Android 谷歌探戈-使用三维重建

我目前正在使用谷歌探戈，我正在尝试在Unity上运行一个示例场景。将Tango SDK导入Unity后，该场景称为“ExperimentalMeshBuilderWithColor”，可在文件夹“资产”>“TangoSDK”>“示例”>“场景”中找到

到目前为止，该应用程序总是在代码中的同一位置崩溃，但并不一致，这意味着该应用程序运行一段看似随机的时间，然后停止工作。唯一可重现的观察结果是代码本身中的位置，而不是崩溃所需的时间（运行时间从10秒到5分钟不等）。 位置在

API.Tango3DR\u extractPreallocatedMeshSegment（m_context，ref gridIndex，ref mesh）；

的函数中，该函数在脚本“tango3dronstruction.cs”（资产>TangoSDK>核心>脚本>tangowrapers）中调用

在我看来，崩溃似乎发生在“tango_3d_重建”中。因此，“库（资产>插件>Android>libs>armeabi-v7a）使用

[DllImport（tango_3DR_DLL）]

和

私有常量字符串tango_3DR_DLL=“tango_3d_重建”；

在上述脚本“tango_3DR_重建”中“。由于此库不是开源的，我无法搜索到比目前更多的内容。 我正在添加用logcats adb记录的崩溃转储文件，希望有人遇到过类似的问题，并能提出解决问题的方法

到目前为止，我尝试过的其他事情都没有成功：
-在Tango Ux脚本中禁用“绘制默认Ux异常”
-在播放器设置中禁用“动态批处理”
-在Tango动态网格脚本中启用“选择性网格”
-在Tango Manager中更改“分辨率”、“网格最小顶点”和“点云最大点”
-在Tango Manager中启用“允许过期API”

I/Unity   (18880): API Tango 3DR extraction of mesh segment
I/Unity   (18880): (Filename: ./artifacts/generated/common/runtime/UnityEngineDebugBindings.gen.cpp Line: 42)
F/tango   (18880): mesh-toolbox.cc:652 'faces_in' Must be non NULL
F/libc    (18880): Fatal signal 6 (SIGABRT) at 0x000049c0 (code=-6), thread 18901 (UnityMain)
W/st-log  (16075): Initial features: Max - 7749, Min - 8877
D/NvOsDebugPrintf(  171): FlashError: Flash Parameter Error!!
D/NvOsDebugPrintf(  171): FlashError: TorchBrightness is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on midtone common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on highlight common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on luma is 0!!
I/DEBUG   (  161): ***
I/DEBUG   (  161): Build fingerprint: 'google/tango/yellowstone:4.4.2/KOT49H.160920/160920002:user/release-keys'
I/DEBUG   (  161): Revision: '0'
I/DEBUG   (  161): pid: 18880, tid: 18901, name: UnityMain  >>> com.ICVR.Hirtc <<<
I/DEBUG   (  161): signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
W/st-log  (16075): Final features: 12445
W/st-log  (16075): Initial features: Max - 7748, Min - 8872
I/DEBUG   (  161):     r0 00000000  r1 000049d5  r2 00000006  r3 00000000
I/DEBUG   (  161):     r4 00000006  r5 00000000  r6 000049d5  r7 0000010c
I/DEBUG   (  161):     r8 4fc0ee9c  r9 493b2bd8  sl 493b2a74  fp 493b2a78
I/DEBUG   (  161):     ip 4fc0da30  sp 493b25e8  lr 40045011  pc 40053f78  cpsr 000f0010
I/DEBUG   (  161):     d0  6e20656220747375  d1  0a4c4c554e206e6f
I/DEBUG   (  161):     d2  6361662720323536  d3  4d20276e695f7365
I/DEBUG   (  161):     d4  bfa1999900000000  d5  3f800000be59999b
I/DEBUG   (  161):     d6  7fc000007fc00000  d7  7fc0000000000004
I/DEBUG   (  161):     d8  0000000000000000  d9  000000004479999a
I/DEBUG   (  161):     d10 0000000000000000  d11 0000000000000000
I/DEBUG   (  161):     d12 0000000000000000  d13 0000000000000000
I/DEBUG   (  161):     d14 0000000000000000  d15 0000000000000000
I/DEBUG   (  161):     d16 0000000000000000  d17 0000000000000000
I/DEBUG   (  161):     d18 404ec923fbf77686  d19 0000000000004400
I/DEBUG   (  161):     d20 0000000000000000  d21 3f3280f6be826169
I/DEBUG   (  161):     d22 8000000080000000  d23 0000000080000000
I/DEBUG   (  161):     d24 3f3280f600000000  d25 0000000000000000
I/DEBUG   (  161):     d26 8000000080000000  d27 3f8000003f800000
I/DEBUG   (  161):     d28 00000000be826169  d29 8000000080000000
I/DEBUG   (  161):     d30 3f3280f6be826169  d31 beba7ea2bf0ff884
I/DEBUG   (  161):     scr 3000009b
I/DEBUG   (  161): 
I/DEBUG   (  161): backtrace:
I/DEBUG   (  161):     #00  pc 00021f78  /system/lib/libc.so (tgkill+12)
I/DEBUG   (  161):     #01  pc 0001300d  /system/lib/libc.so (pthread_kill+48)
I/DEBUG   (  161):     #02  pc 00013221  /system/lib/libc.so (raise+10)
I/DEBUG   (  161):     #03  pc 00011f57  /system/lib/libc.so
I/DEBUG   (  161):     #04  pc 0002182c  /system/lib/libc.so (abort+4)
I/DEBUG   (  161):     #05  pc 0000684b  /system/lib/libcutils.so (__android_log_assert+86)
I/DEBUG   (  161):     #06  pc 0005e69d  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161): stack:
I/DEBUG   (  161):          493b25a8  00000000  
I/DEBUG   (  161):          493b25ac  4479999a  /system/lib/libmedia_jni.so (android::JMediaCodec::JMediaCodec(_JNIEnv*, _jobject*, char const*, bool, bool)+177)
I/DEBUG   (  161):          493b25b0  00000000  
I/DEBUG   (  161):          493b25b4  000003ff  
I/DEBUG   (  161):          493b25b8  4fc5e484  
I/DEBUG   (  161):          493b25bc  4fc0ee60  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b25c0  4fc0da30  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b25c4  4fc0ee9c  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b25c8  493b2bd8  [stack:18901]
I/DEBUG   (  161):          493b25cc  493b2a74  [stack:18901]
I/DEBUG   (  161):          493b25d0  40028439  /system/lib/libcutils.so
I/DEBUG   (  161):          493b25d4  5579c454  [anon:libc_malloc]
I/DEBUG   (  161):          493b25d8  493b264c  [stack:18901]
I/DEBUG   (  161):          493b25dc  00000000  
I/DEBUG   (  161):          493b25e0  df0027ad  
I/DEBUG   (  161):          493b25e4  00000000  
I/DEBUG   (  161):     #00  493b25e8  00000006  
I/DEBUG   (  161):          493b25ec  00000000  
I/DEBUG   (  161):          493b25f0  000049d5  
I/DEBUG   (  161):          493b25f4  4fc0da30  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b25f8  4fc0da30  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b25fc  40045011  /system/lib/libc.so (pthread_kill+52)
I/DEBUG   (  161):     #01  493b2600  00000006  
I/DEBUG   (  161):          493b2604  00000000  
I/DEBUG   (  161):          493b2608  4fc0ee60  /data/app-lib/com.ICVR.Hirtc-2/libtango_3d_reconstruction.so
I/DEBUG   (  161):          493b260c  40045225  /system/lib/libc.so (raise+14)
I/DEBUG   (  161):     #02  493b2610  493b261c  [stack:18901]
I/DEBUG   (  161):          493b2614  40043f5b  /system/lib/libc.so
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near r1:
I/DEBUG   (  161):     000049b4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049c4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049d4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049e4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049f4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a04 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a14 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a24 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a34 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a44 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a54 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a64 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a74 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a84 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a94 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004aa4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near r6:
I/DEBUG   (  161):     000049b4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049c4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049d4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049e4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     000049f4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a04 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a14 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a24 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a34 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a44 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a54 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a64 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a74 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a84 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004a94 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     00004aa4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near r8:
I/DEBUG   (  161):     4fc0ee7c 5495de30 5495e028 5002c6ac 5495de48  
I/DEBUG   (  161):     4fc0ee8c 5495de30 5495e028 5002c6ac 00000100  
I/DEBUG   (  161):     4fc0ee9c 00000001 4b25f014 4b26562c 4b26a334  
I/DEBUG   (  161):     4fc0eeac 4b263634 4b26833c 4b266344 4b25f644  
I/DEBUG   (  161):     4fc0eebc 00000000 4b26163c 00000000 00000000  
I/DEBUG   (  161):     4fc0eecc 4b25c2c4 4b2ff014 4b27094c 4b25c248  
I/DEBUG   (  161):     4fc0eedc 4b25c27c 4b25c27c 4edf8014 4b25c280  
I/DEBUG   (  161):     4fc0eeec 4b25c2b4 4b25c2b4 4b26e954 4edfa00c  
I/DEBUG   (  161):     4fc0eefc 4b26c32c 4b26c95c 4edfc004 00000000  
I/DEBUG   (  161):     4fc0ef0c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef1c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef2c 3ff00000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef3c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef4c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef5c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     4fc0ef6c 00000000 00000000 00000000 00000000  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near r9:
I/DEBUG   (  161):     493b2bb8 00000000 00000000 56902894 567ddfac  
I/DEBUG   (  161):     493b2bc8 0000028c 5579c454 4fc0992c 00000000  
I/DEBUG   (  161):     493b2bd8 4fc09940 4fc097d0 56067b94 56067b94  
I/DEBUG   (  161):     493b2be8 56067b95 56067b94 56067bc4 56067d94  
I/DEBUG   (  161):     493b2bf8 4fc5d620 00000018 56067b94 4fc09954  
I/DEBUG   (  161):     493b2c08 00000006 00000000 00001002 00000000  
I/DEBUG   (  161):     493b2c18 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     493b2c28 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     493b2c38 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     493b2c48 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     493b2c58 00000000 00000000 00000000 00000000  
I/DEBUG   (  161):     493b2c68 00000008 493b2c28 4fc5d620 00000000  
I/DEBUG   (  161):     493b2c78 00000120 493b2bdc 4fc5d908 4fc5dcc4  
I/DEBUG   (  161):     493b2c88 4fc5e3b8 fffffffd 400801c0 00000000  
I/DEBUG   (  161):     493b2c98 00000000 00000000 00000000 493b2fb0  
I/DEBUG   (  161):     493b2ca8 493b3410 fffff020 493b3360 4f53a14d  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near sl:
I/DEBUG   (  161):     493b2a54 4f4f86a1 4fb07064 567fdfec 56067ba8  
I/DEBUG   (  161):     493b2a64 493b2a80 493b2a88 493b2a8c 493b2fb0  
I/DEBUG   (  161):     493b2a74 4fc5e490 56902894 0000028c 5579c454  
I/DEBUG   (  161):     493b2a84 fffffffd 567fdfec 567ddfac 561b2a9c  
I/DEBUG   (  161):     493b2a94 5684bca0 493b2bc0 493b2fb0 00000000  
I/DEBUG   (  161):     493b2aa4 493b2fb0 493b3410 493b2b38 493b3360  
I/DEBUG   (  161):     493b2ab4 4f539f5d fffffffd ffffffff ffffffff  
I/DEBUG   (  161):     493b2ac4 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2ad4 ffffffff 4fc0da30 ffffffff 55dd1d30  
I/DEBUG   (  161):     493b2ae4 00000000 493b2bc0 493b2b28 ffffffff  
I/DEBUG   (  161):     493b2af4 00000000 ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b04 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b14 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b24 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b34 ffffffff 561b2a9c ffffffff ffffffff  
I/DEBUG   (  161):     493b2b44 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near fp:
I/DEBUG   (  161):     493b2a58 4fb07064 567fdfec 56067ba8 493b2a80  
I/DEBUG   (  161):     493b2a68 493b2a88 493b2a8c 493b2fb0 4fc5e490  
I/DEBUG   (  161):     493b2a78 56902894 0000028c 5579c454 fffffffd  
I/DEBUG   (  161):     493b2a88 567fdfec 567ddfac 561b2a9c 5684bca0  
I/DEBUG   (  161):     493b2a98 493b2bc0 493b2fb0 00000000 493b2fb0  
I/DEBUG   (  161):     493b2aa8 493b3410 493b2b38 493b3360 4f539f5d  
I/DEBUG   (  161):     493b2ab8 fffffffd ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2ac8 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2ad8 4fc0da30 ffffffff 55dd1d30 00000000  
I/DEBUG   (  161):     493b2ae8 493b2bc0 493b2b28 ffffffff 00000000  
I/DEBUG   (  161):     493b2af8 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b08 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b18 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b28 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b38 561b2a9c ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2b48 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near ip:
I/DEBUG   (  161):     4fc0da10 4fc0a1e0 4fa88ccc 4fc0a2a0 4fc0a2c8  
I/DEBUG   (  161):     4fc0da20 4fc0a2b8 4fa8a5ec 4fbcc9f8 4fbcca94  
I/DEBUG   (  161):     4fc0da30 00000000 00000000 00000000 4005ae85  
I/DEBUG   (  161):     4fc0da40 4005af81 4003fc45 4003fc31 40040820  
I/DEBUG   (  161):     4fc0da50 40040924 40028739 400579f9 40050b55  
I/DEBUG   (  161):     4fc0da60 40040f78 40040d90 40044f55 40040ca8  
I/DEBUG   (  161):     4fc0da70 40040d6c 40055a9c 40040600 40040d2c  
I/DEBUG   (  161):     4fc0da80 4003f258 400287f5 4005453c 40053b58  
I/DEBUG   (  161):     4fc0da90 40055091 40061da1 4b2fb9d9 40053fb8  
I/DEBUG   (  161):     4fc0daa0 4b2fba9d 400a56a4 40094514 40094504  
I/DEBUG   (  161):     4fc0dab0 4033e8dc 4033e060 4033e24c 4033e328  
I/DEBUG   (  161):     4fc0dac0 4033e154 4033e2c4 4033e3dc 4033e364  
I/DEBUG   (  161):     4fc0dad0 4033e314 4033e140 4033e04c 4033e378  
I/DEBUG   (  161):     4fc0dae0 4033eb20 4033e4d0 4033e074 4033e788  
I/DEBUG   (  161):     4fc0daf0 4033e3b4 4033e088 4033e864 4033e8a0  
I/DEBUG   (  161):     4fc0db00 4033e3c8 4033e128 4033e418 4033e42c  
I/DEBUG   (  161): 
I/DEBUG   (  161): memory near sp:
I/DEBUG   (  161):     493b25c8 493b2bd8 493b2a74 40028439 5579c454  
I/DEBUG   (  161):     493b25d8 493b264c 00000000 df0027ad 00000000  
I/DEBUG   (  161):     493b25e8 00000006 00000000 000049d5 4fc0da30  
I/DEBUG   (  161):     493b25f8 4fc0da30 40045011 00000006 00000000  
I/DEBUG   (  161):     493b2608 4fc0ee60 40045225 493b261c 40043f5b  
I/DEBUG   (  161):     493b2618 ffffffff ffffffdf ffffffff ffffffff  
I/DEBUG   (  161):     493b2628 ffffffff a717134c ffffffff 5579c454  
I/DEBUG   (  161):     493b2638 4fc5e484 40053830 40028439 4002884f  
I/DEBUG   (  161):     493b2648 493b2a5c 6873656d 6f6f742d 786f626c  
I/DEBUG   (  161):     493b2658 3a63632e 20323536 63616627 695f7365  
I/DEBUG   (  161):     493b2668 4d20276e 20747375 6e206562 4e206e6f  
I/DEBUG   (  161):     493b2678 0a4c4c55 ffffff00 ffffffff ffffffff  
I/DEBUG   (  161):     493b2688 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b2698 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b26a8 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161):     493b26b8 ffffffff ffffffff ffffffff ffffffff  
I/DEBUG   (  161): 
I/DEBUG   (  161): code around pc:
I/DEBUG   (  161):     40053f58 e8bd00f0 e3700a01 912fff1e e2600000  
I/DEBUG   (  161):     40053f68 ea006f7c e92d50f0 e3a07f43 ef000000  
I/DEBUG   (  161):     40053f78 e8bd50f0 e3700a01 912fff1e e2600000  
I/DEBUG   (  161):     40053f88 ea006f74 e92d50f0 e3a070ee ef000000  
I/DEBUG   (  161):     40053f98 e8bd50f0 e3700a01 912fff1e e2600000  
I/DEBUG   (  161):     40053fa8 ea006f6c 00000000 e1520003 8a0000ab  
I/DEBUG   (  161):     40053fb8 f5d1f040 e92d4001 e3520000 11500001  
I/DEBUG   (  161):     40053fc8 08bd8001 f5d1f000 f5d1f040 e3520020  
I/DEBUG   (  161):     40053fd8 3a00008f e3520080 3a000084 e2603000  
I/DEBUG   (  161):     40053fe8 e213303f 0a000015 e0422003 e1b0cf83  
I/DEBUG   (  161):     40053ff8 44d1c001 44c0c001 24d1c001 24c0c001  
I/DEBUG   (  161):     40054008 24d1c001 24c0c001 e1b0ce83 5a000001  
I/DEBUG   (  161):     40054018 f4a1030d f480031d 3a000001 f421070d  
I/DEBUG   (  161):     40054028 f400071d e1b0cd83 5a000001 f4210a0d  
I/DEBUG   (  161):     40054038 f4000a2d 3a000001 f421020d f400023d  
I/DEBUG   (  161):     40054048 f5d1f080 f5d1f0c0 e3520902 3a000004  
I/DEBUG   (  161): 
I/DEBUG   (  161): code around lr:
I/DEBUG   (  161):     40044ff0 447b4b13 42b3e010 4812d10e 44786a1e  
I/DEBUG   (  161):     40045000 ec90f7fb e9d8f00d 46224631 efaef00e  
I/DEBUG   (  161):     40045010 d00a3001 e00b2400 2b00681b 480ad1eb  
I/DEBUG   (  161):     40045020 44782403 ec7ef7fb f001e002 6804fa1b  
I/DEBUG   (  161):     40045030 fa18f001 46206005 bf00bd70 0003b3b2  
I/DEBUG   (  161):     40045040 0003b3a6 0003b39e 0003b37a bf7ef7ff  
I/DEBUG   (  161):     40045050 4a3e4b3d 43f0e92d 4606b08b 447b460d  
I/DEBUG   (  161):     40045060 6823589c 930946a1 f9fcf001 8000f8d0  
I/DEBUG   (  161):     40045070 d0482d00 f0104628 280ff80b d8444604  
I/DEBUG   (  161):     40045080 ffe4f7ff d1064286 4629200f e8a2f00d  
I/DEBUG   (  161):     40045090 d03c2800 482ee02e f7fb4478 482debc2  
I/DEBUG   (  161):     400450a0 e0154478 d11342b0 482b6a06 f7fb4478  
I/DEBUG   (  161):     400450b0 4a2aec3a 46332120 447aa801 fc24f013  
I/DEBUG   (  161):     400450c0 a8012101 ff22f01a 46061c42 e011d104  
I/DEBUG   (  161):     400450d0 28006800 e02cd1e6 46294630 f00d4622  
I/DEBUG   (  161):     400450e0 1c43e8de d11e4607 f9bcf001 29046801  
W/st-log  (16075): Final features: 12670
W/st-log  (16075): Initial features: Max - 7811, Min - 8820
D/NvOsDebugPrintf(  171): FlashError: Flash Parameter Error!!
D/NvOsDebugPrintf(  171): FlashError: TorchBrightness is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on midtone common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on highlight common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on luma is 0!!
W/st-log  (16075): Final features: 13076
I/BootReceiver(  899): Copying /data/tombstones/tombstone_04 to DropBox (SYSTEM_TOMBSTONE)
W/ActivityManager(  899):   Force finishing activity com.ICVR.Hirtc/com.google.unity.GoogleUnityActivity
W/st-log  (16075): Initial features: Max - 8554, Min - 9290
D/NvOsDebugPrintf(  171): FlashError: Flash Parameter Error!!
D/NvOsDebugPrintf(  171): FlashError: TorchBrightness is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on midtone common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on highlight common gain is 0!!
D/NvOsDebugPrintf(  171): FlashError: Torch on luma is 0!!
W/InputDispatcher(  899): channel '65134b70 com.ICVR.Hirtc/com.google.unity.GoogleUnityActivity (server)' ~ Consumer closed input channel or an error occurred.  events=0x9
E/InputDispatcher(  899): channel '65134b70 com.ICVR.Hirtc/com.google.unity.GoogleUnityActivity (server)' ~ Channel is unrecoverably broken and will be disposed!
W/InputDispatcher(  899): Attempted to unregister already unregistered input channel '65134b70 com.ICVR.Hirtc/com.google.unity.GoogleUnityActivity (server)'
I/WindowState(  899): WIN DEATH: Window{65134b70 u0 com.ICVR.Hirtc/com.google.unity.GoogleUnityActivity}
W/MediaFocusControl(  899):   AudioFocus   audio focus client died
I/MediaFocusControl(  899): AudioFocus  removeFocusStackEntry(): removing entry for android.os.BinderProxy@64d37158
E/Sensors (  899): [nosae] setDelay: 8000000 sec
D/Sensors (  899): Writing packet 54 32 0A 04 40 1F 00 00 74 
I/tango   (16075): TangoService.cc:176 ThreadLoop attempting disconnect number 1.
I/tango   (16075): tango_context.cc:617 TangoContext::StopRuntime() /data/data/com.google.tango/files/datasets/
I/tango   (16075): tango_application.cc:310 TangoApplication: Stopping...
I/tango   (16075): tango_hal_device_wrapper.cc:187 HAL device wrapper calling stop.
W/tango   (16075): tango_image_callback.cc:48 Could not promote most recent yuv image.
W/tango   (16075): tango_image_callback.cc:48 Could not promote most recent yuv image.
I/WindowState(  899): WIN DEATH: Window{6514a170 u0 SurfaceView}
D/Sensors (  899): Writing packet 54 36 0B 00 74 
D/phs:ipc-loc(  180): Socket 11: hangup from client "com.ICVR.Hirtc"
W/ActivityManager(  899): Exception thrown during pause
W/ActivityManager(  899): android.os.DeadObjectException
W/ActivityManager(  899):   at android.os.BinderProxy.transact(Native Method)
W/ActivityManager(  899):   at android.app.ApplicationThreadProxy.schedulePauseActivity(ApplicationThreadNative.java:660)
W/ActivityManager(  899):   at com.android.server.am.ActivityStack.startPausingLocked(ActivityStack.java:768)
W/ActivityManager(  899):   at com.android.server.am.ActivityStack.finishActivityLocked(ActivityStack.java:2473)
W/ActivityManager(  899):   at com.android.server.am.ActivityStack.finishTopRunningActivityLocked(ActivityStack.java:2347)
W/ActivityManager(  899):   at com.android.server.am.ActivityStackSupervisor.finishTopRunningActivityLocked(ActivityStackSupervisor.java:2045)
W/ActivityManager(  899):   at com.android.server.am.ActivityManagerService.handleAppCrashLocked(ActivityManagerService.java:9569)
W/ActivityManager(  899):   at com.android.server.am.ActivityManagerService.makeAppCrashingLocked(ActivityManagerService.java:9462)
W/ActivityManager(  899):   at com.android.server.am.ActivityManagerService.crashApplication(ActivityManagerService.java:10107)
W/ActivityManager(  899):   at com.android.server.am.ActivityManagerService.handleApplicationCrashInner(ActivityManagerService.java:9658)
W/ActivityManager(  899):   at com.android.server.am.NativeCrashListener$NativeCrashReporter.run(NativeCrashListener.java:86)
D/Sensors (  899): Writing packet 54 31 0B 00 74 
E/Sensors (  899): [nosae] setDelay: 10000000 sec
D/Sensors (  899): Writing packet 54 32 0A 04 10 27 00 00 74 
I/ActivityManager(  899): Process com.ICVR.Hirtc (pid 18880) has died.
D/Sensors (  899): Writing packet 54 36 10 00 74 
D/Sensors (  899): Writing packet 54 31 10 00 74 
I/art     (  899): Heap trim of managed (duration=15.580083ms, advised=2000KB) and native (duration=3.711084ms, advised=1388KB) heaps. Managed heap utilization of 67%.
W/st-log  (16075): Final features: 15209
I/ActivityManager(  899): Killing 14992:com.google.android.youtube/u0a70 (adj 15): empty #17
I/art     (  165): Process 18880 terminated by signal (6)
I/art     ( 1218): GcCauseBackground sticky partial concurrent mark sweep GC freed 10044(598KB) AllocSpace objects, 22(599KB) LOS objects, 5% free, 16MB/17MB, paused 5.245ms total 30.962ms
I/CastMediaRouteProvider(10905): in onDiscoveryRequestChanged: request=null
W/MdnsClient_Cast(10905): Multicast lock held. Releasing. Subtypes:"233637DE"
W/MdnsClient(10905): unicast receiver thread is already dead.
W/GCoreFlp(11146): No location to return for getLastLocation()
W/FusedLocationProvider(11146): location=null
W/GCoreFlp(11146): No location to return for getLastLocation()
W/FusedLocationProvider(11146): location=null
D/NvOsDebugPrintf(  171): routeResultFromCAM: WARNING: only 0 requests in flight on sensor 0, frame drops likely
D/NvOsDebugPrintf(  171): routeResultFromCAM: WARNING: only 0 requests in flight on sensor 1, frame drops likely
D/NvOsDebugPrintf(  171): NvCamScaler_OutputThread-- (error 0x0)
I/art     ( 1218): GcCauseBackground partial concurrent mark sweep GC freed 8107(513KB) AllocSpace objects, 18(3MB) LOS objects, 6% free, 13MB/14MB, paused 7.073ms total 27.552ms
D/NvOsDebugPrintf(  171): SensorBayer_SetPowerLevel 1
E/Sensors (  899): [nosae] setDelay: 10000000 sec
D/Sensors (  899): Writing packet 54 32 0A 04 10 27 00 00 74 
I/Camera2ClientBase(  171): Closed Camera 1
I/tango   (16075): tango_hal_device_wrapper.cc:190 HAL device wrapper stop call succeeded.
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): tango_application.cc:347 TangoApplication: Joined successfully.
I/tango   (16075): TangoService.cc:182 ThreadLoop stopped Tango Runtime.
I/tango   (16075): tango_context.cc:637 TangoContext::DestroyRuntime()
I/tango   (16075): tango_context.cc:1755 TangoContext: Destroying Tango Service Application.
I/tango   (16075): tango_context.cc:1599 Logging 2 events.
I/tango   (16075): tango_application.cc:310 TangoApplication: Stopping...
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): tango_application.cc:347 TangoApplication: Joined successfully.
I/tango   (16075): tango_context.cc:1764 Trying to reset application_.
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): image-cache-inl.h:356 Starting ImageCache drain.
I/tango   (16075): image-cache-inl.h:385 Finished ImageCache drain.
I/tango   (16075): tango-hal-interface.cc:96 Average feature detection frequency: 10.0257
D/NvOsDebugPrintf(  171): NvCamScaler_OutputThread-- (error 0x0)
D/NvOsDebugPrintf(  171): SensorBayer_SetPowerLevel 1
D/Sensors (  899): Writing packet 54 36 0A 00 74 
D/Sensors (  899): Writing packet 54 31 0A 00 74 
I/tango   (16075): tango_hal_wrapper.cc:112 Closing Tango HAL.
I/tango   (16075): tango_hal_device_wrapper.cc:216 HAL device wrapper calling close, buffer balance at: 0
I/tango   (16075): tango_hal_device_wrapper.cc:224 HAL device wrapper close call succeeded.
I/tango   (16075): feature_tracker.cc:49 Total num. of frame-frame matches before RANSAC: 301924
I/tango   (16075): manager.cc:131 IMU average latency 0.52253ms variance 0.498342 max 9.95973ms hz 100.067
I/tango   (16075): manager.cc:137 VIO average latency 17.8815ms variance 49.9061 max 51.4582ms hz 10.0159
I/tango   (16075): tango_context.cc:1767 Done resetting application_. (Took 0.710731 seconds.)
I/tango   (16075): tango_context.cc:1599 Logging 4 events.
I/Camera2ClientBase(  171): Closed Camera 0
I/tango   (16075): tango_context.cc:1772 TangoContext: Runtime has shut down! (Took 0.713128 seconds.)
I/tango   (16075): TangoService.cc:187 ThreadLoop destroyed Tango Runtime.
I/art     ( 1700): Heap trim of managed (duration=1.129500ms, advised=104KB) and native (duration=578.166us, advised=0B) heaps. Managed heap utilization of 56%.
E/WifiController(  899): Not handled here 155652
D/WifiController(  899): battery changed pluggedType: 2
I/DownloadManagerWrapper( 1143): onReceive() : Charging = false
I/PlayCommon(17218): [831] PlayEventLogger.uploadEventsImpl: Preparing logs for uploading
I/PlayCommon(17218): [831] PlayEventLogger.uploadEventsImpl: No file ready to send

I/Unity（18880）：网格段的API Tango 3DR提取
I/Unity（18880）：（文件名：./artifacts/generated/common/runtime/UnityEngineDebugBindings.gen.cpp行：42）
F/tango（18880）：网格工具箱。cc:652“faces_in”必须为非空
F/libc（18880）：0x000049c0处的致命信号6（SIGABRT）（代码=-6），线程18901（UnityMain）
W/st对数（16075）：初始特征：最大值为-7749，最小值为-8877
D/NvOsDebugPrintf（171）：闪光器错误：闪光器参数错误！！
D/NvOsDebugPrintf（171）：闪光器错误：火炬亮度为0！！
D/NvOsDebugPrintf（171）：闪光器错误：中间音上的火炬公共增益为0！！
D/NVOSDEBUGBRINTF（171）：闪光器错误：火炬亮起公共增益为0！！
D/NvOsDebugPrintf（171）：闪光器错误：luma上的火炬为0！！
I/DEBUG（161）：***
I/DEBUG（161）：构建指纹：“google/tango/yellowstone:4.4.2/KOT49H.160920/16092002:用户/发布密钥”
I/DEBUG（161）：修订版：“0”
I/DEBUG（161）：pid:18880，tid:18901，名称：UnityMain>>>com.ICVR.Hirtc