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

我是Google Tango开发的新手，我正在尝试将多个点云压缩成一个点云。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)));
        }
    }
}

关于如何解决这个问题或如何解决这个问题有什么想法吗

---

谢谢

我通过这样做来解决这个问题：

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));
             }
         }
     }
}

TangoSupport.TangoMatrixTransformData转换=
TangoSupport.GetMatrix转换时间（pointCloud.timestamp，
A.协调服务的框架和启动，
Tangopoa.坐标、帧、相机、深度、，
TangoSupport.TANGO\u支持\u引擎\u OPENGL，
TangoSupport.TANGO\u支持\u引擎\u TANGO，
TangoSupport。旋转（忽略）；
if（transform.statusCode==a.POSE\u有效）{
int numPoints=pointCloud.numPoints；
矢量3点=新矢量3（0f，0f，0f）；
double dTransformMatrix[]=新的double[transform.matrix.length]；
for（int k=0；k=0.5）{
point.x=pointCloud.points.get（j）；
point.y=pointCloud.points.get（j+1）；
point.z=pointCloud.points.get（j+2）；
点=点乘法（数据传输矩阵）；
myOutWriter.write（String.format（“v%f%f%f\n”，point.x，point.y，point.z））；
}
}
}
}

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));
             }
         }
     }
}