java - 调用 TangoSupport.transformPointCloud(transform.matrix, pointCloud) 时 Tango Java 应用程序崩溃

Question

我是 Google Tango 开发的新手，我正在尝试将多个点云压缩为一个。为此，我构建了以下代码:

for (int i = 0; i < mPointCloudList.size(); ++i) {

    TangoPointCloudData pointCloud = mPointCloudList.get(i);

    TangoSupport.TangoMatrixTransformData transform =
                        TangoSupport.getMatrixTransformAtTime(pointCloud.timestamp,
                                TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                                TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH,
                                TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                                TangoSupport.TANGO_SUPPORT_ENGINE_TANGO,
                                TangoSupport.ROTATION_IGNORED);

    TangoPointCloudData pcd = TangoSupport.transformPointCloud(transform.matrix, pointCloud);

    int numPoints = pcd.numPoints;

    if (numPoints != 0) {
        int numFloats = 4 * numPoints;
        for (int j = 0; j < numFloats; j = j + 4) {
            myOutWriter.write(String.format("v %f %f %f\n", pcd.points.get(j),
                                pcd.points.get(j), pcd.points.get(j + 2)));
        }
    }
}

我不确定代码是否正确。但是，我在这里的原因是因为当我运行此代码时，TangoSupport.transformPointCloud(transform.matrix, pointCloud) 调用会使应用程序崩溃。我得到的错误:

A/libc: Fatal signal 11 (SIGSEGV), code 2, fault addr 0x7f61830000 in tid 14384 (.javapointcloud)

关于如何解决此问题或如何解决此问题有什么想法吗？

谢谢!

Answer 1

我设法通过这样做解决这个问题:

TangoSupport.TangoMatrixTransformData transform =
                        TangoSupport.getMatrixTransformAtTime(pointCloud.timestamp,
                                TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                                TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH,
                                TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                                TangoSupport.TANGO_SUPPORT_ENGINE_TANGO,
                                TangoSupport.ROTATION_IGNORED);

if (transform.statusCode == TangoPoseData.POSE_VALID) {
    int numPoints = pointCloud.numPoints;
    Vector3 point = new Vector3(0f, 0f, 0f);

    double dTransformMatrix[] = new double[transform.matrix.length];

    for (int k = 0; k < transform.matrix.length; k++) {
        dTransformMatrix[k] = (double) transform.matrix[k];
    }

    if (numPoints != 0) {
        int numFloats = 4 * numPoints;
        for (int j = 0; j < numFloats; j = j + 4) {
             if (pointCloud.points.get(j + 3) >= 0.5) {
                 point.x = pointCloud.points.get(j);
                 point.y = pointCloud.points.get(j + 1);
                 point.z = pointCloud.points.get(j + 2);
                 point = point.multiply(dTransformMatrix);
                 myOutWriter.write(String.format("v %f %f %f\n", point.x, point.y, point.z));
             }
         }
     }
}