I'm facing the following problem while developing Tango app and not sure whether I'm on the right track or not.
What I'm trying to achieve:
- User takes a picture. In the background the app saves to persistent the current point cloud and pose.
- The server is getting that image and doing some magic processing behind the scene and sends (x,y) coordinate back to the app(Async and unrelated to current Tango session).
- Restart the app, start a new tango session and show a 3d object at (x,y) using the persist copy of the point cloud and pose.
I expect that I'll be able to use these parameters - (x,y), point cloud and Pose in the following algorithm and get a Pose, which is a Rajawali object that RajawaliRenderer knows how to render.
tango initialization is accoring to the following coordinate frame:
TANGO_WORLD_BASE_COORDINATE_FRAME = new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
TangoPoseData.COORDINATE_FRAME_DEVICE
);
Plan Fit using intersection point -
private void convertByIntersectionPoint(float x, float y, TangoPointCloudData tangoPointCloudData, TangoPoseData devicePose, TangoPoseData colorTdepthPose) { if (tangoPointCloudData != null) { TangoSupport.IntersectionPointPlaneModelPair intersectionPointPlaneModelPair = TangoSupport.fitPlaneModelNearPoint(tangoPointCloudData, colorTdepthPose, x, y); if (devicePose.statusCode == TangoPoseData.POSE_VALID) { mRenderer.updateObjectPose( intersectionPointPlaneModelPair.intersectionPoint, intersectionPointPlaneModelPair.planeModel, devicePose); } } }
It throws TangoErrorException on TangoSupport.fitPlaneModelNearPoint.
To my understanding the fitPlaneModelNearPoint method should do pure algorithm that doesn't rely on current Tango session but I cannot be sure because I don't have its implementation.
Any help'd be much appreciated.
