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homuler / MediaPipeUnityPlugin

Unity plugin to run MediaPipe
MIT License
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ArFoundation with Sample Scenes works in the Editor but not on Android #1117

Closed ShonubiSamuel closed 9 months ago

ShonubiSamuel commented 9 months ago

Plugin Version or Commit ID

v0.12.0

Unity Version

2022.3.4f1

Your Host OS

macOS Ventura 13.6.1

Target Platform

UnityEditor, Android

Description

I experimented with ArFoundation by using the provided sample scenes. I created a new class called RawImageSource, which is derived from the base class ImageSource. This new class serves as a source for images in the calculator graph, and it uses image textures from the AR camera's XRCpuImage.

In the Editor, everything worked smoothly during testing with ArFoundation Remote 2—no errors or issues. However, when I tested the build on my Redmi Note 9 phone, nothing worked. To investigate, I used an in-app debugger and encountered the following issue:

Exception >> NullReferenceException. Object reference not set to an instance of an object Mediapipe.Unity Image SourceSolution 1[T] Pause () (at <00000000000000000000000000000000>0) UnityEngine Events. UnityEvent Invoke() (at <00000000000000000000000000000000:0)

Exception >> NullReferenceException Object reference not set to an instance of an object Mediapipe. Unity Ut Image SourceConfig InitializeSource () (at <00000000000000000000000000000000>:0) Mediapipe. Unity Ul Image SourceConfig InitializeContents () (at <00000000000000000000000000000000>0)

My current challenge is twofold: first, I'm uncertain about the specific problem indicated by the error mentioned earlier, and second, I lack the knowledge or guidance on how to trace and identify the root cause of the issue. I could use some help in understanding and resolving these issuesHere is my RawImageSource script:

Code to Reproduce the issue

// Copyright (c) 2021 homuler // // Use of this source code is governed by an MIT-style // license that can be found in the LICENSE file or at // https://opensource.org/licenses/MIT.

using System; using System.Collections; using System.Linq; using Unity.Collections.LowLevel.Unsafe; using UnityEngine; using UnityEngine.XR.ARFoundation; using UnityEngine.XR.ARSubsystems; using UnityEngine.UI; using TMPro; using Unity.Collections;

namespace Mediapipe.Unity { public class RawImageSource : ImageSource { private readonly string[] _availableSources = { "Raw Image" };

private bool _isInitialized;
Texture2D m_CameraTexture;
Texture2D outputTexture = null;
[SerializeField] private ARCameraManager _cameraManager;
XRCpuImage freeImaga;

public RawImage rawImage;
[SerializeField] Button m_TransformationButton;

public Button transformationButton
{
  get => m_TransformationButton;
  set => m_TransformationButton = value;
}

XRCpuImage.Transformation m_Transformation = XRCpuImage.Transformation.MirrorX;
public float rot = 90f;

public override string sourceName => "Raw Image";
public override string[] sourceCandidateNames => _availableSources?.ToArray();
public override ResolutionStruct[] availableResolutions => new ResolutionStruct[] { new ResolutionStruct(outputTexture.width, outputTexture.height, 30f) };
public override bool isPrepared => _isInitialized && outputTexture != null;
public override bool isPlaying => _isInitialized && outputTexture != null;
public override bool isVerticallyFlipped => true;
public override bool isFrontFacing => false;

private IEnumerator Start()
{
  Debug.Log(freeImaga.width + " yyyy " + freeImaga.height);
  _cameraManager.frameReceived += OnCameraFrameReceived;
  yield return new WaitUntil(() => outputTexture != null);
}

public void CycleTransformation()
{
  m_Transformation = m_Transformation switch
  {
    XRCpuImage.Transformation.None => XRCpuImage.Transformation.MirrorX,
    XRCpuImage.Transformation.MirrorX => XRCpuImage.Transformation.MirrorY,
    XRCpuImage.Transformation.MirrorY => XRCpuImage.Transformation.MirrorX | XRCpuImage.Transformation.MirrorY,
    _ => XRCpuImage.Transformation.None
  };

  if (m_TransformationButton)
  {
    m_TransformationButton.GetComponentInChildren<TextMeshProUGUI>().text = m_Transformation.ToString();
  }
}

// Methods
public override Texture GetCurrentTexture()
{
  return outputTexture;
}

public override void Pause()
{
  // empty;
}

public override IEnumerator Play()
{
  yield return new WaitUntil(() => _isInitialized && outputTexture != null);
}

public override IEnumerator Resume()
{
  yield return null;
}

public override void SelectSource(int sourceId)
{
  //empty
}

public override void Stop()
{
  //empty
}

private unsafe void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
  if (!_cameraManager.TryAcquireLatestCpuImage(out XRCpuImage image))
  {
    return;
  }

  var format = TextureFormat.RGBA32;

  if (m_CameraTexture == null || m_CameraTexture.width != image.width || m_CameraTexture.height != image.height)
  {
    m_CameraTexture = new Texture2D(image.width, image.height, format, false);
    freeImaga = image;
    resolution = new ResolutionStruct(image.width, image.height, 30f);
  }

  var conversionParams = new XRCpuImage.ConversionParams(image, format, m_Transformation);
  var rawTextureData = m_CameraTexture.GetRawTextureData<byte>();

  try
  {
    image.Convert(conversionParams, new IntPtr(rawTextureData.GetUnsafePtr()), rawTextureData.Length);
  }
  finally
  {
    image.Dispose();
  }

  m_CameraTexture.Apply();
  outputTexture = m_CameraTexture;

  rawImage.texture = outputTexture;
  _isInitialized = true;
}

Additional Context

When I launch the app, nothing noticeable occurs, and even the debugging window remains empty. The only component that seems to function is the RawImage (which is there to verify if the retrieval of the AR camera's XRCpuImage is successful—declared as public RawImage rawImage;).

However, when I click on any button, such as the ImageSource Config Button, an error is displayed. I would appreciate your assistance in investigating this issue.

Screenshot_2024-01-06-19-13-06-691_com Samuel MediapipeArFoundation (1) Screenshot_2024-01-06-19-03-58-990_com Samuel MediapipeArFoundation

homuler commented 9 months ago

Please run adb -s [device_id] logcat Unity:V native:V tflite:V CRASH:E AndroidRuntime:E "*:S" and read the log carefully.

ShonubiSamuel commented 9 months ago

I appreciate the quick response. Here it is:

user@MACs-MacBook-Pro platform-tools % adb -s 1026d3710408 logcat Unity:V native:V tflite:V CRASH:E AndroidRuntime:E "*:S"

--------- beginning of main
01-07 07:30:05.097 31829  3146 I native  : I0000 00:00:1704609005.097687    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609004871295
01-07 07:30:06.586 31829  3146 I native  : I0000 00:00:1704609006.586718    3146 soda_impl.cc:1669] Adding hotword timeout event
01-07 07:30:35.101 31829  3146 I native  : I0000 00:00:1704609035.101523    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609034871295
01-07 07:31:05.101 31829  3146 I native  : I0000 00:00:1704609065.101367    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609064871295
01-07 07:31:08.922 31829  3146 I native  : I0000 00:00:1704609068.922835    3146 soda_impl.cc:1669] Adding hotword timeout event
01-07 07:31:19.832 20021 20049 I Unity   : MemoryManager: Using 'Dynamic Heap' Allocator.
01-07 07:31:19.878 20021 20049 I Unity   : SystemInfo CPU = ARM64 FP ASIMD AES, Cores = 8, Memory = 3701mb
01-07 07:31:19.878 20021 20049 I Unity   : SystemInfo ARM big.LITTLE configuration: 2 big (mask: 0xc0), 6 little (mask: 0x3f)
01-07 07:31:19.878 20021 20049 I Unity   : ApplicationInfo com.Samuel.MediapipeArFoundation version 0.1
01-07 07:31:19.878 20021 20049 I Unity   : Built from '2022.3/staging' branch, Version '2022.3.4f1 (35713cd46cd7)', Build type 'Release', Scripting Backend 'il2cpp', CPU 'arm64-v8a', Stripping 'Enabled'
01-07 07:31:20.203 20021 20049 I Unity   : Company Name: Samuel
01-07 07:31:20.203 20021 20049 I Unity   : Product Name: MediapipeArFoundation
01-07 07:31:20.224 20021 20049 D Unity   :  GL_EXT_debug_marker GL_ARM_rgba8 GL_ARM_mali_shader_binary GL_OES_depth24 GL_OES_depth_texture GL_OES_depth_texture_cube_map GL_OES_packed_depth_stencil GL_OES_rgb8_rgba8 GL_EXT_read_format_bgra GL_OES_compressed_paletted_texture GL_OES_compressed_ETC1_RGB8_texture GL_OES_standard_derivatives GL_OES_EGL_image GL_OES_EGL_image_external GL_OES_EGL_image_external_essl3 GL_OES_EGL_sync GL_OES_texture_npot GL_OES_vertex_half_float GL_OES_required_internalformat GL_OES_vertex_array_object GL_OES_mapbuffer GL_EXT_texture_format_BGRA8888 GL_EXT_texture_rg GL_EXT_texture_type_2_10_10_10_REV GL_OES_fbo_render_mipmap GL_OES_element_index_uint GL_EXT_shadow_samplers GL_OES_texture_compression_astc GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_hdr GL_KHR_texture_compression_astc_sliced_3d GL_EXT_texture_compression_astc_decode_mode GL_EXT_texture_compression_astc_decode_mode_rgb9e5 GL_KHR_debug GL_EXT_occlusion_query_boolean GL_EXT_disjoint_timer_query GL_EXT_blend_minmax GL_EXT_discard_framebuffer
01-07 07:31:20.224 20021 20049 D Unity   :  GL_OES_get_program_binary GL_OES_texture_3D GL_EXT_texture_storage GL_EXT_multisampled_render_to_texture GL_EXT_multisampled_render_to_texture2 GL_OES_surfaceless_context GL_OES_texture_stencil8 GL_EXT_shader_pixel_local_storage GL_ARM_shader_framebuffer_fetch GL_ARM_shader_framebuffer_fetch_depth_stencil GL_ARM_mali_program_binary GL_EXT_sRGB GL_EXT_sRGB_write_control GL_EXT_texture_sRGB_decode GL_EXT_texture_sRGB_R8 GL_EXT_texture_sRGB_RG8 GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_OES_texture_storage_multisample_2d_array GL_OES_shader_image_atomic GL_EXT_robustness GL_EXT_draw_buffers_indexed GL_OES_draw_buffers_indexed GL_EXT_texture_border_clamp GL_OES_texture_border_clamp GL_EXT_texture_cube_map_array GL_OES_texture_cube_map_array GL_OES_sample_variables GL_OES_sample_shading GL_OES_shader_multisample_interpolation GL_EXT_shader_io_blocks GL_OES_shader_io_blocks GL_EXT_tessellation_shader GL_OES_tessellation_shader GL_EXT_primitive_bounding_box GL_OES_primitive_bounding_
01-07 07:31:20.224 20021 20049 D Unity   : box GL_EXT_geometry_shader GL_OES_geometry_shader GL_ANDROID_extension_pack_es31a GL_EXT_gpu_shader5 GL_OES_gpu_shader5 GL_EXT_texture_buffer GL_OES_texture_buffer GL_EXT_copy_image GL_OES_copy_image GL_EXT_shader_non_constant_global_initializers GL_EXT_color_buffer_half_float GL_EXT_color_buffer_float GL_EXT_YUV_target GL_OVR_multiview GL_OVR_multiview2 GL_OVR_multiview_multisampled_render_to_texture GL_KHR_robustness GL_KHR_robust_buffer_access_behavior GL_EXT_draw_elements_base_vertex GL_OES_draw_elements_base_vertex GL_EXT_protected_textures GL_EXT_buffer_storage GL_EXT_external_buffer GL_EXT_EGL_image_array GL_EXT_texture_filter_anisotropic GL_ARM_texture_unnormalized_coordinates
01-07 07:31:20.448 20021 20049 W Unity   : The referenced script (Unknown) on this Behaviour is missing!
01-07 07:31:20.449 20021 20049 W Unity   : The referenced script on this Behaviour (Game Object '<null>') is missing!
01-07 07:31:20.458 20021 20049 I Unity   : XRGeneral Settings awakening...
01-07 07:31:20.458 20021 20049 I Unity   : UnityEngine.XR.Management.XRGeneralSettings:Awake()
01-07 07:31:20.458 20021 20049 I Unity   : 
01-07 07:31:20.577 20021 20049 I native  : I0000 00:00:1704609080.577480   20049 arpresto_api.cc:34] ArPresto::ArPresto_initialize
01-07 07:31:22.962 20021 20049 I native  : I20240107 07:31:22.961249 20049 gl_context_egl.cc:84] Successfully initialized EGL. Major : 1 Minor: 4
01-07 07:31:22.965 20021 20102 I native  : I20240107 07:31:22.965183 20102 gl_context.cc:342] GL version: 3.2 (OpenGL ES 3.2 v1.r26p0-01eac0.455662e55e7c7fb95a4b1db7e7af49a8), renderer: Mali-G52
01-07 07:31:23.856 20021 20102 I tflite  : Initialized TensorFlow Lite runtime.
01-07 07:31:23.859 20021 20102 I tflite  : Replacing 164 out of 164 node(s) with delegate (unknown) node, yielding 1 partitions for the whole graph.
01-07 07:31:23.872 20021 20102 I tflite  : Replacing 164 out of 164 node(s) with delegate (unknown) node, yielding 1 partitions for the whole graph.
01-07 07:31:25.286 20021 20102 I tflite  : Replacing 388 out of 388 node(s) with delegate (unknown) node, yielding 1 partitions for the whole graph.
01-07 07:31:25.328 20021 20102 I tflite  : Replacing 388 out of 388 node(s) with delegate (unknown) node, yielding 1 partitions for the whole graph.
01-07 07:31:35.100 31829  3146 I native  : I0000 00:00:1704609095.100390    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609094871295
01-07 07:31:42.379 20021 20049 I native  : I0000 00:00:1704609102.379152   20049 arpresto_api.cc:107] ArPresto::ArPresto_checkApkAvailability
01-07 07:31:42.920 20797 20815 I native  : I0000 00:00:1704609102.920024   20815 device_profile_database_helpers.cc:569] Found nothing for V5bxAW
01-07 07:31:42.920 20797 20815 I native  : I0000 00:00:1704609102.920314   20815 device_profile_database_helpers.cc:569] Found nothing for merlin_global/merlin
01-07 07:31:42.920 20797 20815 I native  : I0000 00:00:1704609102.920398   20815 device_profile_database_helpers.cc:556] Considering kagnIF:10
01-07 07:31:42.920 20797 20815 I native  : I0000 00:00:1704609102.920489   20815 device_profile_database_helpers.cc:515] Device profile for Redmi/merlin_global/merlin:12/SP1A.210812.016/V13.0.2.0.SJOMIXM:user/release-keys: kagnIF:10
01-07 07:31:42.975 20021 20049 I Unity   : 0 yyyy 0
01-07 07:31:42.975 20021 20049 I Unity   : Mediapipe.Unity.<Start>d__27:MoveNext()
01-07 07:31:42.975 20021 20049 I Unity   : UnityEngine.SetupCoroutine:InvokeMoveNext(IEnumerator, IntPtr)
01-07 07:31:42.975 20021 20049 I Unity   : 
01-07 07:31:43.084 20021 20049 I native  : I0000 00:00:1704609103.083881   20049 arpresto_api.cc:173] ArPresto::ArPresto_setCameraTextureNames
01-07 07:31:43.084 20021 20049 I native  : I0000 00:00:1704609103.084059   20049 arpresto_api.cc:192] ArPresto::ArPresto_setEnabled
01-07 07:31:43.137 20797 20815 I native  : I0000 00:00:1704609103.137226   20815 device_profile_database_helpers.cc:569] Found nothing for V5bxAW
01-07 07:31:43.137 20797 20815 I native  : I0000 00:00:1704609103.137351   20815 device_profile_database_helpers.cc:569] Found nothing for merlin_global/merlin
01-07 07:31:43.137 20797 20815 I native  : I0000 00:00:1704609103.137377   20815 device_profile_database_helpers.cc:556] Considering kagnIF:10
01-07 07:31:43.137 20797 20815 I native  : I0000 00:00:1704609103.137398   20815 device_profile_database_helpers.cc:515] Device profile for Redmi/merlin_global/merlin:12/SP1A.210812.016/V13.0.2.0.SJOMIXM:user/release-keys: kagnIF:10
01-07 07:31:43.188 20021 20049 I native  : I0000 00:00:1704609103.188390   20049 session_create_implementation.cc:255] Entering createImplementationWithFeaturesAndSettings. ARCore SDK version: [1.31.220920000].
01-07 07:31:43.205 20021 20049 I native  : I0000 00:00:1704609103.205853   20049 session_create_implementation.cc:216] AugmentedRegion downsample mode from Phenotype: true
01-07 07:31:43.226 20797 20824 I native  : I0000 00:00:1704609103.226812   20824 device_profile_database_helpers.cc:569] Found nothing for V5bxAW
01-07 07:31:43.227 20797 20824 I native  : I0000 00:00:1704609103.227002   20824 device_profile_database_helpers.cc:569] Found nothing for merlin_global/merlin
01-07 07:31:43.227 20797 20824 I native  : I0000 00:00:1704609103.227083   20824 device_profile_database_helpers.cc:556] Considering kagnIF:10
01-07 07:31:43.227 20797 20824 I native  : I0000 00:00:1704609103.227203   20824 device_profile_database_helpers.cc:515] Device profile for Redmi/merlin_global/merlin:12/SP1A.210812.016/V13.0.2.0.SJOMIXM:user/release-keys: kagnIF:10
01-07 07:31:43.232 20797 20824 W native  : W0000 00:00:1704609103.232288   20824 helpers.cc:4697] Defaulting to persistent calibration file.
01-07 07:31:43.232 20797 20824 W native  : W0000 00:00:1704609103.232646   20824 helpers.cc:4674] Property calibration_cad is not defined.
01-07 07:31:43.236 20797 20824 I native  : I0000 00:00:1704609103.236072   20824 device_provider.cc:3490] Identified device type: kMerlin
01-07 07:31:43.241 20021 20049 I native  : I0000 00:00:1704609103.241660   20049 session_create_implementation_shared.cc:2375] min_apk_version_code is: 220920000, phenotype flag of enable_dual_camera_support is: false, phenotype flag of unified_data_source_status is: 2, is_dual_camera_supported based on device profile is: false
01-07 07:31:43.241 20021 20049 I native  : I0000 00:00:1704609103.241779   20049 session_create_implementation_shared.cc:2386] Settings.camera_stack_option is not specified
01-07 07:31:43.241 20021 20049 I native  : I0000 00:00:1704609103.241797   20049 session_create_implementation_shared.cc:2459] Datasource will be created with camera_stack_option = kUnifiedMono
01-07 07:31:43.241 20021 20049 I native  : I0000 00:00:1704609103.241810   20049 android_camera.cc:168] Camera start operation timeout set to 4000 ms.
01-07 07:31:43.241 20021 20049 I native  : I0000 00:00:1704609103.241968   20049 android_camera.cc:1824] Initializing camera manager.
01-07 07:31:43.250 20021 20049 I native  : I0000 00:00:1704609103.250149   20049 android_camera.cc:1850] Camera manager initialized successfully with 2 cameras.
01-07 07:31:43.250 20021 20049 I native  : I0000 00:00:1704609103.250393   20049 android_camera.cc:760] [Camera=1; State=CLOSED] Reset cleanly got to CLOSED state.
01-07 07:31:43.250 20021 20049 I native  : I0000 00:00:1704609103.250654   20049 android_camera.cc:760] [Camera=0; State=CLOSED] Reset cleanly got to CLOSED state.
01-07 07:31:43.251 20021 20049 I native  : I0000 00:00:1704609103.251285   20049 session_create_implementation_shared.cc:2558] Persistent online recalibration is enabled by Phenotype.
01-07 07:31:43.266 20021 20049 I tflite  : Initialized TensorFlow Lite runtime.
01-07 07:31:43.271 20021 20049 I tflite  : Created TensorFlow Lite XNNPACK delegate for CPU.
01-07 07:31:43.272 20021 20049 I tflite  : Replacing 2 out of 2 node(s) with delegate (TfLiteXNNPackDelegate) node, yielding 1 partitions for the whole graph.
01-07 07:31:43.275 20021 20049 I native  : I0000 00:00:1704609103.275638   20049 online_calibration_manager.cc:108] OnlineCalibrationManager: Read online recalibration file successfully.
01-07 07:31:43.364 20021 20049 I native  : I0000 00:00:1704609103.364543   20049 android_sensors.cc:135] Using uncalibrated accelerometer.
01-07 07:31:43.364 20021 20049 I native  : I0000 00:00:1704609103.364739   20049 android_sensors.cc:154] Uncalibrated magnetometer available.
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365085   20049 android_sensors.cc:162] Calibrated magnetometer available.
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365202   20049 android_sensors.cc:177] Using SENSOR_TYPE_LIGHT
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365304   20049 android_sensors.cc:180] Could not find SENSOR_TYPE_PRESSURE
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365402   20049 android_sensors.cc:177] Using SENSOR_TYPE_PROXIMITY
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365571   20049 android_sensors.cc:177] Using SENSOR_TYPE_GRAVITY
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365679   20049 android_sensors.cc:177] Using SENSOR_TYPE_ROTATION_VECTOR
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365764   20049 android_sensors.cc:177] Using SENSOR_TYPE_GAME_ROTATION_VECTOR
01-07 07:31:43.365 20021 20049 I native  : I0000 00:00:1704609103.365884   20049 android_sensors.cc:177] Using SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR
01-07 07:31:43.366 20021 20049 I native  : I0000 00:00:1704609103.365981   20049 android_sensors.cc:177] Using SENSOR_TYPE_STEP_DETECTOR
01-07 07:31:43.366 20021 20049 I native  : I0000 00:00:1704609103.366769   20049 android_platform_checks.cc:206] IsZeroRotationLandscape = false
01-07 07:31:43.367 20021 20049 I native  : I0000 00:00:1704609103.367187   20049 app_version_util.cc:50] Package name: com.google.ar.core App version: 1.41.233110993
01-07 07:31:43.368 20021 20049 I native  : I0000 00:00:1704609103.367342   20049 logger.h:28] DataSourceMetrics: CamerasInit: 616ns
01-07 07:31:43.368 20021 20049 I native  : I0000 00:00:1704609103.368336   20049 session_create_implementation_shared.cc:1580] CPU Image enable frame delay to compensate delay: false
01-07 07:31:43.383 20021 20049 I native  : I0000 00:00:1704609103.383251   20049 config_helpers.cc:425] Legacy IMU sigma values are used
01-07 07:31:43.383 20021 20049 I native  : I0000 00:00:1704609103.383552   20049 deep_io.cc:106] Load deepIO config: deepio_v5_pb.uncompressed
01-07 07:31:43.383 20021 20049 I native  : I0000 00:00:1704609103.383662   20049 deep_io.cc:117] Load TFLite model: deepio_v5_tflite.uncompressed
01-07 07:31:43.393 20021 20049 I tflite  : Replacing 64 out of 83 node(s) with delegate (TfLiteXNNPackDelegate) node, yielding 21 partitions for the whole graph.
01-07 07:31:43.399 20021 20049 I native  : I0000 00:00:1704609103.398971   20049 session_create_implementation_shared.cc:929] DeepIO release instantiated successfully.
01-07 07:31:43.400 20021 20049 I native  : I0000 00:00:1704609103.400434   20049 inertial_estimator.cc:95] DeepIO model id: 5
01-07 07:31:43.405 20021 20049 I native  : I0000 00:00:1704609103.405061   20049 motion_tracking_context.cc:1018] VPS data synchronizer is successfully initialized.
01-07 07:31:43.405 20021 20049 I native  : I0000 00:00:1704609103.405818   20049 feature_matcher_and_filter.cc:283] Enabled the robustification to large-sized and fast-moving objects on this mono-camera device.
01-07 07:31:43.411 20021 20049 I tflite  : Replacing 3 out of 3 node(s) with delegate (TfLiteXNNPackDelegate) node, yielding 1 partitions for the whole graph.
01-07 07:31:43.411 20021 20049 I native  : I0000 00:00:1704609103.411483   20049 pose_confidence_estimator.cc:231] Pose confidence model loaded successfully
01-07 07:31:43.412 20021 20049 I native  : I0000 00:00:1704609103.411962   20049 bundle_adjustment_initializer.cc:209] [SSBA Initialization] SSBA initialization uses imu preintegration error with shared bias term.
01-07 07:31:43.434 20021 20049 I native  : I0000 00:00:1704609103.434710   20049 asset_manager_util.cc:61] Created global reference to asset manager.
01-07 07:31:43.434 20021 20049 I native  : I0000 00:00:1704609103.434865   20049 session_create_implementation_shared.cc:1605] Normal detector created.
01-07 07:31:43.446 20021 20049 I native  : I0000 00:00:1704609103.446422   20049 planar_target_tracking_manager.h:116] Config of PlanarTargetTrackingManager:
01-07 07:31:43.446 20021 20049 I native  : -pose_refinement_with_detection_interval_ns: 0
01-07 07:31:43.446 20021 20049 I native  : -min_interval_between_detections_ns: 500000000
01-07 07:31:43.446 20021 20049 I native  : -filter_parallax: false
01-07 07:31:43.446 20021 20049 I native  : -filter_result: true
01-07 07:31:43.446 20021 20049 I native  : -multiple_targets: true
01-07 07:31:43.446 20021 20049 I native  : -mini_detection: true
01-07 07:31:43.446 20021 20049 I native  : -tracking_mode: 1
01-07 07:31:43.446 20021 20049 I native  : -camera_id: 0
01-07 07:31:43.452 20021 20049 I native  : I0000 00:00:1704609103.452362   20049 session_manager.cc:46] ArPresto::Session created.camera direction:0
01-07 07:31:43.453 20021 20049 I native  : I0000 00:00:1704609103.453417   20049 session.cc:1255] Entering Session::Resume.
01-07 07:31:43.453 20021 20049 I native  : I0000 00:00:1704609103.453872   20049 camera_config_manager.cc:719] UpdateBugFixes on CameraConfigManager is unimplemented!
01-07 07:31:43.480 20021 20049 I native  : I0000 00:00:1704609103.480506   20049 eis_manager.cc:68] EIS turned off
01-07 07:31:43.480 20021 20049 I native  : I0000 00:00:1704609103.480576   20049 eis_manager.cc:79] current_eis_metadata_.frame_size 1920 x 1080
01-07 07:31:43.480 20021 20049 I native  : I0000 00:00:1704609103.480598   20049 android_camera.cc:168] Camera start operation timeout set to 4000 ms.
01-07 07:31:43.480 20021 20049 I native  : I0000 00:00:1704609103.480625   20049 android_camera.cc:1824] Initializing camera manager.
01-07 07:31:43.487 20021 20049 I native  : I0000 00:00:1704609103.486969   20049 android_camera.cc:1850] Camera manager initialized successfully with 2 cameras.
01-07 07:31:43.487 20021 20049 I native  : I0000 00:00:1704609103.487127   20049 android_camera.cc:760] [Camera=1; State=CLOSED] Reset cleanly got to CLOSED state.
01-07 07:31:43.487 20021 20049 I native  : I0000 00:00:1704609103.487349   20049 android_camera.cc:760] [Camera=0; State=CLOSED] Reset cleanly got to CLOSED state.
01-07 07:31:43.487 20021 20049 I native  : I0000 00:00:1704609103.487804   20049 session.cc:3602] Update Frame Delay to 0 frames.
01-07 07:31:43.494 20021 20049 I native  : I0000 00:00:1704609103.494361   20049 android_sensors.cc:229] Starting thread.
01-07 07:31:43.501 20021 20049 I native  : I0000 00:00:1704609103.501345   20049 logger.h:28] DataSourceMetrics: kStartImageSubSystem: 6.795385ms
01-07 07:31:43.501 20021 20049 I native  : I0000 00:00:1704609103.501429   20049 session.cc:1443] Session::ResumeWithAnalytics returning OK.
01-07 07:31:43.501 20021 20049 I native  : I0000 00:00:1704609103.501762   20049 session_manager.cc:329] ArPresto::Moving from ArPrestoStatus 102 to 101
01-07 07:31:43.501 20021 20049 E native  : E0000 00:00:1704609103.501954   20049 session_lite_c_api.cc:153] operator(): width <= 0
01-07 07:31:43.502 20021 20049 I native  : I0000 00:00:1704609103.501990   20049 session.cc:3602] Update Frame Delay to 0 frames.
01-07 07:31:43.521 20021 20878 W native  : W0000 00:00:1704609103.521712   20878 android_sensor_event_source.cc:277] INTERNAL: Could not create direct sensor channel
01-07 07:31:43.521 20021 20878 W native  : === Source Location Trace: ===
01-07 07:31:43.521 20021 20878 W native  : third_party/arcore/ar/infrastructure/android/android_sensor_event_source.cc:135
01-07 07:31:43.521 20021 20878 I native  : I0000 00:00:1704609103.521858   20878 android_sensor_event_source.cc:221] SENSOR_TYPE_ACCELEROMETER_UNCALIBRATED min delay 5ms requesting 5ms
01-07 07:31:43.528 20021 20168 W Unity   : Camera2: CameraDevice disconnected.
01-07 07:31:43.534 20021 20878 W native  : W0000 00:00:1704609103.534655   20878 android_sensor_event_source.cc:277] INTERNAL: Could not create direct sensor channel
01-07 07:31:43.534 20021 20878 W native  : === Source Location Trace: ===
01-07 07:31:43.534 20021 20878 W native  : third_party/arcore/ar/infrastructure/android/android_sensor_event_source.cc:135
01-07 07:31:43.534 20021 20878 I native  : I0000 00:00:1704609103.534754   20878 android_sensor_event_source.cc:221] SENSOR_TYPE_GYROSCOPE_UNCALIBRATED min delay 5ms requesting 5ms
01-07 07:31:43.600 20021 20049 I native  : I0000 00:00:1704609103.600782   20049 session.cc:594] New session config:
01-07 07:31:43.600 20021 20049 I native  : ArConfig
01-07 07:31:43.600 20021 20049 I native  :  augmented_face_mode:           AR_AUGMENTED_FACE_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  augmented_image_database:      [0 images]
01-07 07:31:43.600 20021 20049 I native  :  cloud_anchor_mode:             AR_CLOUD_ANCHOR_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  depth_mode:                    AR_DEPTH_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  semantic_mode:                AR_SEMANTIC_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  focus_mode:                    AR_FOCUS_MODE_AUTO
01-07 07:31:43.600 20021 20049 I native  :  geospatial_mode:               AR_GEOSPATIAL_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  instant_placement_mode:        AR_INSTANT_PLACEMENT_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  light_estimation_mode:         AR_LIGHT_ESTIMATION_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  plane_finding_mode:            AR_PLANE_FINDING_MODE_DISABLED
01-07 07:31:43.600 20021 20049 I native  :  update_mode:                   AR_UPDATE_MODE_BLOCKING
01-07 07:31:43.600 20021 20049 I native  : I0000 00:00:1704609103.600885   20049 session.cc:587] Session::CheckAndWriteCurrentConfig returning OK.
01-07 07:31:44.135 20021 20102 I tflite  : Created TensorFlow Lite delegate for GPU.
01-07 07:31:44.136 20021 20102 I tflite  : Replacing 232 out of 232 node(s) with delegate (TfLiteGpuDelegate) node, yielding 1 partitions for the whole graph.
01-07 07:31:45.099 20021 20102 I tflite  : Replacing 167 out of 167 node(s) with delegate (TfLiteGpuDelegate) node, yielding 1 partitions for the whole graph.
01-07 07:31:48.527 20021 20878 E native  : E0000 00:00:1704609108.526914   20878 data_synchronizer.cc:98] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:48.527 20021 20878 E native  : E0000 00:00:1704609108.527108   20878 feature_tracks_and_imu_sync.cc:78] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:48.527 20021 20878 E native  : E0000 00:00:1704609108.527145   20878 data_synchronizer.cc:122] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.017 20021 20893 W Unity   : Camera2: CameraDevice disconnected.
01-07 07:31:49.026 20021 20878 E native  : E0000 00:00:1704609109.026393   20878 data_synchronizer.cc:98] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.026 20021 20878 E native  : E0000 00:00:1704609109.026595   20878 feature_tracks_and_imu_sync.cc:78] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.026 20021 20878 E native  : E0000 00:00:1704609109.026669   20878 data_synchronizer.cc:122] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.491 20021 20877 I native  : I0000 00:00:1704609109.490975   20877 logger.h:28] DataSourceMetrics: kFirstGlCallback: 5.996422231s
01-07 07:31:49.499 20021 21052 I native  : I0000 00:00:1704609109.499110   21052 timebase_helpers.cc:171] Timebase offset initialized to 0
01-07 07:31:49.499 20021 21052 I native  : I0000 00:00:1704609109.499355   21052 logger.h:28] DataSourceMetrics: kFirstImageCallback: 6.004803923s
01-07 07:31:49.503 20021 20049 I native  : I0000 00:00:1704609109.503488   20049 estimator_impl.cc:846] Resetting motion tracking from user request.
01-07 07:31:49.526 20021 20878 E native  : E0000 00:00:1704609109.525994   20878 data_synchronizer.cc:98] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.526 20021 20878 E native  : E0000 00:00:1704609109.526179   20878 feature_tracks_and_imu_sync.cc:78] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.526 20021 20878 E native  : E0000 00:00:1704609109.526280   20878 data_synchronizer.cc:122] IMU buffer beyond maximum size: 500 vs 500.  Removing the first 1 element(s).
01-07 07:31:49.528 20021 20862 W native  : W0000 00:00:1704609109.528135   20862 feature_matcher_and_filter_utils.cc:269] INVALID_ARGUMENT: integration window start at 0
01-07 07:31:49.528 20021 20862 W native  : === Source Location Trace: ===
01-07 07:31:49.528 20021 20862 W native  : third_party/redwood/perception/imu_processing/imu_integrator/imu_integrator_utils.cc:97
01-07 07:31:49.528 20021 20862 W native  :  Use identity R.
01-07 07:31:49.531 20021 20863 I native  : I0000 00:00:1704609109.531421   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:31:49.597 20021 20843 E native  : E0000 00:00:1704609109.597383   20843 jni_helper.cc:110] Attempt to get JNIEnv* on thread not attached to JVM
01-07 07:31:49.608 20021 20863 I native  : I0000 00:00:1704609109.608139   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:31:49.707 20021 20863 I native  : I0000 00:00:1704609109.707465   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:31:49.804 20021 20863 I native  : I0000 00:00:1704609109.804433   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:31:49.938 20021 20861 I native  : I0000 00:00:1704609109.938407   20861 bundle_adjustment_initializer.cc:364] Intrinsic vector size of the camera 0 is 7
01-07 07:31:49.957 20021 21052 I native  : I0000 00:00:1704609109.957733   21052 camera_timestamp_corrector.cc:264] IMU-camera rough initial offset for camera 0 initialized to 43368086243498
01-07 07:31:49.983 20021 20861 I native  : I0000 00:00:1704609109.983873   20861 bundle_adjustment_initialization.h:143] Number of measurements used in BA initialization for temporal landmarks: 300
01-07 07:31:49.984 20021 20861 I native  : I0000 00:00:1704609109.983977   20861 bundle_adjustment_initialization.h:145] Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 293
01-07 07:31:50.087 20021 20049 I native  : I0000 00:00:1704609110.087782   20049 session_manager.cc:329] ArPresto::Moving from ArPrestoStatus 101 to 100
01-07 07:32:05.099 31829  3146 I native  : I0000 00:00:1704609125.098930    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609124871295
01-07 07:32:05.742 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:05.742 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Stop () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Play () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:05.742 20021 20049 E Unity   :   at UnityEngine.EventSystems.S
01-07 07:32:10.821 20021 20863 I native  : I0000 00:00:1704609130.821373   20863 viwls_helper.cc:214] Skip Lite-COM due to a significant calibration change.
01-07 07:32:10.833 20021 20863 I native  : I0000 00:00:1704609130.833201   20863 viwls_optimization.cc:127] Force a full COM map solve.
01-07 07:32:10.941 20021 20863 I native  : I0000 00:00:1704609130.941568   20863 viwls_optimization.cc:1406] MAP SOLVE: USER_SUCCESS
01-07 07:32:10.946 20021 20863 I native  : I0000 00:00:1704609130.946494   20863 visual_inertial_wls.cc:261] online_viwls_solve_time in seconds = 0.125124 solve_time_counter_ = 0
01-07 07:32:10.968 20021 20863 I native  : I0000 00:00:1704609130.968125   20863 multi_map_manager.cc:288] Added ADF into multi_map_manager: f7f047c7-7841-2e35-905c-6e89c696be19
01-07 07:32:11.031 20021 20864 I native  : I0000 00:00:1704609131.031653   20864 sbr_constraint_update_utils.cc:762] Refined adf_T_C from: q = [x: 0.579199, y: -0.475005, z: -0.449073, w: 0.487065], p = [x: -0.0630885, y: 0.00407647, z: -0.0435991]
01-07 07:32:11.031 20021 20864 I native  : to: q = [x: 0.587031, y: -0.464313, z: -0.451623, w: 0.485638], p = [x: -0.046009, y: 0.0132351, z: -0.0432759]
01-07 07:32:11.031 20021 20864 I native  : rotation change: 1.55524(deg), position change: 0.0193828(m).
01-07 07:32:11.031 20021 20864 E native  : E0000 00:00:1704609131.031943   20864 sbr_action_state.cc:229] 2 consistent ADF to VIO transformation from MLE are required to initialize this variable in VIO. Current value is 1.
01-07 07:32:11.032 20021 20864 E native  : E0000 00:00:1704609131.032034   20864 ralph_adapter.cc:897] NOT_FOUND: Map with id: 0 not found in the state.
01-07 07:32:11.032 20021 20864 E native  : === Source Location Trace: ===
01-07 07:32:11.032 20021 20864 E native  : third_party/alphatrack/internal/ralph/ralph.cc:1139
01-07 07:32:11.135 20021 20864 I native  : I0000 00:00:1704609131.135846   20864 sbr_constraint_update_utils.cc:762] Refined adf_T_C from: q = [x: 0.590171, y: -0.459498, z: -0.460868, w: 0.477662], p = [x: -0.0293336, y: 0.0222308, z: -0.0460579]
01-07 07:32:11.135 20021 20864 I native  : to: q = [x: 0.587055, y: -0.461965, z: -0.452359, w: 0.487162], p = [x: -0.0455008, y: 0.0144526, z: -0.0449568]
01-07 07:32:11.135 20021 20864 I native  : rotation change: 1.53079(deg), position change: 0.0179748(m).
01-07 07:32:11.136 20021 20864 I native  : I0000 00:00:1704609131.136251   20864 sbr_constraint_update_utils.cc:388] (Re-)setting adf_T_vio: q = [x: 0, y: 0, z: -0.00423257, w: 0.999991], p = [x: 0.00991715, y: 0.0365335, z: 0.000328145]
01-07 07:32:11.202 20021 20852 I native  : I0000 00:00:1704609131.202038   20852 pose_manager.cc:336] World pose node changing to MapId:f7f047c7-7841-2e35-905c-6e89c696be19 with 1 opt.
01-07 07:32:21.690 20021 20863 W native  : W0000 00:00:1704609141.689986   20863 imu_buffering.h:83] Requested timestamp before earliest received imu sample. Extrapolating first sample with constant value.
01-07 07:32:28.411 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:28.411 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Pause () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:28.411 20021 20049 E Unity   : UnityEngine.EventSyst
01-07 07:32:30.906 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:30.906 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Resume () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:30.906 20021 20049 E Unity   : UnityEngine.EventSys
01-07 07:32:34.516 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:34.516 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Pause () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:34.516 20021 20049 E Unity   : UnityEngine.EventSyst
01-07 07:32:35.106 31829  3146 I native  : I0000 00:00:1704609155.099181    3146 soda_async_impl.cc:1545] Current audio timestamp: 1704609154871295
01-07 07:32:36.026 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:36.026 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Resume () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:36.026 20021 20049 E Unity   : UnityEngine.EventSys
01-07 07:32:40.287 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:40.287 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Pause () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:40.287 20021 20049 E Unity   : UnityEngine.EventSyst
01-07 07:32:41.713 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:41.713 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Resume () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:41.713 20021 20049 E Unity   : UnityEngine.EventSys
01-07 07:32:43.933 20021 20049 E Unity   : NullReferenceException: Object reference not set to an instance of an object.
01-07 07:32:43.933 20021 20049 E Unity   :   at Mediapipe.Unity.ImageSourceSolution`1[T].Pause () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   :   at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   :   at UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchPress (UnityEngine.EventSystems.PointerEventData pointerEvent, System.Boolean pressed, System.Boolean released) [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.ProcessTouchEvents () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   :   at UnityEngine.EventSystems.StandaloneInputModule.Process () [0x00000] in <00000000000000000000000000000000>:0 
01-07 07:32:43.933 20021 20049 E Unity   : UnityEngine.EventSyst
01-07 07:32:49.625 20021 20861 W native  : W0000 00:00:1704609169.625356   20861 vio_fault_detector.cc:305] Fault: Lack of valid visual measurements.
01-07 07:32:49.628 20021 20861 W native  : W0000 00:00:1704609169.625568   20861 data_manager.cc:1244] VIO is at fault conditions, wait for reset. Current timestamp in ns = 175658926750352
01-07 07:32:49.629 20021 20861 W native  : W0000 00:00:1704609169.628597   20861 data_manager.cc:730] Resetting VIO at timestamp = 175658926750352 ns.
01-07 07:32:49.633 20021 20863 I native  : I0000 00:00:1704609169.632262   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:49.633 20021 20863 I native  : I0000 00:00:1704609169.633267   20863 data_manager.cc:109] Mapping backend detected fault.
01-07 07:32:49.633 20021 20863 I native  : I0000 00:00:1704609169.633315   20863 data_manager.cc:111] Saving current map to map buffer.
01-07 07:32:49.634 20021 20863 I native  : I0000 00:00:1704609169.633345   20863 data_manager.cc:117] Generated map # 1, ID f7f047c7-7841-2e35-905c-6e89c696be19, non-marginalized keyframes 46, landmarks 271
01-07 07:32:49.688 20021 20049 I native  : I0000 00:00:1704609169.685032   20049 session_manager.cc:329] ArPresto::Moving from ArPrestoStatus 100 to 101
01-07 07:32:49.714 20021 20863 I native  : I0000 00:00:1704609169.714116   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:49.808 20021 20863 I native  : I0000 00:00:1704609169.808413   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:49.917 20021 20863 I native  : I0000 00:00:1704609169.916841   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.022 20021 20863 I native  : I0000 00:00:1704609170.022749   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.119 20021 20863 I native  : I0000 00:00:1704609170.119587   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.215 20021 20863 I native  : I0000 00:00:1704609170.215569   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.317 20021 20863 I native  : I0000 00:00:1704609170.317224   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.428 20021 20863 I native  : I0000 00:00:1704609170.428047   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.529 20021 20863 I native  : I0000 00:00:1704609170.528991   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.629 20021 20863 I native  : I0000 00:00:1704609170.629037   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.744 20021 20863 I native  : I0000 00:00:1704609170.744362   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.838 20021 20863 I native  : I0000 00:00:1704609170.837820   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:50.942 20021 20863 I native  : I0000 00:00:1704609170.942784   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.036 20021 20863 I native  : I0000 00:00:1704609171.036640   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.140 20021 20863 I native  : I0000 00:00:1704609171.140392   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.242 20021 20863 I native  : I0000 00:00:1704609171.242820   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.348 20021 20863 I native  : I0000 00:00:1704609171.348667   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.450 20021 20863 I native  : I0000 00:00:1704609171.450057   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.549 20021 20863 I native  : I0000 00:00:1704609171.549824   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.650 20021 20863 I native  : I0000 00:00:1704609171.650776   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.748 20021 20863 I native  : I0000 00:00:1704609171.748021   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.848 20021 20863 I native  : I0000 00:00:1704609171.847974   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:51.947 20021 20863 I native  : I0000 00:00:1704609171.947187   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.051 20021 20863 I native  : I0000 00:00:1704609172.051137   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.158 20021 20863 I native  : I0000 00:00:1704609172.158378   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.252 20021 20863 I native  : I0000 00:00:1704609172.252260   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.351 20021 20863 I native  : I0000 00:00:1704609172.351065   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.458 20021 20863 I native  : I0000 00:00:1704609172.458421   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.563 20021 20863 I native  : I0000 00:00:1704609172.562854   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.666 20021 20863 I native  : I0000 00:00:1704609172.666339   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.764 20021 20863 I native  : I0000 00:00:1704609172.764522   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.866 20021 20863 I native  : I0000 00:00:1704609172.866044   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:52.946 20021 20863 I native  : I0000 00:00:1704609172.946839   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.064 20021 20863 I native  : I0000 00:00:1704609173.064118   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.162 20021 20863 I native  : I0000 00:00:1704609173.162244   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.262 20021 20863 I native  : I0000 00:00:1704609173.261939   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.352 20021 20863 I native  : I0000 00:00:1704609173.351929   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.467 20021 20863 I native  : I0000 00:00:1704609173.467266   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.561 20021 20863 I native  : I0000 00:00:1704609173.561739   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.666 20021 20863 I native  : I0000 00:00:1704609173.665953   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.760 20021 20863 I native  : I0000 00:00:1704609173.760329   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.864 20021 20863 I native  : I0000 00:00:1704609173.864354   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:53.973 20021 20863 I native  : I0000 00:00:1704609173.973331   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.076 20021 20863 I native  : I0000 00:00:1704609174.076435   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.182 20021 20863 I native  : I0000 00:00:1704609174.182640   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.286 20021 20863 I native  : I0000 00:00:1704609174.286299   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.387 20021 20863 I native  : I0000 00:00:1704609174.387137   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.484 20021 20863 I native  : I0000 00:00:1704609174.484506   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.588 20021 20863 I native  : I0000 00:00:1704609174.588022   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.690 20021 20863 I native  : I0000 00:00:1704609174.690433   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.778 20021 20863 I native  : I0000 00:00:1704609174.778866   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.891 20021 20863 I native  : I0000 00:00:1704609174.891908   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:54.994 20021 20863 I native  : I0000 00:00:1704609174.994656   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.092 20021 20863 I native  : I0000 00:00:1704609175.092318   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.193 20021 20863 I native  : I0000 00:00:1704609175.193588   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.294 20021 20863 I native  : I0000 00:00:1704609175.294256   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.402 20021 20863 I native  : I0000 00:00:1704609175.401842   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.503 20021 20863 I native  : I0000 00:00:1704609175.503345   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.604 20021 20863 I native  : I0000 00:00:1704609175.604791   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.696 20021 20863 I native  : I0000 00:00:1704609175.695929   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.806 20021 20863 I native  : I0000 00:00:1704609175.806894   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.906 20021 20863 I native  : I0000 00:00:1704609175.906321   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:55.996 20021 20863 I native  : I0000 00:00:1704609175.996829   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.109 20021 20863 I native  : I0000 00:00:1704609176.108895   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.203 20021 20863 I native  : I0000 00:00:1704609176.203406   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.307 20021 20863 I native  : I0000 00:00:1704609176.307602   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.415 20021 20863 I native  : I0000 00:00:1704609176.415643   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.510 20021 20863 I native  : I0000 00:00:1704609176.510659   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.609 20021 20863 I native  : I0000 00:00:1704609176.609427   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.717 20021 20863 I native  : I0000 00:00:1704609176.716766   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.812 20021 20863 I native  : I0000 00:00:1704609176.812312   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
01-07 07:32:56.908 20021 20863 I native  : I0000 00:00:1704609176.908583   20863 data_manager.cc:217] - VisualInertialState is kNotTracking - Clear the buffer. Save the map. Reset the trajectory.
homuler commented 9 months ago

I think you should enable Development build (otherwise logging is suppressed). At any rate, what you should do first is to investigate which object is null and why so.

NullReferenceException: Object reference not set to an instance of an object. 01-07 07:32:28.411 20021 20049 E Unity : at Mediapipe.Unity.ImageSourceSolution`1[T].Pause () [0x00000] in <00000000000000000000000000000000>:0