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google-ar / arcore-android-sdk

ARCore SDK for Android Studio
https://developers.google.com/ar
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Issues using ARCore from Rust on pixel 1 #289

Closed yangchengjian closed 6 years ago

yangchengjian commented 6 years ago

Can't use the camera as a background through arcore NDK C


04-05 12:45:05.658 24332-24406/? E/memtrack: Couldn't load memtrack module
04-05 12:45:06.084 24332-24406/? E/memtrack: Couldn't load memtrack module
04-05 12:45:10.375 3432-3446/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-05 12:45:10.375 3432-3446/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-05 12:45:10.378 24760-24779/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-05 12:45:10.523 24760-24779/? E/NdkImageReader: AImageReader_getWindow
04-05 12:45:10.555 662-1108/? E/mm-camera: <CPP   ><ERROR> 2209: cpp_module_notify_add_stream: failed, CPP current version can not support rotation
04-05 12:45:10.768 662-24868/? E/mm-camera: <ISP   ><ERROR> 1255: isp_handler_module_handle_reg_update:  Warning! Invalid reg_update state 0
04-05 12:45:10.776 662-24870/? E/Laser: open_sensors gets called!
04-05 12:45:10.776 662-24870/? E/Laser: sensors_poll_context_t::activate gets called!
04-05 12:45:10.868 662-24816/? E/mm-camera: <ISP   ><ERROR> 227: isp_hw_update_util_request_reg_update: Warning! reg_cmd ioctl happened on frame boundary
04-05 12:45:10.904 662-24822/? E/mm-camera: <ERROR> 831: dmlroc_init: dmlroc_init cfg: camif 3036x4048, elem 126x126, thres 0.002500, accur 8
04-05 12:45:10.904 662-24822/? E/mm-camera: <ERROR> 832: dmlroc_init: dmlroc_init cfg: offsetH 8, offsetV 6
04-05 12:45:10.904 662-24822/? E/mm-camera: <ERROR> 833: dmlroc_init: dmlroc_init mesh: rxc 13x17, subs 4, hxw 64x64, offset vert 18, horz 24
04-05 12:45:11.265 24332-24406/? E/memtrack: Couldn't load memtrack module
04-05 12:45:11.430 24332-24406/? E/memtrack: Couldn't load memtrack module
04-05 12:45:15.790 2059-24256/? E/ctxmgr: [AppIntervalImpl]closeInterval: ongoing
04-05 12:45:16.683 24332-24406/? E/memtrack: Couldn't load memtrack module
04-05 12:45:16.917 24332-24406/? E/memtrack: Couldn't load memtrack module
inio commented 6 years ago

We're a little confused by what you're asking. When using ARCore, you must only interact with the camera through the ARCore API. For drawing the background, you would need to an OpenGL view, drawing the provided texture onto a quad.

If that sounds like what you're already doing, we'll need more context to help debug what's going on here. Does the C++ HelloAR example work correctly on your device?

yangchengjian commented 6 years ago

https://github.com/google-ar/arcore-unity-sdk/issues/89#issuecomment-364321835 May be more similar to this one

inio commented 6 years ago

Are you experiencing a crash at all? I'm not seeing any fatal log messages or a stack trace in your very brief sippet. In detail, what is the issue you are having?

If your app is crashing or an error is being returned, please include a logcat with messages at all levels normally printed (including W and I messages), not just E as included above.

In google-ar/arcore-unity-sdk#89 the particular message you quoted is generated after the fatal crash message, so I don't think that's related at all.

yangchengjian commented 6 years ago

I'm sorry about that.

The app does not crash, just can't see the camera preview.

The following is the debug level log：


04-11 16:34:59.064 27591-27591/? I/BugleDataModel: failed to start protective service, will try laterjava.lang.IllegalStateException: Not allowed to start service Intent { cmp=com.google.android.apps.messaging/.shared.datamodel.action.ActionExecutorImpl$EmptyService }: app is in background uid UidRecord{c7df045 u0a96 TRNB idle change:uncached procs:2 seq(0,0,0)}
04-11 16:35:02.230 885-1437/? I/ActivityManager: START u0 {act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] flg=0x10200000 cmp=com.yangchengjian.servocef/.MainActivity bnds=[237,252][439,514]} from uid 10035
04-11 16:35:02.235 673-673/? D/QCOM PowerHAL: LAUNCH HINT: ON
04-11 16:35:02.238 673-673/? D/QCOM PowerHAL: Activity launch hint handled
04-11 16:35:02.252 27646-27785/? W/GCoreFlp: No location to return for getLastLocation()
04-11 16:35:02.258 885-31993/? I/ActivityManager: Start proc 27719:com.yangchengjian.servocef/u0a169 for activity com.yangchengjian.servocef/.MainActivity
04-11 16:35:02.340 27719-27719/? I/Servo: Loading the NativeActivity
04-11 16:35:02.357 27719-27719/? I/Servo: Loaded the NativeActivity
04-11 16:35:02.364 27719-27719/? D/Servo: Received url http://192.168.0.108:8080/sample8/index.html
04-11 16:35:02.390 27719-27739/? D/RustAndroidGlueStdouterr: Entering android_main
04-11 16:35:02.390 27719-27739/? D/RustAndroidGlueStdouterr: Creating application thread
04-11 16:35:02.390 27719-27719/? I/Servo: onCreate finish
04-11 16:35:02.393 27719-27719/? D/Servo: onPause
04-11 16:35:02.434 27719-27741/? I/Adreno: QUALCOMM build                   : 2941438, I916dfac403
                                           Build Date                       : 10/03/17
                                           OpenGL ES Shader Compiler Version: EV031.21.02.00
                                           Local Branch                     : O18A
                                           Remote Branch                    : 
                                           Remote Branch                    : 
                                           Reconstruct Branch               : 
04-11 16:35:02.436 673-673/? D/QCOM PowerHAL: LAUNCH HINT: OFF
04-11 16:35:02.439 27719-27741/? I/Adreno: PFP: 0x005ff087, ME: 0x005ff063
04-11 16:35:02.448 27719-27741/? I/zygote: android::hardware::configstore::V1_0::ISurfaceFlingerConfigs::hasWideColorDisplay retrieved: 0
04-11 16:35:02.453 885-948/? I/ActivityManager: Displayed com.yangchengjian.servocef/.MainActivity: +204ms
04-11 16:35:02.479 27719-27741/? D/RustAndroidGlueStdouterr: servo_jni::init_jni
04-11 16:35:02.480 27719-27741/? D/RustAndroidGlueStdouterr: servo_jni::init_ar
04-11 16:35:02.480 27719-27741/? D/RustAndroidGlueStdouterr: Ar::new
04-11 16:35:02.480 27719-27741/? I/third_party/arcore/ar/core/android/sdk/session_create.cc: Entering ArSession_create
04-11 16:35:02.501 27719-27741/? W/native: commandlineflags.cc:1503 Ignoring RegisterValidateFunction() for flag pointer 0xce4b6a60: no flag found at that address
04-11 16:35:02.498 27741-27741/? W/Thread-2: type=1400 audit(0.0:52148): avc: denied { read } for name="stat" dev="proc" ino=4026532357 scontext=u:r:untrusted_app:s0:c512,c768 tcontext=u:object_r:proc_stat:s0 tclass=file permissive=0
04-11 16:35:02.502 27719-27741/? I/native: version_check.cc:23 ARCore Version: APK version:1.1.180312063
04-11 16:35:02.502 27719-27741/? I/native: version_check.cc:24 ARCore Version: emulated SDK version:1.1.180226000
04-11 16:35:02.502 27719-27741/? I/third_party/arcore/ar/core/android/sdk/session_create.cc: ARCore Version: SDK build name: 1.1
04-11 16:35:02.502 27719-27741/? I/third_party/arcore/ar/core/android/sdk/session_create.cc: Dynamite load ok.
04-11 16:35:02.502 27719-27740/? D/RustAndroidGlueStdouterr: native : commandlineflags.cc:1503 Ignoring RegisterValidateFunction() for flag pointer 0xce4b6a60: no flag found at that address
                                                             native : version_check.cc:23 ARCore Version: APK version:1.1.180312063
                                                             native : version_check.cc:24 ARCore Version: emulated SDK version:1.1.180226000
04-11 16:35:02.508 27741-27741/? W/Thread-2: type=1400 audit(0.0:52149): avc: denied { read } for name="stat" dev="proc" ino=4026532357 scontext=u:r:untrusted_app:s0:c512,c768 tcontext=u:object_r:proc_stat:s0 tclass=file permissive=0
04-11 16:35:02.514 27719-27741/? W/native: commandlineflags.cc:1503 Ignoring RegisterValidateFunction() for flag pointer 0xc9170970: no flag found at that address
04-11 16:35:02.514 27719-27740/? D/RustAndroidGlueStdouterr: native : commandlineflags.cc:1503 Ignoring RegisterValidateFunction() for flag pointer 0xc9170970: no flag found at that address
04-11 16:35:02.516 27719-27741/? I/native: session_create_implementation.cc:527 Entering ArSession_createImplementation. ARCore SDK version: [1.1.180226000].
04-11 16:35:02.516 27719-27740/? D/RustAndroidGlueStdouterr: native : session_create_implementation.cc:527 Entering ArSession_createImplementation. ARCore SDK version: [1.1.180226000].
04-11 16:35:02.521 2402-2419/? W/native: helpers.cc:1037 Defaulting to persistent calibration file.
04-11 16:35:02.521 2402-2419/? W/native: helpers.cc:1014 Property calibration_cad is not defined.
04-11 16:35:02.527 2402-2419/? I/native: calibration_provider.cc:609 Instantiating calibration provider with sources:
                                            CAD: /data/user/0/com.google.ar.core/files/device_profile_database/device_profile_sailfish_colon_8.1.proto
                                            Factory: 
                                            Online: /data/data/com.google.ar.core/files/config/online-calibration.xml
                                            ActiveFile: kOnlineCalibrationFile
                                            Hardcoded CAD model fallback: Disabled
                                            Device type: kSailfish
04-11 16:35:02.529 2402-2419/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-11 16:35:02.529 2402-2419/? W/native: calibration_provider.cc:403 Requested parsing of Online calibration, but fell back to CAD calibration: /data/user/0/com.google.ar.core/files/device_profile_database/device_profile_sailfish_colon_8.1.proto.
                                         Attempted fallbacks:
                                         - Online calibration: File does not exist: /data/data/com.google.ar.core/files/config/online-calibration.xml.
                                         - Factory calibration: File not set.
04-11 16:35:02.529 2402-2419/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-11 16:35:02.529 2402-2419/? I/native: calibration_provider.cc:392 Successfully parsed requested CAD calibration: /data/user/0/com.google.ar.core/files/device_profile_database/device_profile_sailfish_colon_8.1.proto.
04-11 16:35:02.536 27719-27741/? E/native: device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-11 16:35:02.536 27719-27740/? D/RustAndroidGlueStdouterr: native : device_profile_proto_io.h:225 No camera of type 2 though appears in extrinsics.
04-11 16:35:02.543 2402-2402/? W/ARCore.Analytics: Log Source: PJgQUl1CRhj8-rGlwtloKA==
04-11 16:35:02.544 27719-27741/? I/native: performance_manager.cc:22 Processor data: Num processors 4
                                           Processor type: LittleBig
                                           Num small cores 2
                                           Max frequency 1593600
                                           Min frequency 307200
                                           Small cores 0 1
                                           Num big cores 2
                                           Max frequency 2150400
                                           Min frequency 307200
                                           Big cores 2 3
04-11 16:35:02.544 27719-27740/? D/RustAndroidGlueStdouterr: native : performance_manager.cc:22 Processor data: Num processors 4
                                                             Processor type: LittleBig
                                                             Num small cores 2
                                                             Max frequency 1593600
                                                             Min frequency 307200
                                                             Small cores 0 1
                                                             Num big cores 2
                                                             Max frequency 2150400
                                                             Min frequency 307200
                                                             Big cores 2 3
04-11 16:35:02.545 27719-27741/? I/native: device_provider.cc:808 Identified device type: kSailfish
04-11 16:35:02.545 27719-27740/? D/RustAndroidGlueStdouterr: native : device_provider.cc:808 Identified device type: kSailfish
04-11 16:35:02.547 27719-27741/? I/native: feature_matching_base.cc:38 Using gyro prediction for matching.
04-11 16:35:02.547 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matching_base.cc:38 Using gyro prediction for matching.
04-11 16:35:02.547 27719-27741/? I/native: feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-0 is 21.2132 pixels.
04-11 16:35:02.547 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-0 is 21.2132 pixels.
04-11 16:35:02.548 27719-27741/? I/native: feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-1 is 42.4264 pixels.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-1 is 42.4264 pixels.
04-11 16:35:02.548 27719-27741/? I/native: feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-2 is 64.1467 pixels.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-2 is 64.1467 pixels.
04-11 16:35:02.548 27719-27741/? I/native: feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-3 is 99.4286 pixels.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-3 is 99.4286 pixels.
04-11 16:35:02.548 27719-27741/? I/native: feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-4 is 148.18 pixels.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-4 is 148.18 pixels.
04-11 16:35:02.548 27719-27741/? I/native: gyro_feature_matching.cc:20 Running tracker at 10 Hz.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : gyro_feature_matching.cc:20 Running tracker at 10 Hz.
04-11 16:35:02.548 27719-27741/? I/native: vio_helper.cc:48 Use calibrated IMU scale factors.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_helper.cc:48 Use calibrated IMU scale factors.
04-11 16:35:02.548 27719-27741/? I/native: vio_helper.cc:60 Use calibrated IMU misalignment factors.
04-11 16:35:02.548 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_helper.cc:60 Use calibrated IMU misalignment factors.
04-11 16:35:02.549 27719-27741/? I/native: data_manager.cc:79 Mapping Config: 
                                           ViwlsConfig: 
                                           OnlineMappingConfig: 
                                           enable_online_viwls: 1
                                           load_online_map_in_vio: 1
                                           enable_lite_com: 1

                                           MapFormulationConfig: 
                                           vio_drift_tolerance_rotation: 0.05
                                           vio_drift_tolerance_translation: 0.2
                                           enable_keypoint_pruning: 1
                                           enable_local_map_tracking: 1
                                           add_every_nth_keyframe: 3

                                           WLS_options: 
                                           estimate_camera_intrinsics: 0
                                           estimate_imu_camera_extrinsics: 0
                                           estimate_imu_intrinsics: 0
                                           calculate_keyframe_covariance: 0
                                           calculate_landmark_covariance: 0
                                           calculate_calibration_parameters_covariance: 0
                                           use_huber_loss_visual_cost_term: 1
                                           nonlinear_optimization_type: NLWLS
                                           num_outlier_rejection_loops: 1
                                           log_viwls_state_estimates_to_file: 0
                                           minimize_photometric_error: 0
                                           fail_on_missing_inv_depth_base_keyframe: 1
                                           enable_lite_com: 1
                                           ViwlsProblemType: kMarginalizedViwls

                                           MapSparsifierConfig: 
                                           enable_debug_output: 0
                                           marginalize_n_keyframes: 20
                                           retain_n_keyframes: 5
                                           enable_marginalization: 1

                                           MapLandmarkConfig: 
                                           min_landmark_observations: 5
                                           LandmarkParam: k3DInverseDepth
                                           min_depth_of_pointlandmark_from_image_plane: 0.05
                                           max_depth_of_pointlandmark_from_image_plane: 15
                                           landmark_covariance_use_approximation: 1
                                           keypoint_pixel_sigma: 1

                                           Debug_options: 
                                           simulator_export_state_error_sigma_info: 0
                                           log_visual_residuals: 0
                                           evaluation_log_directory: 

                                           DataManagerConfig: 
                                           visualization_enabled: 0
                                           enable_online_calibration: 0
                                           log_maps_for_visualization: 0
                                           fisheye_buffer_size: 7
                                           save_map_with_uuid_as_filename: 0
                                           save_map_filename: 
                                           evaluation_log_directory: 

                                           MapLifeCycleConfig: 
                                           save_map_for_structure_relocalization: 0
                                           enable_multi_map_merging: 1
                                           max_solver_memory_for_map_split: 100

                                           MultiMapManagerConfig: 
                                           threshold_position_meters: 2
                                           threshold_orientation_radians: 0.174
                                           min_num_cross_adf_constraints: 9
                                           perform_full_multimap_optimization: 0
                                           merge_active_map_until_stable_coregistration: 1
                                           min_number_of_keyframes_to_add_adf: 25
04-11 16:35:02.549 27719-27740/? D/RustAndroidGlueStdouterr: native : data_manager.cc:79 Mapping Config: 
                                                             ViwlsConfig: 
                                                             OnlineMappingConfig: 
                                                             enable_online_viwls: 1
                                                             load_online_map_in_vio: 1
                                                             enable_lite_com: 1

                                                             MapFormulationConfig: 
                                                             vio_drift_tolerance_rotation: 0.05
                                                             vio_drift_tolerance_translation: 0.2
                                                             enable_keypoint_pruning: 1
                                                             enable_local_map_tracking: 1
                                                             add_every_nth_keyframe: 3

                                                             WLS_options: 
                                                             estimate_camera_intrinsics: 0
                                                             estimate_imu_camera_extrinsics: 0
                                                             estimate_imu_intrinsics: 0
                                                             calculate_keyframe_covariance: 0
                                                             calculate_landmark_covariance: 0
04-11 16:35:02.549 27719-27740/? D/RustAndroidGlueStdouterr: calculate_calibration_parameters_covariance: 0
                                                             use_huber_loss_visual_cost_term: 1
                                                             nonlinear_optimization_type: NLWLS
                                                             num_outlier_rejection_loops: 1
                                                             log_viwls_state_estimates_to_file: 0
                                                             minimize_photometric_error: 0
                                                             fail_on_missing_inv_depth_base_keyframe: 1
                                                             enable_lite_com: 1
                                                             ViwlsProblemType: kMarginalizedViwls

                                                             MapSparsifierConfig: 
                                                             enable_debug_output: 0
                                                             marginalize_n_keyframes: 20
                                                             retain_n_keyframes: 5
                                                             enable_marginalization: 1

                                                             MapLandmarkConfig: 
                                                             min_landmark_observations: 5
04-11 16:35:02.549 27719-27740/? D/RustAndroidGlueStdouterr: LandmarkParam: k3DInverseDepth
04-11 16:35:02.549 27719-27740/? D/RustAndroidGlueStdouterr: min_depth_of_pointlandmark_from_image_plane: 0.05
                                                             max_depth_of_pointlandmark_from_image_plane: 15
                                                             landmark_covariance_use_approximation: 1
                                                             keypoint_pixel_sigma: 1

                                                             Debug_options: 
                                                             simulator_export_state_error_sigma_info: 0
                                                             log_visual_residuals: 0
                                                             evaluation_log_directory: 

                                                             DataManagerConfig: 
                                                             visualization_enabled: 0
                                                             enable_online_calibration: 0
                                                             log_maps_for_visualization: 0
                                                             fisheye_buffer_size: 7
                                                             save_map_with_uuid_as_filename: 0
                                                             save_map_filename: 
                                                             evaluation_log_directory: 

                                                             MapLifeCycleConfig: 
04-11 16:35:02.549 27719-27740/? D/RustAndroidGlueStdouterr: save_map_for_structure_relocalization: 0
                                                             enable_multi_map_merging: 1
                                                             max_solver_memory_for_map_split: 100

                                                             MultiMapManagerConfig: 
                                                             threshold_position_meters: 2
                                                             threshold_orientation_radians: 0.174
                                                             min_num_cross_adf_constraints: 9
                                                             perform_full_multimap_optimization: 0
                                                             merge_active_map_until_stable_coregistration: 1
                                                             min_number_of_keyframes_to_add_adf: 25
04-11 16:35:02.657 18917-18917/? I/WallpaperService: engine paused
04-11 16:35:02.658 27719-27741/? I/native: backend_base.h:51 LC-backend initialized.
04-11 16:35:02.658 27719-27740/? D/RustAndroidGlueStdouterr: native : backend_base.h:51 LC-backend initialized.
04-11 16:35:02.687 27719-27741/? I/native: loop_detector_graph.cc:47 Initializing localizer with: loop_detector_engine: inverted_multi_index_pq
                                           low_power_localization: 0
                                           feature_descriptor: lens_invariant_ocvfreak
                                           override projection_matrix: 
                                           override quantizer: 
                                           override product quantizer: 
                                           max_num_of_image_to_image_matches: 1
                                           use_landmarks_for_relocalization: 0
                                           use_augmentation_with_previous_matches: 1
                                           verification_options:
                                           skip_bad_landmarks: 1
                                           overwrite_hamming_distance_threshold: -1
                                           min_geom_inlier_ratio: 0.35
                                           Ransac structure matching:
                                           min_num_points: 8
                                           max_iterations: 50
                                           confidence: 0.99
                                           sampson_error_threshold: 0.0008
                                           use_upright_pose_estimation: 1

                                           Ransac image to image matching:
                                           min_num_points: 8
                                           max_iterations: 50
                                           confidence: 0.99
                                           sampson_error_threshold: 0.0001
                                           use_upright_pose_estimation: 1

                                           compute_relative_pose_covariance: 0
                                           max_num_points_covariance_calc: 60
                                           min_match_image_time_difference: 10
                                           gravity_direction_threshold_degrees: 5
                                           matching_engine_options:
                                           projected_descriptor_dimensions: 16
                                           num_closest_words_for_nn_search: 30
                                           knn_search_epsilon: 2
                                           knn_max_radius: 100
                                           num_neighbors: -1
                                           vote_filter_type: covisibility-graph-filter
                                           use pose prior for image to image matching: 0
04-11 16:35:02.687 27719-27740/? D/RustAndroidGlueStdouterr: native : loop_detector_graph.cc:47 Initializing localizer with: loop_detector_engine: inverted_multi_index_pq
                                                             low_power_localization: 0
                                                             feature_descriptor: lens_invariant_ocvfreak
                                                             override projection_matrix: 
                                                             override quantizer: 
                                                             override product quantizer: 
                                                             max_num_of_image_to_image_matches: 1
                                                             use_landmarks_for_relocalization: 0
                                                             use_augmentation_with_previous_matches: 1
                                                             verification_options:
                                                             skip_bad_landmarks: 1
                                                             overwrite_hamming_distance_threshold: -1
                                                             min_geom_inlier_ratio: 0.35
04-11 16:35:02.687 27719-27740/? D/RustAndroidGlueStdouterr: Ransac structure matching:
                                                             min_num_points: 8
                                                             max_iterations: 50
                                                             confidence: 0.99
                                                             sampson_error_threshold: 0.0008
                                                             use_upright_pose_estimation: 1

                                                             Ransac image to image matching:
                                                             min_num_points: 8
                                                             max_iterations: 50
                                                             confidence: 0.99
                                                             sampson_error_threshold: 0.0001
                                                             use_upright_pose_estimation: 1

                                                             compute_relative_pose_covariance: 0
                                                             max_num_points_covariance_calc: 60
                                                             min_match_image_time_difference: 10
                                                             gravity_direction_threshold_degrees: 5
                                                             matching_engine_options:
                                                             projected_descriptor_dimensions: 16
04-11 16:35:02.687 27719-27740/? D/RustAndroidGlueStdouterr: num_closest_words_for_nn_search: 30
04-11 16:35:02.687 27719-27740/? D/RustAndroidGlueStdouterr: knn_search_epsilon: 2
                                                             knn_max_radius: 100
                                                             num_neighbors: -1
                                                             vote_filter_type: covisibility-graph-filter
                                                             use pose prior for image to image matching: 0
04-11 16:35:02.687 27719-27741/? I/native: session_create_implementation.cc:658 ArSession_createImplementation returning OK.
04-11 16:35:02.687 27719-27740/? D/RustAndroidGlueStdouterr: native : session_create_implementation.cc:658 ArSession_createImplementation returning OK.
04-11 16:35:02.687 27719-27741/? D/RustAndroidGlueStdouterr: ArSession_create____ar_status_________0
04-11 16:35:02.687 27719-27741/? I/native: session.cc:370 Entering Session::Resume.
04-11 16:35:02.688 27719-27740/? D/RustAndroidGlueStdouterr: native : session.cc:370 Entering Session::Resume.
04-11 16:35:02.688 27719-27741/? I/native: android_camera.cc:1073 Initializing camera manager.
04-11 16:35:02.688 27719-27740/? D/RustAndroidGlueStdouterr: native : android_camera.cc:1073 Initializing camera manager.
04-11 16:35:02.689 27719-27741/? I/native: android_camera.cc:1089 Camera manager initialized successfully with 2 cameras.
04-11 16:35:02.690 27719-27740/? D/RustAndroidGlueStdouterr: native : android_camera.cc:1089 Camera manager initialized successfully with 2 cameras.
04-11 16:35:02.691 27719-27741/? I/native: android_sensors.cc:52 Using uncalibrated accelerometer.
04-11 16:35:02.691 27719-27740/? D/RustAndroidGlueStdouterr: native : android_sensors.cc:52 Using uncalibrated accelerometer.
04-11 16:35:02.691 27719-27741/? I/native: android_sensors.cc:80 Starting thread.
04-11 16:35:02.691 27719-27740/? D/RustAndroidGlueStdouterr: native : android_sensors.cc:80 Starting thread.
04-11 16:35:02.691 27719-27741/? E/NdkImageReader: AImageReader_getWindow
04-11 16:35:02.692 27719-27774/? I/native: android_sensors.cc:120 Gyro min delay 2.5ms requesting 5ms
04-11 16:35:02.692 27719-27740/? D/RustAndroidGlueStdouterr: native : android_sensors.cc:120 Gyro min delay 2.5ms requesting 5ms
04-11 16:35:02.694 709-3510/? I/CameraService: CameraService::connect call (PID -1 "", camera ID 0) for HAL version default and Camera API version 2
04-11 16:35:02.696 709-3510/? I/Camera2ClientBase: Camera 0: Opened. Client:  (PID 27719, UID 10169)
04-11 16:35:02.696 709-3510/? I/CameraDeviceClient: CameraDeviceClient 0: Opened
04-11 16:35:02.699 709-3510/? I/CameraService: onTorchStatusChangedLocked: Torch status changed for cameraId=0, newStatus=0
04-11 16:35:02.700 27719-27774/? I/native: android_sensors.cc:137 Accel min delay 2.5ms requesting 5ms
04-11 16:35:02.700 27719-27740/? D/RustAndroidGlueStdouterr: native : android_sensors.cc:137 Accel min delay 2.5ms requesting 5ms
04-11 16:35:02.701 662-1107/? I/QCamera: <HAL><INFO> cameraDeviceOpen: 381: Open camera id 0 API version 768
04-11 16:35:02.704 662-1107/? I/QCamera: <HAL><INFO> openCamera: 678: [KPI Perf]: E PROFILE_OPEN_CAMERA camera id 0
04-11 16:35:02.704 709-3510/? I/CameraProviderManager: Camera device device@3.3/legacy/0 torch status is now NOT_AVAILABLE
04-11 16:35:02.704 709-3510/? I/CameraService: onTorchStatusChangedLocked: Torch status changed for cameraId=0, newStatus=0
04-11 16:35:02.705 662-1107/? I/mm-camera: <MCT   >< INFO> 64: mct_controller_new: Creating new mct_controller with session-id 2
04-11 16:35:02.705 662-27781/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E sensor
04-11 16:35:02.705 662-27781/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module sensor
04-11 16:35:02.706 662-27784/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E iface
04-11 16:35:02.706 662-27784/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module iface
04-11 16:35:02.706 662-27787/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E isp
04-11 16:35:02.706 662-27787/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module isp
04-11 16:35:02.706 662-27787/? I/mm-camera: <ISP   >< INFO> 190: isp_module_start_session: session id 2
04-11 16:35:02.706 662-27792/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E stats
04-11 16:35:02.706 662-27792/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module stats
04-11 16:35:02.707 662-27784/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module iface start_session rc = 1
04-11 16:35:02.707 662-27784/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 1, success = 1
04-11 16:35:02.707 662-27784/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X iface
04-11 16:35:02.708 662-27793/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E pproc
04-11 16:35:02.708 662-27793/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module pproc
04-11 16:35:02.709 662-27796/? I/mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E imglib
04-11 16:35:02.709 662-27796/? I/mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module imglib
04-11 16:35:02.709 662-27796/? I/mm-camera: <IMGLIB>< INFO> 1768: module_imglib_start_session: module_imglib_start_session:1768 ###Img_Loglevel 1, moduleMask 65535
04-11 16:35:02.709 662-27793/? I/mm-camera: <C2D   >< INFO> 394: c2d_module_start_session: Warning: Cannot open ION fd
04-11 16:35:02.710 662-27796/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module imglib start_session rc = 1
04-11 16:35:02.710 662-27796/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 2, success = 2
04-11 16:35:02.710 662-27796/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X imglib
04-11 16:35:02.710 662-27792/? I/mm-camera: <STATS_AIS >< INFO> 334: gyro_port_use_dsps_iface: Native sensor interface is default
04-11 16:35:02.711 662-27787/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module isp start_session rc = 1
04-11 16:35:02.711 662-27787/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 3, success = 3
04-11 16:35:02.711 662-27787/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X isp
04-11 16:35:02.712 662-27801/? I/mm-camera: <STATS_AIS >< INFO> 689: sensor_event_callback: Available: GYRO_TYPE
04-11 16:35:02.712 662-27801/? I/mm-camera: <STATS_AIS >< INFO> 686: sensor_event_callback: Available: ACCELEROMETER_TYPE
04-11 16:35:02.712 662-27801/? I/mm-camera: <STATS_AIS >< INFO> 692: sensor_event_callback: Available: GRAVITY_TYPE
04-11 16:35:02.712 662-27801/? I/mm-camera: <STATS_AIS >< INFO> 695: sensor_event_callback: Available: LINEAR_ACCELERATION_TYPE
04-11 16:35:02.712 662-27792/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module stats start_session rc = 1
04-11 16:35:02.712 662-27792/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 4, success = 4
04-11 16:35:02.712 662-27792/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X stats
04-11 16:35:02.713 662-27793/? I/Adreno: QUALCOMM build                   : 2941438, I916dfac403
                                         Build Date                       : 10/03/17
                                         OpenGL ES Shader Compiler Version: EV031.21.02.00
                                         Local Branch                     : O18A
                                         Remote Branch                    : 
                                         Remote Branch                    : 
                                         Reconstruct Branch               : 
04-11 16:35:02.714 662-27793/? D/vndksupport: Loading /vendor/lib/hw/gralloc.msm8996.so from current namespace instead of sphal namespace.
04-11 16:35:02.716 662-27793/? I/Adreno: PFP: 0x005ff087, ME: 0x005ff063
04-11 16:35:02.717 662-27793/? I//vendor/bin/hw/android.hardware.camera.provider@2.4-service: android::hardware::configstore::V1_0::ISurfaceFlingerConfigs::hasWideColorDisplay retrieved: 0
04-11 16:35:02.717 28234-27365/? I/EventLogSendingHelper: Sending log events.
04-11 16:35:02.717 662-27781/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module sensor start_session rc = 1
04-11 16:35:02.717 662-27781/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 5, success = 5
04-11 16:35:02.717 662-27781/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X sensor
04-11 16:35:02.718 662-27783/? I/mm-camera: <SENSOR>< INFO> 92: module_sensor_offload_init_config: E
04-11 16:35:02.720 662-27793/? D/eglc2d: Create display/context:0x1/0xeae1d180
04-11 16:35:02.721 662-27793/? D/eglc2d: EglC2DLoadProgram
04-11 16:35:02.721 662-27793/? I/eglc2d: Load program binary size 10756, format 34624
04-11 16:35:02.721 662-27793/? D/eglc2d: EglC2DLoadProgram
04-11 16:35:02.722 662-27793/? I/eglc2d: Load program binary size 9964, format 34624
04-11 16:35:02.722 662-27793/? I/eglc2d: Create triangle mesh for 12 x 12 grid
04-11 16:35:02.722 662-27793/? D/eglc2d: EglC2DLoadProgram
04-11 16:35:02.722 662-27793/? I/eglc2d: Load program binary size 10652, format 34624
04-11 16:35:02.722 662-27793/? I/eglc2d: Create triangle mesh for 12 x 12 grid
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod Reset
04-11 16:35:02.722 662-27793/? I/GoogGyro: enable tripod:1
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod mode, average threshold: 0.004000
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod mode, variance threshold: 0.001000
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod mode, adaptive step: 0.001000
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod mode, deque size: 100
04-11 16:35:02.722 662-27793/? I/GoogGyro: tripod mode, damping duration: 5.000000
04-11 16:35:02.723 662-27793/? I/mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module pproc start_session rc = 1
04-11 16:35:02.723 662-27793/? I/mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 6, success = 6
04-11 16:35:02.723 662-27793/? I/mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X pproc
04-11 16:35:02.727 662-1107/? I/mm-camera: <MCT   >< INFO> 4083: mct_pipeline_start_stream_internal: Adding session stream streamid= 0xf for session=2
04-11 16:35:02.727 662-1107/? I/mm-camera: <MCT   >< INFO> 4131: mct_pipeline_start_stream_internal: Linking session stream for session 2
04-11 16:35:02.727 662-1107/? I/mm-camera: <MCT   >< INFO> 464: mct_stream_start_link: Start linking Session-stream 0x2000f
04-11 16:35:02.727 662-1107/? I/mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xefdfd200 ide 2000f type 10 dim 0 0
04-11 16:35:02.727 662-1107/? I/mm-camera: <PPROC >< INFO> 447: pproc_port_add_modules_to_stream: stream 10 int_link = 0xef2dde00
04-11 16:35:02.727 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 2000f
04-11 16:35:02.727 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods paaf and goog_eis for identity 2000f
04-11 16:35:02.727 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods goog_eis and llvd for identity 2000f
04-11 16:35:02.728 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods llvd and ezt for identity 2000f
04-11 16:35:02.728 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods ezt and c2d for identity 2000f
04-11 16:35:02.728 662-1107/? I/mm-camera: <C2D   >< INFO> 1510: c2d_module_notify_add_stream: width 0, height 0, stride 0, scanline 0, is_type 0
04-11 16:35:02.728 662-1107/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods c2d and cpp for identity 2000f
04-11 16:35:02.728 662-1107/? I/mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 0, height 0, stride 0, scanline 0, framelen 0
04-11 16:35:02.728 662-1107/? E/mm-camera: <CPP   ><ERROR> 2209: cpp_module_notify_add_stream: failed, CPP current version can not support rotation
04-11 16:35:02.728 662-1107/? I/mm-camera: <CPP   >< INFO> 2275: cpp_module_notify_add_stream: : stream 10, fmt 1, asf_mode 0, sharpness_level 0.000000,asf mask 0, denoise 0, denoise_mask 0, dsdn mask 0,dsdn enable 0, tnr mask 0, tnr enable 0, ds_mask 0
04-11 16:35:02.728 662-1107/? I/mm-camera: <MCT   >< INFO> 4140: mct_pipeline_start_stream_internal: Session stream linked successfully session 2
04-11 16:35:02.730 662-1107/? I/QCamera: <HAL><INFO> openCamera: 688: [KPI Perf]: X PROFILE_OPEN_CAMERA camera id 0, rc: 0
04-11 16:35:02.730 662-1107/? I/QCamera: <HAL><INFO> initialize: 889: E :mCameraId = 0 mState = 1
04-11 16:35:02.731 662-1107/? I/QCamera: <HAL><INFO> initialize: 922: X
04-11 16:35:02.733 709-3511/? W/CameraDeviceClient: createSurfaceFromGbp: Camera 0 with consumer usage flag: 256: Forcing asynchronous mode for stream
04-11 16:35:02.733 709-3511/? W/CameraDeviceClient: createSurfaceFromGbp: Camera 0: Overriding format 0x1 to IMPLEMENTATION_DEFINED
04-11 16:35:02.735 662-1107/? I/QCamera: <HAL><INFO> configureStreamsPerfLocked: 1610: stream[0] type = 0, format = 34, width = 1920, height = 1080, rotation = 0, usage = 0x100
04-11 16:35:02.735 662-1107/? I/QCamera: <HAL><INFO> configureStreamsPerfLocked: 1610: stream[1] type = 0, format = 35, width = 640, height = 480, rotation = 0, usage = 0x3
04-11 16:35:02.735 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
04-11 16:35:02.736 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
04-11 16:35:02.736 662-27811/? I/mm-camera: <MCT   >< INFO> 720: mct_stream_start_link: Link Metadata stream 0x20001: do nothing
04-11 16:35:02.736 662-27811/? I/mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20001 stream type=7
04-11 16:35:02.736 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
04-11 16:35:02.739 709-3510/? D/Camera3-Device: Set real time priority for request queue thread (tid 27821)
04-11 16:35:02.739 27719-27772/? I/native: cameras.cc:247 Camera changed state from 0 to 1: Camera device opened succesfully.
04-11 16:35:02.739 27719-27772/? I/native: cameras.cc:247 Camera changed state from 1 to 2: Capture session starting...
04-11 16:35:02.739 27719-27772/? I/native: cameras.cc:247 Camera changed state from 2 to 3: Capture session started streaming.
04-11 16:35:02.740 27719-27740/? D/RustAndroidGlueStdouterr: native : cameras.cc:247 Camera changed state from 0 to 1: Camera device opened succesfully.
                                                             native : cameras.cc:247 Camera changed state from 1 to 2: Capture session starting...
                                                             native : cameras.cc:247 Camera changed state from 2 to 3: Capture session started streaming.
04-11 16:35:02.740 27719-27741/? I/native: session.cc:408 Session::Resume returning OK.
04-11 16:35:02.740 27719-27741/? D/RustAndroidGlueStdouterr: ArSession_resume____ar_status_________0
04-11 16:35:02.740 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::initializel_content
04-11 16:35:02.740 27719-27741/? D/RustAndroidGlueStdouterr: end ArThread new
04-11 16:35:02.740 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_display_changed
04-11 16:35:02.741 27719-27740/? D/RustAndroidGlueStdouterr: native : session.cc:408 Session::Resume returning OK.
04-11 16:35:02.742 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:02.744 662-1107/? I/QCamera: <HAL><INFO> processCaptureRequest: 3826: STREAM INFO : type 1, wxh: 1920 x 1080, pp_mask: 0x100068e Format:1
04-11 16:35:02.744 662-1107/? I/QCamera: <HAL><INFO> processCaptureRequest: 3826: STREAM INFO : type 5, wxh: 640 x 480, pp_mask: 0x100068e Format:0
04-11 16:35:02.744 662-1107/? I/QCamera: <HAL><INFO> processCaptureRequest: 3826: STREAM INFO : type 11, wxh: 640 x 480, pp_mask: 0x100068e Format:1
04-11 16:35:02.744 662-27811/? I/mm-camera: <C2D   >< INFO> 1748: c2d_module_handle_set_parm_event: META_STREAM_INFO type = 1 w x h : 1920 x 1080 pp_mask = 0x100068e
04-11 16:35:02.744 662-27811/? I/mm-camera: <C2D   >< INFO> 1748: c2d_module_handle_set_parm_event: META_STREAM_INFO type = 5 w x h : 640 x 480 pp_mask = 0x100068e
04-11 16:35:02.744 662-27811/? I/mm-camera: <C2D   >< INFO> 1748: c2d_module_handle_set_parm_event: META_STREAM_INFO type = 11 w x h : 640 x 480 pp_mask = 0x100068e
04-11 16:35:02.744 662-27811/? I/mm-camera: <ISP   >< INFO> 6221: isp_util_print_meta_stream_info: Stream type 1 Resolution: 1920x1080 pp_mask: 0x100068e
04-11 16:35:02.744 662-27811/? I/mm-camera: <ISP   >< INFO> 6221: isp_util_print_meta_stream_info: Stream type 5 Resolution: 640x480 pp_mask: 0x100068e
04-11 16:35:02.744 662-27811/? I/mm-camera: <ISP   >< INFO> 6221: isp_util_print_meta_stream_info: Stream type 11 Resolution: 640x480 pp_mask: 0x100068e
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 2309: isp_resource_allocate: INFO: ISP resource acquired: session 2 num_isp 1
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 2311: isp_resource_allocate: INFO: ISP resource acquired: hw_id 1
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 6126: isp_util_map_streams_to_hw_hal3: priority stream: 0 num: 1 mask: 0x800
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 6182: isp_util_decide_stream_mapping: stream_port_map num streams 3
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 6192: isp_util_decide_stream_mapping: INFO: type 1 resolution 1920x1080 hw_stream 0 need_native_buff 1 controllable_output 0 shared_output 0
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 6192: isp_util_decide_stream_mapping: INFO: type 5 resolution 640x480 hw_stream 1 need_native_buff 1 controllable_output 0 shared_output 0
04-11 16:35:02.745 662-27811/? I/mm-camera: <ISP   >< INFO> 6192: isp_util_decide_stream_mapping: INFO: type 11 resolution 640x480 hw_stream 2 need_native_buff 1 controllable_output 0 shared_output 0
04-11 16:35:02.746 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:02.747 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
04-11 16:35:02.747 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
04-11 16:35:02.747 662-27811/? I/mm-camera: <MCT   >< INFO> 438: mct_stream_start_link: Start linking preview stream 0x20002
04-11 16:35:02.747 662-27811/? I/mm-camera: <MCT   >< INFO> 452: mct_stream_start_link: non secure stream linking
04-11 16:35:02.747 662-27811/? I/mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xefdfd200 ide 20002 type 1 dim 1920 1080
04-11 16:35:02.748 662-27811/? I/mm-camera: <PPROC >< INFO> 447: pproc_port_add_modules_to_stream: stream 1 int_link = 0xef2de080
04-11 16:35:02.748 662-27811/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 20002
04-11 16:35:02.748 662-27811/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods paaf and cpp for identity 20002
04-11 16:35:02.748 662-27811/? I/mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 1920, height 1080, stride 1920, scanline 1088, framelen 3248128
04-11 16:35:02.748 662-27811/? I/mm-camera: <CPP   >< INFO> 2137: cpp_module_notify_add_stream: offset_x 0, offset_y 0, offset 0, meta_len 12288,meta_scanline 144, meta_stride 64, plane_len 2101248
04-11 16:35:02.748 662-27811/? I/mm-camera: <CPP   >< INFO> 2137: cpp_module_notify_add_stream: offset_x 0, offset_y 0, offset 0, meta_len 8192,meta_scanline 80, meta_stride 64, plane_len 1146880
04-11 16:35:02.748 662-27811/? I/mm-camera: <CPP   >< INFO> 2275: cpp_module_notify_add_stream: : stream 1, fmt 65, asf_mode 0, sharpness_level 0.333333,asf mask 1, denoise 0, denoise_mask 1, dsdn mask 0,dsdn enable 0, tnr mask 0, tnr enable 0, ds_mask 1
04-11 16:35:02.750 662-27811/? I/mm-camera: <IMGLIB>< INFO> 4386: faceproc_hw_comp_create: Using FD HW Hybrid solution : Tracker v2 + SWFP v6
04-11 16:35:02.751 662-27811/? I/mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20002 stream type=1
04-11 16:35:02.751 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
04-11 16:35:02.751 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
04-11 16:35:02.751 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
04-11 16:35:02.751 662-27811/? I/mm-camera: <MCT   >< INFO> 522: mct_stream_start_link: Start linking callback stream 0x20003
04-11 16:35:02.751 662-27811/? I/mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xefdfd200 ide 20003 type 5 dim 640 480
04-11 16:35:02.752 662-27811/? I/mm-camera: <PPROC >< INFO> 447: pproc_port_add_modules_to_stream: stream 5 int_link = 0xef2de300
04-11 16:35:02.752 662-27811/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods tmod and cpp for identity 20003
04-11 16:35:02.752 662-27811/? I/mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 640, height 480, stride 640, scanline 512, framelen 491520
04-11 16:35:02.752 662-27811/? I/mm-camera: <CPP   >< INFO> 2137: cpp_module_notify_add_stream: offset_x 0, offset_y 0, offset 0, meta_len 0,meta_scanline 0, meta_stride 0, plane_len 327680
04-11 16:35:02.752 662-27811/? I/mm-camera: <CPP   >< INFO> 2137: cpp_module_notify_add_stream: offset_x 0, offset_y 0, offset 0, meta_len 0,meta_scanline 0, meta_stride 0, plane_len 163840
04-11 16:35:02.752 662-27811/? I/mm-camera: <CPP   >< INFO> 2275: cpp_module_notify_add_stream: : stream 5, fmt 2, asf_mode 0, sharpness_level 0.333333,asf mask 1, denoise 0, denoise_mask 1, dsdn mask 0,dsdn enable 0, tnr mask 0, tnr enable 0, ds_mask 1
04-11 16:35:02.753 662-27811/? I/mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20003 stream type=5
04-11 16:35:02.753 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
04-11 16:35:02.754 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
04-11 16:35:02.755 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
04-11 16:35:02.755 662-27811/? I/mm-camera: <MCT   >< INFO> 679: mct_stream_start_link: Starting Analysis stream linking
04-11 16:35:02.755 662-27811/? I/mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xefdfd200 ide 20004 type 11 dim 640 480
04-11 16:35:02.756 662-27811/? I/mm-camera: <PPROC >< INFO> 447: pproc_port_add_modules_to_stream: stream 11 int_link = 0xef2de580
04-11 16:35:02.756 662-27811/? I/mm-camera: <PPROC >< INFO> 459: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 20004
04-11 16:35:02.756 662-27811/? I/mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20004 stream type=11
04-11 16:35:02.756 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
04-11 16:35:02.756 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
04-11 16:35:02.774 28234-28234/? I/StreamRenderer: cleanUpRendererScope(nowcards--18455480107996151)
04-11 16:35:02.778 28234-28234/? I/PBSessionCacheImpl: Deleted sessionId[3657366623893] from persistence.
04-11 16:35:02.790 885-31972/? I/WifiService: getConnectionInfo uid=10055
04-11 16:35:02.791 885-31972/? D/WifiPermissionsUtil: Denied: no location permission
04-11 16:35:02.791 885-31972/? D/WifiPermissionsUtil: Denied: The current config is not for an open network.
04-11 16:35:02.791 885-31972/? I/WifiService: getWifiEnabledState uid=10055
04-11 16:35:02.797 28234-28234/? W/SearchService: Abort, client detached.
04-11 16:35:02.805 28234-28234/? I/StreamController: cleanUpControllerScope(nowcards--18455480107996151)
04-11 16:35:02.808 662-27783/? I/mm-camera: <SENSOR>< INFO> 151: module_sensor_offload_init_config: SENSOR_INIT returned
04-11 16:35:02.812 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, -0.0, -0.0, 1.0]
04-11 16:35:02.812 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:02.812 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:02.812 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:02.813 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 1
04-11 16:35:02.813 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:02.813 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:02.820 662-27783/? I/mm-camera: <SENSOR>< INFO> 187: module_sensor_offload_init_config: EEPROM set up
04-11 16:35:02.821 662-27783/? I/mm-camera: <SENSOR>< INFO> 198: module_sensor_offload_init_config: FLASH set up
04-11 16:35:02.844 662-27783/? I/mm-camera: <SENSOR>< INFO> 218: module_sensor_offload_init_config: Actuator set up
04-11 16:35:02.844 662-27783/? I/mm-camera: <SENSOR>< INFO> 259: module_sensor_offload_init_config: Success
04-11 16:35:02.844 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
04-11 16:35:02.844 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
04-11 16:35:02.845 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800001c
04-11 16:35:02.845 662-27811/? I/mm-camera: <MCT   >< INFO> 3669: mct_pipeline_process_set: Sending Dual-Cam Event 21 on session 2 to connect to             session 2000f dualcam sensor info 2
04-11 16:35:02.851 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
04-11 16:35:02.851 662-27811/? I/mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20001 stream type=7
04-11 16:35:02.851 662-27811/? I/mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20001, stream type=7
04-11 16:35:02.852 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
04-11 16:35:02.852 662-27811/? I/mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20002 stream type=1
04-11 16:35:02.853 662-27811/? I/mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x2000f
04-11 16:35:02.853 662-27811/? I/mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x20002
04-11 16:35:02.853 662-27811/? I/mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x20003
04-11 16:35:02.858 885-1127/? W/SensorService: sensor 00000002 already enabled in connection 0x77fbd26000 (ignoring)
04-11 16:35:02.863 662-27811/? I/mm-camera: <IFACE >< INFO> 404: iface_util_dump_sensor_cfg: iface_util_dump_sensor_cfg: sensor dim: width = 4048, heght = 3044, fmt = 31, is_bayer = 1, init_skip = 2
04-11 16:35:02.864 662-27811/? I/mm-camera: <ISP   >< INFO> 1143: isp_resource_get_stats_type_mask: enable_stats_mask 1588
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3470: iface_util_dump_isp_resource_request:  =====DUMP RESOURCE: PIX STREAM=== 
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3471: iface_util_dump_isp_resource_request: num pix stream = 3
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3474: iface_util_dump_isp_resource_request: num_isp = 1, isp_mask = 2, request_op_pix_clk = 0
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3478: iface_util_dump_isp_resource_request: ispif stripe info: split 0, overlap 0, stripe offset 0
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3481: iface_util_dump_isp_resource_request: pix stream 0
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3484: iface_util_dump_isp_resource_request: num mct stream mapped = 1(Mapped stream ID[0] = 2)
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3487: iface_util_dump_isp_resource_request: axi path = 1(ENC-0/VIEW-1/CAMIF-2/IDEAL-3), cam_fmt 101
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3481: iface_util_dump_isp_resource_request: pix stream 1
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3484: iface_util_dump_isp_resource_request: num mct stream mapped = 1(Mapped stream ID[0] = 3)
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3487: iface_util_dump_isp_resource_request: axi path = 0(ENC-0/VIEW-1/CAMIF-2/IDEAL-3), cam_fmt 2
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3481: iface_util_dump_isp_resource_request: pix stream 2
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3484: iface_util_dump_isp_resource_request: num mct stream mapped = 1(Mapped stream ID[0] = 4)
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3487: iface_util_dump_isp_resource_request: axi path = 2(ENC-0/VIEW-1/CAMIF-2/IDEAL-3), cam_fmt 100
04-11 16:35:02.866 662-27811/? I/mm-camera: <IFACE >< INFO> 3509: iface_util_dump_isp_resource_request: num STATS stream = 5
04-11 16:35:02.866 662-27811/? I/mm-camera: <CPP   >< INFO> 865: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS]  stream type 1, width 1920, height 1080,stride 1920, scanline 1080, planes 2
04-11 16:35:02.867 662-27811/? I/mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 0, stride 1920, scanline 1080, offset_x 0, offset_y 0, len 2073600, offset:0
04-11 16:35:02.867 662-27811/? I/mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 1, stride 1920, scanline 1080, offset_x 0, offset_y 0, len 1036800, offset:0
04-11 16:35:02.867 662-27811/? I/mm-camera: <CPP   >< INFO> 865: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS]  stream type 5, width 640, height 480,stride 640, scanline 480, planes 2
04-11 16:35:02.867 662-27811/? I/mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 0, stride 640, scanline 480, offset_x 0, offset_y 0, len 307200, offset:0
04-11 16:35:02.867 662-27811/? I/mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 1, stride 640, scanline 480, offset_x 0, offset_y 0, len 153600, offset:0
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8295: iface_util_dump_camif_cfg: =====Camif DUMP cfg for PIX interface====
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8297: iface_util_dump_camif_cfg: camif input type = 3(MIPI=3), op_pix_clk = 480000000
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8299: iface_util_dump_camif_cfg: camif pix_pattern(RGRG-0/GRGR-1/BGBG-2/GBGB-3) = 2
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8301: iface_util_dump_camif_cfg: camif first_pix = 0, last_pix = 4047
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8303: iface_util_dump_camif_cfg: camif first_line = 8, last_line = 3043
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8305: iface_util_dump_camif_cfg: camif pixels_per_line = 4048, lines_per_frame = 3044
04-11 16:35:02.869 662-27811/? I/mm-camera: <IFACE >< INFO> 8309: iface_util_dump_camif_cfg: camif irq subsample pattern = 0, period = 0 sof_step 1
04-11 16:35:02.869 662-27863/? I/mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 10002 ===
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: VIEWFINDER hw_stream width 1920, height 1080
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[0]: plane_fmt 0(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 1920, height = 1080
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 1920, scanlines = 1080
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[1]: plane_fmt 4(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[1]: width = 1920, height = 540
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[1]: stride = 1920, scanlines = 540
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[1]: address_offset 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 10003 ===
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: ENCODER hw_stream width 640, height 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[0]: plane_fmt 0(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 640, height = 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 640, scanlines = 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[1]: plane_fmt 3(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[1]: width = 640, height = 240
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[1]: stride = 640, scanlines = 240
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[1]: address_offset 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 10004 ===
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: VIDEO hw_stream width 640, height 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[0]: plane_fmt 0(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 640, height = 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 640, scanlines = 480
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 90001 ===
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: RDI_0 hw_stream width 4056, height 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 577: iface_dump_axi_plane_config: plane[0]: plane_fmt 0(Y-0/CB-1/Cr-2/CrCb-3/CbCr-4)
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 4056, height = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 4064, scanlines = 2
04-11 16:35:02.870 662-27863/? I/mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
04-11 16:35:02.874 662-27811/? I/mm-camera: <IFACE >< INFO> 1564: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 2
04-11 16:35:02.874 662-27791/? I/mm-camera: <IFACE >< INFO> 1907: iface_streamon: E, session_id 2 mct_stream_id = 2
04-11 16:35:02.874 662-27791/? I/mm-camera: <IFACE >< INFO> 10333: iface_util_get_user_streams_by_bundle: got No.1 bundled streamon, mct stream id 2total bundled stream num = 3
04-11 16:35:02.875 662-27811/? I/mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf0018000 hw_id 0 fd 0 0xe910aa74
04-11 16:35:02.876 885-1127/? W/SensorService: sensor 00000002 already enabled in connection 0x77fbd26000 (ignoring)
04-11 16:35:02.879 885-1127/? W/SensorService: sensor 00000002 already enabled in connection 0x77fbd26000 (ignoring)
04-11 16:35:02.879 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, -0.0, -0.0, 1.0]
04-11 16:35:02.879 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:02.879 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:02.879 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:02.880 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 1
04-11 16:35:02.880 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:02.880 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:02.888 662-27864/? I/Laser: openInput
04-11 16:35:02.889 662-27811/? I/mm-camera: <CPP   >< INFO> 3832: cpp_module_handle_streamon_event: identity=0x20002, stream-on done
04-11 16:35:02.889 662-27797/? I/mm-camera: <CPP   >< INFO> 371: cpp_hardware_set_clock: Set clock 200000000 BW avg 188519392 BW inst 188519392
04-11 16:35:02.890 662-27811/? I/mm-camera: <IFACE >< INFO> 1593: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 2
04-11 16:35:02.890 662-27811/? I/mm-camera: <MCT   >< INFO> 149: start_sof_check_thread: Starting SOF timeout thread session id =2
04-11 16:35:02.890 662-27811/? I/mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20002, stream type=1
04-11 16:35:02.897 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
04-11 16:35:02.897 662-27811/? I/mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20003 stream type=5
04-11 16:35:02.897 662-27811/? I/mm-camera: <IFACE >< INFO> 1564: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 3
04-11 16:35:02.897 662-27791/? I/mm-camera: <IFACE >< INFO> 1907: iface_streamon: E, session_id 2 mct_stream_id = 3
04-11 16:35:02.898 662-27791/? I/mm-camera: <IFACE >< INFO> 10333: iface_util_get_user_streams_by_bundle: got No.2 bundled streamon, mct stream id 3total bundled stream num = 3
04-11 16:35:02.898 662-27811/? I/mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf0018000 hw_id 0 fd 0 0xe910aa84
04-11 16:35:02.899 662-27811/? I/mm-camera: <CPP   >< INFO> 3832: cpp_module_handle_streamon_event: identity=0x20003, stream-on done
04-11 16:35:02.899 662-27797/? I/mm-camera: <CPP   >< INFO> 371: cpp_hardware_set_clock: Set clock 200000000 BW avg 219623392 BW inst 219623392
04-11 16:35:02.899 662-27811/? I/mm-camera: <IFACE >< INFO> 1593: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 3
04-11 16:35:02.899 662-27811/? I/mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20003, stream type=5
04-11 16:35:02.900 662-27811/? I/mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
04-11 16:35:02.900 662-27811/? I/mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20004 stream type=11
04-11 16:35:02.900 662-27811/? I/mm-camera: <IFACE >< INFO> 1564: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 4
04-11 16:35:02.900 662-27791/? I/mm-camera: <IFACE >< INFO> 1907: iface_streamon: E, session_id 2 mct_stream_id = 4
04-11 16:35:02.900 662-27791/? I/mm-camera: <IFACE >< INFO> 10327: iface_util_get_user_streams_by_bundle: streamon, got all bundled streamon!
04-11 16:35:02.901 662-27811/? I/mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf0018000 hw_id 0 fd 0 0xe910aa84
04-11 16:35:02.904 662-27811/? I/mm-camera: <IMGLIB>< INFO> 1180: faceproc_hw_comp_send_msg: faceproc_hw_comp_send_msg 1180] FDHW_MSG_CHROMATIX_UPDATE 
04-11 16:35:02.920 662-27791/? I/mm-camera: <IFACE >< INFO> 2160: iface_streamon: X
04-11 16:35:02.920 662-27811/? I/mm-camera: <IFACE >< INFO> 1593: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 4
04-11 16:35:02.920 662-27811/? I/mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20004, stream type=11
04-11 16:35:02.921 673-673/? D/QCOM PowerHAL: LAUNCH ENCODER-ON: 2000 MS
04-11 16:35:02.924 673-673/? D/QCOM PowerHAL: Video Encode hint start
04-11 16:35:02.924 662-27864/? I/Laser: inputName: STM VL53L0 proximity sensor found
04-11 16:35:02.924 662-27864/? E/Laser: open_sensors gets called!
04-11 16:35:02.924 662-27864/? E/Laser: sensors_poll_context_t::activate gets called!
04-11 16:35:02.924 662-27864/? I/Laser: ProximitySensor::enable function called for stmvl53L0!
04-11 16:35:02.937 662-27862/? E/mm-camera: <ISP   ><ERROR> 1255: isp_handler_module_handle_reg_update:  Warning! Invalid reg_update state 0
04-11 16:35:02.946 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, -0.0, -0.0, 1.0]
04-11 16:35:02.946 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:02.946 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:02.946 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:02.947 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 1
04-11 16:35:02.947 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:02.947 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:03.013 662-27864/? I/Laser: ProximitySensor::enable stmvl53L0 enabled sucessfully!
04-11 16:35:03.013 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, -0.0, -0.0, 1.0]
04-11 16:35:03.013 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:03.013 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:03.013 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:03.014 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 1
04-11 16:35:03.014 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:03.014 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:03.033 662-27797/? I/mm-camera: <CPP   >< INFO> 371: cpp_hardware_set_clock: Set clock 200000000 BW avg 219623392 BW inst 219623392
04-11 16:35:03.046 27719-27741/? W/GLConsumer: [SurfaceTexture--1-27719-0] bindTextureImage: clearing GL error: 0x502
04-11 16:35:03.047 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -0.0, -0.0, -0.0, 1.0]
04-11 16:35:03.047 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:03.047 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:03.047 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:03.047 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 1
04-11 16:35:03.048 27719-27760/? I/native: arcore_feature_extractor_wrapper.cc:29 Extracting features using  ArcoreFeatureExtractorWrapper.
04-11 16:35:03.048 27719-27760/? I/native: arcore_feature_extractor_wrapper.cc:48 Narrow camera model.
04-11 16:35:03.048 27719-27740/? D/RustAndroidGlueStdouterr: native : arcore_feature_extractor_wrapper.cc:29 Extracting features using  ArcoreFeatureExtractorWrapper.
                                                             native : arcore_feature_extractor_wrapper.cc:48 Narrow camera model.
04-11 16:35:03.070 27719-27762/? W/native: gyro_helper.cc:59 Gyro samples do not cover << [ 0 ; 535480.654093040037 ] sec. Use identity R. Gyro samples cover [ 535480.493439096026 ; 535480.701023080037 ] sec.
04-11 16:35:03.070 27719-27740/? D/RustAndroidGlueStdouterr: native : gyro_helper.cc:59 Gyro samples do not cover << [ 0 ; 535480.654093040037 ] sec. Use identity R. Gyro samples cover [ 535480.493439096026 ; 535480.701023080037 ] sec.
04-11 16:35:03.070 27719-27762/? W/native: feature_processing.cc:152 Skipping first feature measurement because we don't have a previous to diff against.
04-11 16:35:03.070 27719-27740/? D/RustAndroidGlueStdouterr: native : feature_processing.cc:152 Skipping first feature measurement because we don't have a previous to diff against.
04-11 16:35:03.070 27719-27762/? I/native: vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:03.071 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:03.106 662-27803/? E/mm-camera: <ERROR> 831: dmlroc_init: dmlroc_init cfg: camif 3036x4048, elem 126x126, thres 0.002500, accur 8
04-11 16:35:03.106 662-27803/? E/mm-camera: <ERROR> 832: dmlroc_init: dmlroc_init cfg: offsetH 8, offsetV 6
04-11 16:35:03.106 662-27803/? E/mm-camera: <ERROR> 833: dmlroc_init: dmlroc_init mesh: rxc 13x17, subs 4, hxw 64x64, offset vert 18, horz 24
04-11 16:35:03.162 27719-27763/? I/native: vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:03.162 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:03.272 27719-27762/? I/native: vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:03.272 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_initializer.cc:645 Not accepting frame as first BA keyframe.
04-11 16:35:04.299 27719-27763/? I/native: ba_initialization_helpers.cc:519 Number of landmarks before eliminating short tracks 2900, and after elimination 211
04-11 16:35:04.299 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:519 Number of landmarks before eliminating short tracks 2900, and after elimination 211
04-11 16:35:04.299 27719-27763/? I/native: ba_initialization_helpers.cc:684 num_frames_for_dsolver: 10
04-11 16:35:04.299 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:684 num_frames_for_dsolver: 10
04-11 16:35:04.299 27719-27763/? I/native: ba_initialization_helpers.cc:685 number_of_landmarks_for_dsolver: 50
04-11 16:35:04.299 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:685 number_of_landmarks_for_dsolver: 50
04-11 16:35:04.299 27719-27763/? I/native: ba_initialization_helpers.cc:692 maximum_cam_meas_displacement_squared: 0.0804125
04-11 16:35:04.300 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:692 maximum_cam_meas_displacement_squared: 0.0804125
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:754 Deterministic solution
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:755 Local gravity  8.45079 -1.74657 -4.64326
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:754 Deterministic solution
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:755 Local gravity  8.45079 -1.74657 -4.64326
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:756 Estimated I_q_G 0.397699 0.323909 -0.54211 0.665608
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:756 Estimated I_q_G 0.397699 0.323909 -0.54211 0.665608
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:757 Gyro bias   0.0020049 -0.00360042 -0.00160953
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:757 Gyro bias   0.0020049 -0.00360042 -0.00160953
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:758 Global velocity -0.00810114  -0.0568481   0.0684507
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:758 Global velocity -0.00810114  -0.0568481   0.0684507
04-11 16:35:04.321 27719-27763/? I/native: ba_initialization_helpers.cc:760 Accel bias  0.0957673   0.163321 -0.0526657
04-11 16:35:04.321 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:760 Accel bias  0.0957673   0.163321 -0.0526657
04-11 16:35:04.322 27719-27763/? I/native: ba_initialization.cc:688 Deterministic initialization
04-11 16:35:04.322 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization.cc:688 Deterministic initialization
04-11 16:35:04.330 27719-27763/? I/native: ba_initialization_helpers.cc:845 Num. landmarks before pruning 208
04-11 16:35:04.330 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:845 Num. landmarks before pruning 208
04-11 16:35:04.330 27719-27763/? I/native: ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 3
04-11 16:35:04.330 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 3
04-11 16:35:04.331 27719-27763/? I/native: ba_initialization_helpers.cc:858 Num. landmarks initialized after pruning 60
04-11 16:35:04.331 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:858 Num. landmarks initialized after pruning 60
04-11 16:35:04.331 27719-27763/? I/native: ba_initialization_helpers.cc:860 Num. landmarks uninitialized: 151
04-11 16:35:04.331 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.cc:860 Num. landmarks uninitialized: 151
04-11 16:35:04.331 27719-27763/? I/native: ba_initialization.cc:197 Intrinsic vector size of the camera 0 is 7
04-11 16:35:04.331 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization.cc:197 Intrinsic vector size of the camera 0 is 7
04-11 16:35:04.520 27719-27763/? I/native: ba_initialization.cc:394 
                                           Solver Summary (v 1.13.0-eigen-(3.2.90)-no_lapack-suitesparse-(4.5.4)-no_openmp-no_tbb)

                                                                                Original                  Reduced
                                           Parameter blocks                           83                       80
                                           Parameters                                234                      220
                                           Effective parameters                      219                      206
                                           Residual blocks                           536                      536
                                           Residuals                                1205                     1205

                                           Minimizer                        TRUST_REGION

                                           Dense linear algebra library            EIGEN
                                           Trust region strategy     LEVENBERG_MARQUARDT

                                                                                   Given                     Used
                                           Linear solver                     DENSE_SCHUR              DENSE_SCHUR
                                           Threads                                     1                        1
                                           Linear solver ordering              AUTOMATIC                    65,15
                                           Schur structure                         d,d,d                    d,d,d

                                           Cost:
                                           Initial                          9.839627e+02
                                           Final                            2.356483e+02
                                           Change                           7.483144e+02

                                           Minimizer iterations                       19
                                           Successful steps                           19
                                           Unsuccessful steps                          0

                                           Time (in seconds):
                                           Preprocessor                         0.002326

                                             Residual only evaluation           0.034449 (18)
                                             Jacobian & residual evaluation     0.071779 (19)
                                             Linear solver                      0.057146 (18)
                                           Minimizer                            0.171487

                                           Postprocessor                        0.000158
                                           Total                                0.173976

                                           Termination:                   NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 18.)
04-11 16:35:04.520 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization.cc:394 
                                                             Solver Summary (v 1.13.0-eigen-(3.2.90)-no_lapack-suitesparse-(4.5.4)-no_openmp-no_tbb)

                                                                                                  Original                  Reduced
                                                             Parameter blocks                           83                       80
                                                             Parameters                                234                      220
                                                             Effective parameters                      219                      206
                                                             Residual blocks                           536                      536
04-11 16:35:04.520 27719-27740/? D/RustAndroidGlueStdouterr: Residuals                                1205                     1205

                                                             Minimizer                        TRUST_REGION

                                                             Dense linear algebra library            EIGEN
                                                             Trust region strategy     LEVENBERG_MARQUARDT

                                                                                                     Given                     Used
                                                             Linear solver                     DENSE_SCHUR              DENSE_SCHUR
                                                             Threads                                     1                        1
                                                             Linear solver ordering              AUTOMATIC                    65,15
04-11 16:35:04.520 27719-27740/? D/RustAndroidGlueStdouterr: Schur structure                         d,d,d                    d,d,d

                                                             Cost:
                                                             Initial                          9.839627e+02
                                                             Final                            2.356483e+02
                                                             Change                           7.483144e+02

                                                             Minimizer iterations                       19
                                                             Successful steps                           19
                                                             Unsuccessful steps                          0

                                                             Time (in seconds):
                                                             Preprocessor                         0.002326

                                                               Residual only evaluation           0.034449 (18)
04-11 16:35:04.520 27719-27740/? D/RustAndroidGlueStdouterr:   Jacobian & residual evaluation     0.071779 (19)
                                                               Linear solver                      0.057146 (18)
                                                             Minimizer                            0.171487

                                                             Postprocessor                        0.000158
                                                             Total                                0.173976

                                                             Termination:                   NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 18.)
04-11 16:35:04.520 27719-27763/? I/native: ba_initialization.cc:404 Initializer did not converge: Maximum number of iterations reached. Number of iterations: 18.
04-11 16:35:04.520 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization.cc:404 Initializer did not converge: Maximum number of iterations reached. Number of iterations: 18.
04-11 16:35:04.521 27719-27763/? I/native: ba_initialization_helpers.h:187 Number of measurements used in BA initialization for temporal landmarks: 514
04-11 16:35:04.521 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.h:187 Number of measurements used in BA initialization for temporal landmarks: 514
04-11 16:35:04.521 27719-27763/? I/native: ba_initialization_helpers.h:189 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 504
04-11 16:35:04.522 27719-27740/? D/RustAndroidGlueStdouterr: native : ba_initialization_helpers.h:189 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 504
04-11 16:35:04.530 27719-27762/? I/native: visual_inertial_filter.cc:938 VIO sliding window is initialized, with sliding window size 4
04-11 16:35:04.530 27719-27740/? D/RustAndroidGlueStdouterr: native : visual_inertial_filter.cc:938 VIO sliding window is initialized, with sliding window size 4
04-11 16:35:04.533 27719-27762/? I/native: vio_fault_detector.cc:489 VIO did not use vision constraints.
04-11 16:35:04.533 27719-27740/? D/RustAndroidGlueStdouterr: native : vio_fault_detector.cc:489 VIO did not use vision constraints.
04-11 16:35:04.548 27719-27767/? I/native: map_manager.cc:229 VIWLS Map Manager: Updating rolling shutter time from 0.0326218 to 0.0326218
04-11 16:35:04.554 27719-27740/? D/RustAndroidGlueStdouterr: native : map_manager.cc:229 VIWLS Map Manager: Updating rolling shutter time from 0.0326218 to 0.0326218
04-11 16:35:04.555 27719-27767/? I/native: visual_inertial_wls.cc:304 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
04-11 16:35:04.555 27719-27740/? D/RustAndroidGlueStdouterr: native : visual_inertial_wls.cc:304 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
04-11 16:35:05.156 27719-27763/? E/native: filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
04-11 16:35:05.156 27719-27740/? D/RustAndroidGlueStdouterr: native : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
04-11 16:35:05.266 885-31974/? I/WifiService: getWifiEnabledState uid=10122
04-11 16:35:05.267 885-31974/? I/WifiService: startScan uid=10122
04-11 16:35:05.921 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:05.922 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:05.943 27719-27740/? D/RustAndroidGlueStdouterr: Variatioooon "serif"
04-11 16:35:05.945 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.9290569, -0.34309202, -0.13835154, 0.0, 0.3612855, 0.7610813, 0.5387282, 0.0, -0.07953658, -0.55049354, 0.831042, 0.0, 0.01472879, -0.024897086, 0.02911296, 1.0]
04-11 16:35:05.945 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:05.946 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:05.946 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:05.947 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:05.947 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:05.947 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:05.981 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.9192435, -0.35311562, -0.17407115, 0.0, 0.39024198, 0.7588994, 0.5213281, 0.0, -0.05198659, -0.5471573, 0.8354139, 0.0, 0.01501862, -0.026135698, 0.025296234, 1.0]
04-11 16:35:05.981 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:05.982 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:05.982 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:05.982 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:05.983 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:05.983 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:05.986 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.90840006, -0.35991737, -0.21276477, 0.0, 0.4176654, 0.75791466, 0.50111973, 0.0, -0.01910416, -0.5440817, 0.83881474, 0.0, 0.015043656, -0.027285997, 0.020912603, 1.0]
04-11 16:35:05.986 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:05.986 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:05.986 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:05.992 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.006 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.009 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.010 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.90076923, -0.364063, -0.2367971, 0.0, 0.43426582, 0.7616769, 0.48089662, 0.0, 0.0052862093, -0.5360098, 0.84419525, 0.0, 0.015159628, -0.026803695, 0.017772667, 1.0]
04-11 16:35:06.010 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.010 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.010 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.010 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.011 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.011 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.031 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.89357555, -0.36885542, -0.25586805, 0.0, 0.44809347, 0.76730084, 0.458761, 0.0, 0.027111284, -0.52459043, 0.85092294, 0.0, 0.014969865, -0.02808258, 0.013678586, 1.0]
04-11 16:35:06.031 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.031 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.031 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.032 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.032 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.032 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.067 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.8875543, -0.37191144, -0.27189934, 0.0, 0.45844665, 0.77132726, 0.44145322, 0.0, 0.045541868, -0.51646507, 0.85509634, 0.0, 0.013848046, -0.028141871, 0.012189575, 1.0]
04-11 16:35:06.067 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.067 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.067 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.068 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.068 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.068 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.101 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.8847665, -0.37458798, -0.27725813, 0.0, 0.46284655, 0.7757592, 0.4289181, 0.0, 0.054417968, -0.5078203, 0.8597425, 0.0, 0.013785962, -0.02923847, 0.00960377, 1.0]
04-11 16:35:06.101 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.101 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.102 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.102 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.103 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.103 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.132 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.88335556, -0.37680644, -0.27874696, 0.0, 0.46487242, 0.7802383, 0.41847578, 0.0, 0.059804693, -0.49924466, 0.86439466, 0.0, 0.0138446875, -0.029281769, 0.008530997, 1.0]
04-11 16:35:06.132 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.132 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.132 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.133 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:06.133 27719-27741/? D/RustAndroidGlueStdouterr: Ar::on_draw
04-11 16:35:06.133 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::get_texture_id
04-11 16:35:06.170 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getViewMatrix : [0.88185066, -0.37718695, -0.28296536, 0.0, 0.4668007, 0.78310883, 0.4108986, 0.0, 0.0666071, -0.49443963, 0.8666562, 0.0, 0.014064701, -0.02987986, 0.0067895134, 1.0]
04-11 16:35:06.170 27719-27741/? D/RustAndroidGlueStdouterr: ArCamera_getProjectionMatrix : [2.659096, 0.0, 0.0, 0.0, 0.0, 1.4957417, 0.0, 0.0, NaN, NaN, inf, NaN, NaN, NaN, inf, NaN]
04-11 16:35:06.170 27719-27741/? D/RustAndroidGlueStdouterr: BackgroundRenderer::draw
04-11 16:35:06.170 27719-27741/? D/RustAndroidGlueStdouterr: uvs_initialized : true
04-11 16:35:06.171 27719-27741/? D/RustAndroidGlueStdouterr: out_tracking_state : 0
04-11 16:35:08.249 885-31974/? D/WificondControl: Scan result ready event
04-11 16:35:08.259 885-1159/? D/WificondScannerImpl: Filtering out 1 scan results.
04-11 16:35:08.276 885-31974/? D/WifiPermissionsUtil: Denied: no location permission
04-11 16:35:08.280 885-31974/? D/WifiPermissionsUtil: Denied: no location permission
04-11 16:35:10.130 885-31974/? I/WifiService: getConnectionInfo uid=10124
04-11 16:35:10.131 885-31974/? D/WifiPermissionsUtil: Denied: no location permission
04-11 16:35:10.132 885-31974/? D/WifiPermissionsUtil: Denied: The current config is not for an open network.
04-11 16:35:11.005 8517-8517/? I/LooperMonitor: >>>>> Dispatching to Handler (android.telephony.PhoneStateListener$1) {a26970e} null: 256,count = 52711
04-11 16:35:11.006 8517-8517/? I/LooperMonitor: <<<<< Finished to Handler (android.telephony.PhoneStateListener$1) {a26970e} null,count = 52711,time = 1
04-11 16:35:11.457 662-27799/? E/mm-camera: <ISP   ><ERROR> 227: isp_hw_update_util_request_reg_update: Warning! reg_cmd ioctl happened on frame boundary
04-11 16:35:11.798 885-920/? I/GnssLocationProvider: WakeLock acquired by handleInjectNtpTime()
04-11 16:35:12.500 885-27877/? D/SntpClient: request time failed: android.net.SntpClient$InvalidServerReplyException: untrusted mode: 3
04-11 16:35:12.501 885-27877/? E/GnssLocationProvider: requestTime failed
04-11 16:35:12.501 885-27877/? I/GnssLocationProvider: WakeLock acquired by sendMessage(INJECT_NTP_TIME_FINISHED, 0, null)
04-11 16:35:12.501 885-27877/? I/GnssLocationProvider: WakeLock released by handleInjectNtpTime()
04-11 16:35:12.501 885-920/? I/GnssLocationProvider: WakeLock released by handleMessage(INJECT_NTP_TIME_FINISHED, 0, null)
04-11 16:35:13.142 24768-24768/? W/Notification: Use of stream types is deprecated for operations other than volume control
04-11 16:35:13.142 24768-24768/? W/Notification: See the documentation of setSound() for what to use instead with android.media.AudioAttributes to qualify your playback use case
04-11 16:35:13.149 885-921/? E/NotificationService: Suppressing notification from package by user request.
04-11 16:35:13.473 662-27806/? E/mm-camera: <STATS_AEC ><ERROR> 1868: aec_port_callback: AEC_UPDATE_DBG: PORT_CB: WARNING: threading issue: SOF_ID:315 OutputFrameId:313 output_index=1 -> Debug
04-11 16:35:14.142 24768-24768/? W/Notification: Use of stream types is deprecated for operations other than volume control
04-11 16:35:14.142 24768-24768/? W/Notification: See the documentation of setSound() for what to use instead with android.media.AudioAttributes to qualify your playback use case
04-11 16:35:15.824 662-27806/? E/mm-camera: <STATS_AEC ><ERROR> 1868: aec_port_callback: AEC_UPDATE_DBG: PORT_CB: WARNING: threading issue: SOF_ID:385 OutputFrameId:383 output_index=1 -> Debug
inio commented 6 years ago

Not seeing anything suspicious in that log. Sounds like it's probably an OpenGL issue. What's the fragment program look like? If you swap the oes_external... stuff for a normal texture2d and provide one do you see that image correctly?

yangchengjian commented 6 years ago

Hi, @inio , Now I can see the camera preview, thank you

inio commented 6 years ago

So what was the fix?

yangchengjian commented 6 years ago

I have no idea actually, I'm still checking. I can get the camera preview When I only draw the background, but when I continue to draw other objects the background shows completely white. So I guess this issue is related to the opengl buffer, maybe overrided.

yangchengjian commented 6 years ago

It's really about buffer, I just verified