Callbacks are not been called - google-project-tango

Question

I'm writing an app with Tango and getting a strange bug.
My program successfully connected to the tango service,and i have setup a callback with "mTango.connectListener(framePairs, new Tango.TangoUpdateCallback() {...});",but i can not get any tango datas because the callback have never been called.
here is my main code
private void bindTangoService() {
Log.d(TAG, "正在绑定Tango 服务");
if (mIsConnected) {
return;
}
mTango = new Tango(mContext, new Runnable() {
#Override
public void run() {
synchronized (TangoAR.this) {
try {
mConfig = setupTangoConfig(mTango, false, false);
mTango.connect(mConfig);
startupTango();
TangoSupport.initialize(mTango);
mIsConnected = true;
onRotationUpdated(Util.getDisplayRotation(mContext));
makeToast("tango 连接成功");
Log.d(TAG, "tango 连接成功");
} catch (TangoOutOfDateException e) {
makeToast("TangoOutOfDateException");
} catch (Throwable e) {
makeToast(e.getMessage());
}
}
}
});
}
private TangoConfig setupTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
Log.d(TAG, "setupTangoConfig");
TangoConfig config = tango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
//在tango连接后使用相机必须使用true
config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, false);
//motion
config.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
config.putBoolean(TangoConfig.KEY_BOOLEAN_AUTORECOVERY, true);
config.putBoolean(TangoConfig.KEY_BOOLEAN_DRIFT_CORRECTION, true);
//depth
config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true);
config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD);//使用点云，不使用老版本的TANGO_DEPTH_MODE_XYZ_IJ
//area learning
if (isLearningMode) {
//区域学习需要权限授权
if (checkAndRequestTangoPermissions(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE)) {
Log.d(TAG, "PERMISSIONTYPE_ADF_LOAD_SAVE 开启");
config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);
}
}
if (isLoadAdf) {
//加载ADF
ArrayList<String> fullUuidList;
fullUuidList = tango.listAreaDescriptions();
if (fullUuidList.size() > 0) {
config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
fullUuidList.get(fullUuidList.size() - 1));
}
}
return config;
}
private void startupTango() {
Log.d(TAG, "startupTango");
ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<>();
//设置参考系，0，0,0点为tango服务启动时设备的位置，测量目标为设备的位置
Log.d(TAG, "startup");
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
TangoPoseData.COORDINATE_FRAME_DEVICE));
Log.d(TAG, "startup-listener");
mTango.connectListener(framePairs, new Tango.TangoUpdateCallback() {
#Override
public void onPoseAvailable(final TangoPoseData pose) {
//motion
Log.d(TAG, "onPoseAvailable");
//获取手机新的状态
mTangoTime = pose.timestamp;
TangoPoseData poseData = TangoSupport.getPoseAtTime(
mTangoTime,
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
TangoSupport.ENGINE_OPENGL,
TangoSupport.ENGINE_OPENGL,
mDisplayRotation);
if (poseData.statusCode == TangoPoseData.POSE_VALID) {
mTangoPoseData = poseData;
}
}
#Override
public void onPointCloudAvailable(TangoPointCloudData pointCloud) {
//记录当扫描到到的深度信息
mPointCloudManager.updatePointCloud(pointCloud);
Log.d(TAG, "depth size:" + pointCloud.numPoints);
}
#Override
public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
Log.d(TAG, "onXyzIjAvailable");
}
#Override
public void onFrameAvailable(int cameraId) {
Log.d(TAG, "onFrameAvailable");
}
#Override
public void onTangoEvent(TangoEvent event) {
Log.d(TAG, event.eventValue);
}
});
Log.d(TAG, "startup-listener-end");
}
mTango.connect(mConfig); execute successfully and without any exception.
I have been plagued by this problem for three days.I need a hero.Thanks everyone.
Notes:The rear camera is not be used for tango because i use it elsewhere.

Answer 1

I had the same problem. For me the solution was to request permissions:
startActivityForResult(
Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
Tango.TANGO_INTENT_ACTIVITYCODE);