I am hoping someone can lead me in the right direction for getting Body data from the Orbec Persee on Android.
Update 2:
…or, this is a prelude to a bug report - Advanced
I have created a new project with only the relevant pattern I am attempting to use. Basically, everything seems to work smoothly until the native code attempts to build my joints when my body comes into view.
Here is the error I am receiving.
E/art: JNI ERROR (app bug): attempt to pass an instance of com.orbbec.astra.Matrix3 as argument 3 to void com.orbbec.astra.Joint.(int, int, com.orbbec.astra.Vector2D, com.orbbec.astra.Vector3D, com.orbbec.astra.Matrix3)
A/libc: Fatal signal 11 (SIGSEGV), code 1, …
Update:
Looking at the Unity example (which I managed to get working on the Persee via Unity2017.3.0f3), a similar context can be found in the Unity SDK SkeletonRenderer script.
for (int i = 0; i < joints.Length; i++)
{
joints[i] = (GameObject)Instantiate(JointPrefab, Vector3.zero, Quaternion.identity);
// Joint.<init>(int, int, com.orbbec.astra.Vector2D, com.orbbec.astra.Vector3D, com.orbbec.astra.Matrix3)
}
Minimal Example:
public class MainActivity extends Activity {
private Executor ex;
/**
* OnCreate
*
* Create a thread executor as to not block UI thread
*
* @param savedInstanceState
*/
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
// Executor class
ex = new Executor(){
@Override
public void execute(@NonNull Runnable r) {
new Thread (r).start();
}
};
// Execute the Runnable object
ex.execute(new UpdateRunnable());
}
/**
* "Main" Runnable code (to be run inside of Astra initialized Thread)
*/
private class UpdateRunnable implements Runnable {
@Override
public void run() {
// Astra.initialize
final AstraAndroidContext aac = new AstraAndroidContext(getApplicationContext());
aac.initialize();
aac.openAllDevices();
// Set up Astra Stream Reader(s)
/*
I have tried a several combinations of StreamReader variables
- a single StreamReader, device/default as arg, no arg, different sensor NUMs...
*/
//StreamSet.open();
final StreamReader depthStreamReader = StreamSet.open("device/sensor0").createReader();
final StreamReader bodyStreamReader = StreamSet.open("device/sensor0").createReader();
// Get Astra Streams
final DepthStream depthStream = DepthStream.get(depthStreamReader);
final BodyStream bodyStream = BodyStream.get(bodyStreamReader);
// Start Astra Streams
depthStream.start();
bodyStream.start();
// Set Astra Stream Listener(s)
/**
* StreamReader.FrameListener (anonymous)
*
* Listening for frames using AstraSDK, attempting to track body
*/
final StreamReader.FrameListener frameListener = new StreamReader.FrameListener() {
@Override
public void onFrameReady(StreamReader streamReader, ReaderFrame readerFrame) {
Log.d("frame", "frame ready");
BodyFrame bf = BodyFrame.get(readerFrame);
Iterable<Body> bodies = bf.getBodies(); // fails when there are bodies to get
if (bodies != null) {
Log.d("getting somewhere? ", "" + bodies.iterator().hasNext());
}
}
};
// Listener set
bodyStreamReader.addFrameListener(frameListener);
/*
The following loop continues until I step into frame. Once enough of my body is in the
frame, the program exits with the following message tail:
...
D/getting somewhere?: false
D/frame: frame ready
D/getting somewhere?: false
D/frame: frame ready
E/art: JNI ERROR (app bug): attempt to pass an instance of com.orbbec.astra.Matrix3 as argument 3 to void com.orbbec.astra.Joint.<init>(int, int, com.orbbec.astra.Vector2D, com.orbbec.astra.Vector3D, com.orbbec.astra.Matrix3)
A/libc: Fatal signal 11 (SIGSEGV), code 1
(In place of the error, I was expecting: D/getting somewhere?: true)
*/
while (true){
Astra.update();
}
}
}
}
Any help would be greatly appreciated.
Thank You,
- Dustin
