JNIエラー：TangoPointCloudDataのインスタンスをonXyzIjAvailableに渡そうとしました。

Question

Google Tango Java APIを使用してRGBおよびポイントクラウドデータを収集するアプリケーションを作成しようとしています。これまではTangoCameraPreviewを使ってRGBカメラからの画像を画面に表示することができました。しかし、すぐに、私は壁に向けてデバイスを指し、それはすぐに次の例外でクラッシュし、いくつかの本当の深さをキャプチャするために起動すると：

I/tango_client_api: TangoErrorType TangoService_connectOnTangoEvent(void (*)(void*, const TangoEvent*), ...): Connecting callbacks... 
I/tango_client_api: TangoErrorType TangoService_connectOnTangoEvent(void (*)(void*, const TangoEvent*), ...): Done connecting callbacks. 
E/art: JNI ERROR (app bug): attempt to pass an instance of com.google.atap.tangoservice.TangoPointCloudData as argument 1 to void com.threedvideo.threedvideograbber.MainActivity$2.onXyzIjAvailable(com.google.atap.tangoservice.TangoXyzIjData) 
A/art: art/runtime/check_jni.cc:64] JNI DETECTED ERROR IN APPLICATION: bad arguments passed to void com.threedvideo.threedvideograbber.MainActivity$2.onXyzIjAvailable(com.google.atap.tangoservice.TangoXyzIjData) (see above for details) 
A/art: art/runtime/check_jni.cc:64] "Binder_3" prio=5 tid=17 Runnable 
A/art: art/runtime/check_jni.cc:64] | group="main" sCount=0 dsCount=0 obj=0x64946ba0 self=0x4ab112f8 
A/art: art/runtime/check_jni.cc:64] | sysTid=10535 nice=0 cgrp=apps sched=0/0 handle=0x4ab11028 
A/art: art/runtime/check_jni.cc:64] | state=R schedstat=(67362009 19616160 284) utm=3 stm=3 core=1 HZ=100 
A/art: art/runtime/check_jni.cc:64] | stack=0x4ab81000-0x4ab85000 stackSize=1016KB 
A/art: art/runtime/check_jni.cc:64] (no managed stack frames) 
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] "Binder_3" prio=5 tid=17 Runnable 
    | group="main" sCount=0 dsCount=0 obj=0x64946ba0 self=0x4ab112f8 
    | sysTid=10535 nice=0 cgrp=apps sched=0/0 handle=0x4ab11028 
    | state=R schedstat=(67965509 19729327 285) utm=3 stm=3 core=1 HZ=100 
    | stack=0x4ab81000-0x4ab85000 stackSize=1016KB 
    native: art::Thread::DumpStack(std::ostream&) const+87 [0x41714b78] (libart.so) 
    native: ??? [0x4170cc62] (libart.so) 
    native: art::Runtime::Abort()+79 [0x4170d204] (libart.so) 
    native: art::LogMessage::~LogMessage()+507 [0x415b889c] (libart.so) 
    native: ??? [0x415c0ad4] (libart.so) 
    native: art::JniAbortF(char const*, char const*, ...)+51 [0x415c1254] (libart.so) 
    native: ??? [0x41667ee2] (libart.so) 
    native: ??? [0x41668444] (libart.so) 
    native: ??? [0x416c6e56] (libart.so) 
    native: ??? [0x415ca020] (libart.so) 
    native: _JNIEnv::CallVoidMethod(_jobject*, _jmethodID*, ...)+19 [0x489d97c8] (libtango_client_api.so) 
    native: onXYZijParcelAvailable+217 [0x489d98d6] (libtango_client_api.so) 
    native: TangoListener::onXYZijParcelAvailable(android::Parcel const&)+47 [0x489cf8f8] (libtango_client_api.so) 
    native: Tango::ClientListener::onTransact(unsigned int, android::Parcel const&, android::Parcel*, unsigned int)+261 [0x489dd0ee] (libtango_client_api.so) 
    native: android::BBinder::transact(unsigned int, android::Parcel const&, android::Parcel*, unsigned int)+57 [0x401dc222] (libbinder.so) 
    native: android::IPCThreadState::executeCommand(int)+505 [0x401e0796] (libbinder.so) 
    native: android::IPCThreadState::getAndExecuteCommand()+37 [0x401e0b16] (libbinder.so) 
    native: android::IPCThreadState::joinThreadPool(bool)+47 [0x401e0b8c] (libbinder.so) 
    native: ??? [0x401e49a8] (libbinder.so) 
    native: android::Thread::_threadLoop(void*)+213 [0x401afa56] (libutils.so) 
    native: android::AndroidRuntime::javaThreadShell(void*)+65 [0x4023ceae] (libandroid_runtime.so) 
    native: ??? [0x401af588] (libutils.so) 
    native: __thread_entry+72 [0x401341b0] (libc.so) 
    native: pthread_create+240 [0x40134348] (libc.so) 
    (no managed stack frames) 

これは、ライブラリの非互換性のいくつかの種類のように私には思われるが、私はそのかなり確信していますTango CoreとTango Java APIはともに最新バージョンで、昨日更新された。私は何が欠けていますか？

package com.threedvideo.threedvideograbber; 

import android.support.v7.app.AppCompatActivity; 
import android.os.Bundle; 
import android.util.Log; 

import com.google.atap.tangoservice.Tango; 
import com.google.atap.tangoservice.TangoCameraIntrinsics; 
import com.google.atap.tangoservice.TangoCameraPreview; 
import com.google.atap.tangoservice.TangoConfig; 
import com.google.atap.tangoservice.TangoCoordinateFramePair; 
import com.google.atap.tangoservice.TangoErrorException; 
import com.google.atap.tangoservice.TangoEvent; 
import com.google.atap.tangoservice.TangoInvalidException; 
import com.google.atap.tangoservice.TangoOutOfDateException; 
import com.google.atap.tangoservice.TangoPointCloudData; 
import com.google.atap.tangoservice.TangoPoseData; 
import com.google.atap.tangoservice.TangoXyzIjData; 

import java.util.ArrayList; 


public class MainActivity extends AppCompatActivity { 

    private static final String TAG = "MainActivity"; 

    private Tango tango; 
    private TangoConfig tangoConfig; 
    private TangoCameraPreview tangoCameraPreview; 

    @Override 
    protected void onCreate(Bundle savedInstanceState) { 
     super.onCreate(savedInstanceState); 
     setContentView(R.layout.activity_main); 
    } 

    @Override 
    protected void onStart() { 
     super.onStart(); 

     tango = new Tango(MainActivity.this, new Runnable() { 
      @Override 
      public void run() { 
       synchronized (MainActivity.this) { 
        try { 
         tangoConfig = setupTangoConfig(tango); 
         tango.connect(tangoConfig); 

         tangoCameraPreview = (TangoCameraPreview) findViewById(R.id.tango_camera_preview); 
         tangoCameraPreview.connectToTangoCamera(tango, TangoCameraIntrinsics.TANGO_CAMERA_COLOR); 

         startupTango(); 
        } catch (TangoOutOfDateException e) { 
         Log.e(TAG, "Tango service out of date", e); 
        } catch (TangoErrorException e) { 
         Log.e(TAG, "Tango service error", e); 
        } catch (TangoInvalidException e) { 
         Log.e(TAG, "Tango invalid exception", e); 
        } 
       } 
      } 
     }); 
    } 

    @Override 
    protected void onPause() { 
     super.onPause(); 

     synchronized (MainActivity.this) { 
      tangoCameraPreview.disconnectFromTangoCamera(); 
      tango.disconnect(); 
     } 
    } 

    private TangoConfig setupTangoConfig(Tango t) { 
     TangoConfig config = t.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT); 

     config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true); 
     config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, true); 
     config.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true); 
     config.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, true); 
     config.putBoolean(TangoConfig.KEY_BOOLEAN_HIGH_RATE_POSE, true); 
     config.putBoolean(TangoConfig.KEY_BOOLEAN_SMOOTH_POSE, true); 

     return config; 
    } 

    private void startupTango() { 
     final ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<>(); 
     framePairs.add(new TangoCoordinateFramePair(TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE, TangoPoseData.COORDINATE_FRAME_DEVICE)); 
     tango.connectListener(framePairs, new Tango.OnTangoUpdateListener() { 
      @Override 
      public void onPoseAvailable(TangoPoseData tangoPoseData) { 
      } 

      @Override 
      public void onXyzIjAvailable(TangoXyzIjData tangoXyzIjData) { 
      } 

      @Override 
      public void onFrameAvailable(int cameraId) { 
       if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_COLOR) 
        tangoCameraPreview.onFrameAvailable(); 
      } 

      @Override 
      public void onTangoEvent(TangoEvent tangoEvent) { 
      } 

      @Override 
      public void onPointCloudAvailable(TangoPointCloudData tangoPointCloudData) { 
      } 
     }); 
    } 
} 

Answer 1

同じか、少なくとも非常に類似した問題に答えhereをチェックしてください：ここで

は、アプリケーションのほとんどすべてのコードです。そこにある解決策は、セットアップコード（setupTangoConfig()）に、

config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD); 

と追加する必要がありました。