, skip current frame.
E/tango (32004): filter-update-inl.h:70 Temporary visual feature update failed when computing its residual and Jacobian.
I/tango (32004): vio-fault-detector.cc:131 Stop recording last good pose.
E/tango (32004): manager.cc:266 VioCallback queue time = 0.060062 seconds. Skipping packet.
E/tango (32004): manager.cc:266 VioCallback queue time = 0.050133 seconds. Skipping packet.
E/tango (32004): manager.cc:266 VioCallback queue time = 0.037234 seconds. Skipping packet.
E/tango (32004): manager.cc:266 VioCallback queue time = 0.02806 seconds. Skipping packet.
E/tango (32004): manager.cc:266 VioCallback queue time = 0.023363 seconds. Skipping packet.
W/tango (32004): tango-xyzij-callback.cc:125 No points in point cloud.
E/Sensors ( 895): [nosae] setDelay: 10000000 sec
D/Sensors ( 895): Writing packet 54 32 0A 04 10 27 00 00 74
W/ActivityManager( 895): Exception thrown during pause
W/ActivityManager( 895): android.os.DeadObjectException
W/ActivityManager( 895): at android.os.BinderProxy.transact(Native Method)
W/ActivityManager( 895): at android.app.ApplicationThreadProxy.schedulePauseActivity(ApplicationThreadNative.java:660)
W/ActivityManager( 895): at com.android.server.am.ActivityStack.startPausingLocked(ActivityStack.java:768)
W/ActivityManager( 895): at com.android.server.am.ActivityStack.finishActivityLocked(ActivityStack.java:2473)
W/ActivityManager( 895): at com.android.server.am.ActivityStack.finishTopRunningActivityLocked(ActivityStack.java:2347)
W/ActivityManager( 895): at com.android.server.am.ActivityStackSupervisor.finishTopRunningActivityLocked(ActivityStackSupervisor.java:2045)
W/ActivityManager( 895): at com.android.server.am.ActivityManagerService.handleAppCrashLocked(ActivityManagerService.java:9569)
W/ActivityManager( 895): at com.android.server.am.ActivityManagerService.makeAppCrashingLocked(ActivityManagerService.java:9462)
W/ActivityManager( 895): at com.android.server.am.ActivityManagerService.crashApplication(ActivityManagerService.java:10107)
W/ActivityManager( 895): at com.android.server.am.ActivityManagerService.handleApplicationCrashInner(ActivityManagerService.java:9658)
W/ActivityManager( 895): at com.android.server.am.NativeCrashListener$NativeCrashReporter.run(NativeCrashListener.java:86)
D/Sensors ( 895): Writing packet 54 36 10 00 74
I/ActivityManager( 895): Process com.tango.sample (pid 2786) has died.
W/JavaBinder( 895): Binder has been finalized when calling linkToDeath() with recip=0x47663aa8)
D/Sensors ( 895): Writing packet 54 31 10 00 74
I/art ( 895): Heap trim of managed (duration=10.891083ms, advised=2MB) and native (duration=2.739167ms, advised=1092KB) heaps. Managed heap utilization of 73%.
D/DropBoxEntryAddedChimeraService( 1352): User is not opted-in to Usage & Diagnostics.
D/DropBoxEntryAddedChimeraService( 1352): User is not opted-in to Usage & Diagnostics.
D/NvOsDebugPrintf(18410): routeResultFromCAM: WARNING: only 0 requests in flight on sensor 0, frame drops likely
D/NvOsDebugPrintf(18410): routeResultFromCAM: WARNING: only 0 requests in flight on sensor 1, frame drops likely
D/NvOsDebugPrintf(18410): NvCamScaler_OutputThread-- (error 0x0)
D/NvOsDebugPrintf(18410): SensorBayer_SetPowerLevel 1
E/Sensors ( 895): [nosae] setDelay: 10000000 sec
D/Sensors ( 895): Writing packet 54 32 0A 04 10 27 00 00 74
I/tango (32004): tango-service-application.cc:357 TangoServiceApplication: Joined successfully.
I/tango (32004): manager.cc:132 IMU average latency 0.712673ms variance 2.2942 max 22.4214ms hz 100.275
I/tango (32004): manager.cc:138 VIO average latency 42.1586ms variance 10062.1 max 749.343ms hz 6.54341
I/tango (32004): tango-hal-interface.cc:88 Average feature detection frequency: 8.50136
最佳答案
我遇到了同样的问题，我通过禁用 TangoManager 的 Draw Default UX Exception 解决了它。
感谢来自 github 的评论:
https://github.com/googlesamples/tango-examples-unity/issues/52#issuecomment-249151431
关于unity-game-engine - Project Tango + Unity 示例崩溃，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/37791902/