Google Tango Point Cloud with No Data

Question

After downloading the latest C examples from the gitrepo, I compiled the point cloud example.

Upon build error, I needed to update the code using the (supposedly) supported TangoPointCloud object (Vega release). Obviously, I was using the TangoXYZij cloud previously and everything worked fine.

However, now my Tango devices does not have any new data upon the call to TangoSupport_getLatestPointCloudAndNewDataFlag (which I added).

To be more specific, after calling TangoSupport_getLatestPointCloudAndNewDataFlag(point_cloud_manager_, &front_cloud_ /* &new_data */);, there is essential what looks like an empty structure for front_cloud_. As in, front_cloud_->num_points is 0, etc..

I am really wondering if someone else has had this problem and if there is a work around.

EDIT: I am using Android Studio 2.1.3

Answer 1

I just update the tango-examples-c and the example compile and run without problems. Is the example project or some modified version of it?

If you are going from TangoXYZijk to TangoPointCloud, you need to replace TangoSupport but also the TangoService callback TangoService_connectOnPointCloudAvailable. In the callback of this function you need then to call TangoSupport_updatePointCloud.

Check the unmodified cpp_point_cloud_example for the details