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ARCore SDK for Unity

Home Page: https://developers.google.com/ar

License: Other

ShaderLab 2.25% C# 97.30% Objective-C++ 0.07% HLSL 0.37%

arcore-unity-sdk's Introduction

Google ARCore SDK for Unity

This SDK provides native APIs for all of the essential AR features like motion tracking, environmental understanding, and light estimation. With these capabilities you can build entirely new AR experiences or enhance existing apps with AR features.

Caution: The ARCore SDK for Unity is deprecated, and no longer supported in the 2020 and later versions of Unity. This SDK should only be used by developers working on existing projects which are unable to migrate to Unity's AR Foundation. Developers starting new projects should instead use the ARCore Extensions for AR Foundation.

Quick Start

See the Getting Started with Unity developer guide.

API Reference

See the ARCore SDK for Unity API Reference.

Release Notes

The SDK release notes are available on the releases page.

Terms & Conditions

By downloading the ARCore SDK for Unity, you agree that the Google APIs Terms of Service governs your use thereof.

User privacy requirements

You must disclose the use of Google Play Services for AR (ARCore) and how it collects and processes data, prominently in your application, easily accessible to users. You can do this by adding the following text on your main menu or notice screen: "This application runs on Google Play Services for AR (ARCore), which is provided by Google LLC and governed by the Google Privacy Policy".

Deprecation policy

Apps built with ARCore SDK 1.12.0 or higher are covered by the Cloud Anchor API deprecation policy.

Apps built with ARCore SDK 1.11.0 or lower will be unable to host or resolve Cloud Anchors beginning December 2020 due to the SDK's use of an older, deprecated ARCore Cloud Anchor service.

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arcore-unity-sdk's Issues

How to debug?

Guys how do you debug in Unity for arcore, I have a project I am making and the most I can do is build and run for a build on a Samsung 8 (wireless build) and then see logs in console, any way to connect to unity remote 5 or Visual Studio using Unity for arcore

camera preview data can't update

Hi, I met a problem that sometimes rare-camera data can't update, but my 3D model still update. But I haven't met this problem when my project don't use realtime shadow. unity version: 2017.2.0f1, Phone: Google pixel. Is this problem caused by Unity or ARCore SDK?

Tango core crashed on Samsung S8

I have followed the [Getting Started with Unity] tutorial (https://developers.google.com/ar/develop/unity/getting-started) to build the project，but the HelloAR example kept crashing on my s8，here is the error log...
any help thanks...

`10-14 01:10:05.921 545-3695/? E/ANDR-PERF-MPCTL: Invalid profile no. 0, total profiles 0 only
10-14 01:10:05.960 17578-17578/? E/Zygote: v2
10-14 01:10:05.961 17578-17578/? E/Zygote: accessInfo : 0
10-14 01:10:05.972 3204-17566/? E/FA: Failed to send current screen to service
10-14 01:10:05.999 2019-2019/? E/SignalClusterView: setSlotFocusVisible : subId 1
10-14 01:10:06.000 2019-2019/? E/SignalClusterView: setSlotFocusVisible : subId 1
10-14 01:10:06.290 17578-17578/? E/ACameraMetadata: getConstEntry: cannot find metadata tag 1310721
10-14 01:10:06.290 17578-17578/? E/ACameraMetadata: getConstEntry: cannot find metadata tag 1638401
10-14 01:10:06.290 17578-17578/? E/ACameraMetadata: getConstEntry: cannot find metadata tag 1310721
10-14 01:10:06.290 17578-17578/? E/ACameraMetadata: getConstEntry: cannot find metadata tag 1638401
10-14 01:10:06.290 17578-17578/? E/tango_camera_native: 2 is not a valid camera index.
10-14 01:10:06.290 17578-17578/? E/tango_camera_native: 3 is not a valid camera index.
10-14 01:10:06.316 17602-17602/? E/Zygote: v2
10-14 01:10:06.318 17602-17602/? E/Zygote: accessInfo : 0
10-14 01:10:06.349 17578-17592/? E/Unity: Unable to find AudioPluginMsHRTF
10-14 01:10:06.349 17578-17592/? E/Unity: Unable to find AudioPluginOculusSpatializer
10-14 01:10:06.350 17578-17592/? E/Unity: Unable to find unitygar
10-14 01:10:06.350 17578-17592/? E/Unity: Unable to find libAudioPluginOculusSpatializer
10-14 01:10:06.351 17578-17592/? E/Unity: Unable to find libtango_3d_reconstruction_api
10-14 01:10:06.436 743-958/? E/msm8974_platform: platform_check_backends_match: Invalid snd_device =
10-14 01:10:06.443 743-958/? E/voice: voice_is_in_call_rec_stream: input stream is NULL
10-14 01:10:06.444 743-958/? E/ACDB-LOADER: Error: ACDB AudProc vol returned = -19
10-14 01:10:06.490 17602-17654/? E/tango: device_provider.cc:336 Could not identify device type from build fingerprint 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQH6:user/release-keys'.
10-14 01:10:06.490 17602-17654/? E/tango: helpers.cc:288 Hardcoded CAD model unavailable for device kUnknownDevice
10-14 01:10:06.490 17602-17602/? A/tango: calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess

                                      --------- beginning of crash

10-14 01:10:06.491 17602-17602/? A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 17602 (om.google.tango)

                                     [ 10-14 01:10:06.492   512:  512 W/         ]
                                     debuggerd: handling request: pid=17602 uid=10374 gid=10374 tid=17602

10-14 01:10:06.584 17655-17655/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
10-14 01:10:06.585 17655-17655/? A/DEBUG: Build fingerprint: 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQH6:user/release-keys'
10-14 01:10:06.585 17655-17655/? A/DEBUG: Revision: '12'
10-14 01:10:06.585 17655-17655/? A/DEBUG: ABI: 'arm64'
10-14 01:10:06.585 17655-17655/? A/DEBUG: pid: 17602, tid: 17602, name: om.google.tango >>> com.google.tango <<<
10-14 01:10:06.585 17655-17655/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
10-14 01:10:06.591 17655-17655/? A/DEBUG: Abort message: 'calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess '
10-14 01:10:06.591 17655-17655/? A/DEBUG: x0 0000000000000000 x1 00000000000044c2 x2 0000000000000006 x3 0000000000000008
10-14 01:10:06.591 17655-17655/? A/DEBUG: x4 0000000000000002 x5 0000000000000001 x6 f789a7a2211d9d85 x7 0000000000000000
10-14 01:10:06.591 17655-17655/? A/DEBUG: x8 0000000000000083 x9 0000007f9e759a98 x10 f789a7a2211d9d85 x11 f789a7a2211d9d85
10-14 01:10:06.591 17655-17655/? A/DEBUG: x12 0000000000000000 x13 0000000000000020 x14 ffffffffffffffdf x15 0000007febd723c0
10-14 01:10:06.591 17655-17655/? A/DEBUG: x16 0000007f9ddecee0 x17 0000007f9dd8d6bc x18 0000000000000069 x19 0000007f9e759b40
10-14 01:10:06.591 17655-17655/? A/DEBUG: x20 0000000000000006 x21 0000007f9e759a98 x22 0000000000000002 x23 0000007febd728a8
10-14 01:10:06.591 17655-17655/? A/DEBUG: x24 0000000000000068 x25 0000007f8c253118 x26 0000007f87eecd40 x27 0000007f8c246da0
10-14 01:10:06.592 17655-17655/? A/DEBUG: x28 0000007f8c246d78 x29 0000007febd72280 x30 0000007f9dd8a924
10-14 01:10:06.592 17655-17655/? A/DEBUG: sp 0000007febd72260 pc 0000007f9dd8d6c4 pstate 0000000060000000
10-14 01:10:06.601 17655-17655/? A/DEBUG: backtrace:
10-14 01:10:06.601 17655-17655/? A/DEBUG: #00 pc 000000000007a6c4 /system/lib64/libc.so (tgkill+8)
10-14 01:10:06.601 17655-17655/? A/DEBUG: #1 pc 0000000000077920 /system/lib64/libc.so (pthread_kill+64)
10-14 01:10:06.601 17655-17655/? A/DEBUG: #2 pc 000000000002538c /system/lib64/libc.so (raise+24)
10-14 01:10:06.601 17655-17655/? A/DEBUG: #3 pc 000000000001d24c /system/lib64/libc.so (abort+52)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #4 pc 0000000000005f14 /system/lib64/liblog.so (__android_log_assert+224)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #5 pc 0000000000100718 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13MessageLoggerD2Ev+4120)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #6 pc 0000000000c8433c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-14 01:10:06.602 17655-17655/? A/DEBUG: #7 pc 0000000000c85be8 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-14 01:10:06.602 17655-17655/? A/DEBUG: #8 pc 0000000000129150 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13tango_service12TangoContextC1ESt10shared_ptrINS_15JniTangoServiceEE+512)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #9 pc 000000000013c80c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN12tango_binder7ServiceC2ESt10shared_ptrIN13tango_service15JniTangoServiceEE+228)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #10 pc 000000000013a238 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (Java_com_google_atap_tango_TangoServiceJNINative_CreateNativeService+972)
10-14 01:10:06.602 17655-17655/? A/DEBUG: #11 pc 00000000007d6d58 /data/app/com.google.tango-1/oat/arm64/base.odex (offset 0x7ac000)
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (Iris Prox) without holding its required permission: com.samsung.permission.SSENSOR
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (Rear Ambient Light) without holding its required permission: com.samsung.permission.HRM_EXT
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (Rear Proximity detecting) without holding its required permission: com.samsung.permission.HRM_EXT
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (HRMLED IR) without holding its required permission: android.permission.BODY_SENSORS
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (HRMLED RED) without holding its required permission: android.permission.BODY_SENSORS
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (MAX86907) without holding its required permission: com.samsung.permission.SSENSOR
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (HRM Sensor) without holding its required permission: com.samsung.permission.SSENSOR
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (HeartRate Sensor) without holding its required permission: android.permission.BODY_SENSORS
10-14 01:10:06.662 1303-2449/? E/SensorService: getSensorList a sensor (Sensor Diagnostic Monitor) without holding its required permission: com.samsung.permission.SSENSOR
10-14 01:10:07.533 716-716/? E/audit: type=1701 audit(1507914607.521:915): auid=4294967295 uid=10374 gid=10374 ses=4294967295 subj=u:r:untrusted_app:s0:c512,c768 pid=17602 comm="om.google.tango" exe="/system/bin/app_process64" sig=6

                                  [ 10-14 01:10:07.550   512:  512 W/         ]
                                  debuggerd: resuming target 17602

10-14 01:10:08.630 17663-17663/? E/Zygote: v2
10-14 01:10:08.632 17663-17663/? E/Zygote: accessInfo : 0
10-14 01:10:08.771 17663-17679/? E/tango: device_provider.cc:336 Could not identify device type from build fingerprint 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQH6:user/release-keys'.
10-14 01:10:08.771 17663-17679/? E/tango: helpers.cc:288 Hardcoded CAD model unavailable for device kUnknownDevice
10-14 01:10:08.771 17663-17663/? A/tango: calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess
10-14 01:10:08.772 17663-17663/? A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 17663 (om.google.tango)

                                     [ 10-14 01:10:08.772   512:  512 W/         ]
                                     debuggerd: handling request: pid=17663 uid=10374 gid=10374 tid=17663

10-14 01:10:08.799 17578-17592/? A/tango: jni_helper.cc:19 'vm' Must be non NULL
10-14 01:10:08.799 17578-17592/? A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 17592 (UnityMain)

                                     [ 10-14 01:10:08.800   511:  511 W/         ]
                                     debuggerd: handling request: pid=17578 uid=10372 gid=10372 tid=17592

10-14 01:10:08.865 17680-17680/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
10-14 01:10:08.865 17680-17680/? A/DEBUG: Build fingerprint: 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQH6:user/release-keys'
10-14 01:10:08.865 17680-17680/? A/DEBUG: Revision: '12'
10-14 01:10:08.865 17680-17680/? A/DEBUG: ABI: 'arm64'
10-14 01:10:08.865 17680-17680/? A/DEBUG: pid: 17663, tid: 17663, name: om.google.tango >>> com.google.tango <<<
10-14 01:10:08.865 17680-17680/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
10-14 01:10:08.869 17680-17680/? A/DEBUG: Abort message: 'calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess '
10-14 01:10:08.869 17680-17680/? A/DEBUG: x0 0000000000000000 x1 00000000000044ff x2 0000000000000006 x3 0000000000000008
10-14 01:10:08.869 17680-17680/? A/DEBUG: x4 0000000000000002 x5 0000000000000001 x6 f789a7a2211d9d85 x7 0000000000000000
10-14 01:10:08.870 17680-17680/? A/DEBUG: x8 0000000000000083 x9 0000007f9e759a98 x10 f789a7a2211d9d85 x11 f789a7a2211d9d85
10-14 01:10:08.870 17680-17680/? A/DEBUG: x12 0000000000000000 x13 0000000000000020 x14 ffffffffffffffdf x15 0000007febd723c0
10-14 01:10:08.870 17680-17680/? A/DEBUG: x16 0000007f9ddecee0 x17 0000007f9dd8d6bc x18 0000000000000069 x19 0000007f9e759b40
10-14 01:10:08.870 17680-17680/? A/DEBUG: x20 0000000000000006 x21 0000007f9e759a98 x22 0000000000000002 x23 0000007febd728a8
10-14 01:10:08.870 17680-17680/? A/DEBUG: x24 0000000000000068 x25 0000007f8c253118 x26 0000007f87eece80 x27 0000007f8c2473a0
10-14 01:10:08.870 17680-17680/? A/DEBUG: x28 0000007f8c247378 x29 0000007febd72280 x30 0000007f9dd8a924
10-14 01:10:08.870 17680-17680/? A/DEBUG: sp 0000007febd72260 pc 0000007f9dd8d6c4 pstate 0000000060000000
10-14 01:10:08.875 17680-17680/? A/DEBUG: backtrace:
10-14 01:10:08.875 17680-17680/? A/DEBUG: #00 pc 000000000007a6c4 /system/lib64/libc.so (tgkill+8)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #1 pc 0000000000077920 /system/lib64/libc.so (pthread_kill+64)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #2 pc 000000000002538c /system/lib64/libc.so (raise+24)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #3 pc 000000000001d24c /system/lib64/libc.so (abort+52)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #4 pc 0000000000005f14 /system/lib64/liblog.so (__android_log_assert+224)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #5 pc 0000000000100718 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13MessageLoggerD2Ev+4120)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #6 pc 0000000000c8433c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-14 01:10:08.875 17680-17680/? A/DEBUG: #7 pc 0000000000c85be8 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-14 01:10:08.875 17680-17680/? A/DEBUG: #8 pc 0000000000129150 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13tango_service12TangoContextC1ESt10shared_ptrINS_15JniTangoServiceEE+512)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #9 pc 000000000013c80c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN12tango_binder7ServiceC2ESt10shared_ptrIN13tango_service15JniTangoServiceEE+228)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #10 pc 000000000013a238 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (Java_com_google_atap_tango_TangoServiceJNINative_CreateNativeService+972)
10-14 01:10:08.875 17680-17680/? A/DEBUG: #11 pc 00000000007d6d58 /data/app/com.google.tango-1/oat/arm64/base.odex (offset 0x7ac000)
10-14 01:10:08.918 17683-17683/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
10-14 01:10:08.918 17683-17683/? A/DEBUG: Build fingerprint: 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQH6:user/release-keys'
10-14 01:10:08.918 17683-17683/? A/DEBUG: Revision: '12'
10-14 01:10:08.918 17683-17683/? A/DEBUG: ABI: 'arm'
10-14 01:10:08.918 17683-17683/? A/DEBUG: pid: 17578, tid: 17592, name: UnityMain >>> xyz.pengzhihui <<<
10-14 01:10:08.918 17683-17683/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
10-14 01:10:08.923 17683-17683/? A/DEBUG: Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'
10-14 01:10:08.923 17683-17683/? A/DEBUG: r0 00000000 r1 000044b8 r2 00000006 r3 00000008
10-14 01:10:08.923 17683-17683/? A/DEBUG: r4 ea0ff978 r5 00000006 r6 ea0ff920 r7 0000010c
10-14 01:10:08.923 17683-17683/? A/DEBUG: r8 ea0fdd80 r9 ea0fdd7c sl 00000515 fp ea0fe090
10-14 01:10:08.924 17683-17683/? A/DEBUG: ip 00000054 sp ea0fd900 lr ecfa4ba7 pc ecfa74a0 cpsr 200f0010
10-14 01:10:08.941 17683-17683/? A/DEBUG: backtrace:
10-14 01:10:08.941 17683-17683/? A/DEBUG: #00 pc 0004b4a0 /system/lib/libc.so (tgkill+12)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #1 pc 00048ba3 /system/lib/libc.so (pthread_kill+34)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #2 pc 0001e1b9 /system/lib/libc.so (raise+10)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #3 pc 000197a5 /system/lib/libc.so (__libc_android_abort+34)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #4 pc 00017540 /system/lib/libc.so (abort+4)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #5 pc 00005bb5 /system/lib/liblog.so (__android_log_assert+112)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #6 pc 00009e69 /data/app/xyz.pengzhihui-2/lib/arm/libtango_client_api2.so
10-14 01:10:08.941 17683-17683/? A/DEBUG: #7 pc 0001256d /data/app/xyz.pengzhihui-2/lib/arm/libtango_client_api2.so
10-14 01:10:08.941 17683-17683/? A/DEBUG: #8 pc 00009247 /data/app/xyz.pengzhihui-2/lib/arm/libtango_client_api2.so (TangoService_isSupported+26)
10-14 01:10:08.941 17683-17683/? A/DEBUG: #9 pc 00007184 anonymous:c8ca1000
10-14 01:10:09.641 716-716/? E/audit: type=1701 audit(1507914609.631:916): auid=4294967295 uid=10374 gid=10374 ses=4294967295 subj=u:r:untrusted_app:s0:c512,c768 pid=17663 comm="om.google.tango" exe="/system/bin/app_process64" sig=6

                                  [ 10-14 01:10:09.658   512:  512 W/         ]
                                  debuggerd: resuming target 17663

10-14 01:10:10.133 716-716/? E/audit: type=1701 audit(1507914610.121:917): auid=4294967295 uid=10372 gid=10372 ses=4294967295 subj=u:r:untrusted_app:s0:c512,c768 pid=17592 comm="UnityMain" exe="/system/bin/app_process32" sig=6
10-14 01:10:10.166 1303-17687/? E/JavaBinder: !!! FAILED BINDER TRANSACTION !!! (parcel size = 112)
10-14 01:10:10.166 1303-1823/? E/InputDispatcher: channel ~ Channel is unrecoverably broken and will be disposed!
10-14 01:10:10.176 545-3695/? E/ANDR-PERF-MPCTL: Invalid profile no. 0, total profiles 0 only
10-14 01:10:10.182 586-586/? E/lowmemorykiller: Error writing /proc/17578/oom_score_adj; errno=22
10-14 01:10:10.269 3204-17566/? E/FA: Failed to send current screen to service`

how to handle Anchors that are lost when tracking lost

Hello,

What is the intended way to handle Anchors being lost when tracking is lost?

I'm seeing a bug where my game objects can disappear when the device has tracking issues. Each of the game objects is attached to an anchor. From doing a bit of digging through the ARCore SDK source, it seems like the following is happening:

ARCore establishes non-localized Tracking
I create an anchor and attach game objects to it
anchors are left in the non-localized collection
tracking is lost. All non localized anchors are deactivated and then forgotten.

I did a bit of printf-debugging, and I've confirmed that when I observe this problem, in Anchor._UpdateTrackingState, the anchor has been Deactivated and my game objects are still attached to the anchor.

I'm planning on working around this issue by modifying _UpdateTrackingState to detect when this has happened, and notifying my game objects that they need to remove themselves from their anchor, wait for tracking to be re-established, then recreate Anchors. However, I can't do this without modifying code that's "internal" to the ARCore SDK. Is there a better way to handle this scenario?

Thanks!

Tango Core has stopped - Samsung Note 8 (UK)

Hi all,

I'm getting "Tango Core has stopped" / "Tango Core keeps stopping" on the UK Samsung Note 8. Any suggestions?

Thanks!

Unsupported devices do not work gracefully

We are testing an ARCore app on unsupported devices, and we are finding that even without loading a scene with ARCore in it, the app causes the screen to be scrambled.

This is on a Samsung Galaxy S7, running Android 7.0, with a test screen with 2 buttons, and no ARCore classes in it, but with the ARCore SDK in the project:

Assets/GoogleARCore/SDKScripts/Managers/AnchorManager.cs(27,36):error CS0234:The type namespace name 'XR' does not exist in the namespace 'UnityEngine'.Are you msssing an assembly reference?

How to solve it?

Location Service problem with ARCore

ARCore seems to combine a lot of sensor data for the positioning / motion tracking of the device.

However, if I want to access the GPS data through the LocationService it gives me the status disabled for LocationService and any access on the latitude/longitude does not return any plausible values.

Does anyone know why this is happening? How can I access the coordinates of the LocationService?

ARCore Unity Requires 2017.2 Beta 9 (or newer)

This release is not yet available, but is coming soon from Unity. We will update this notice with a release date and remove it once the beta is public.

Tango Core keeps stopping

After build and run, I got "Tango Core keeps stopping" after loading screen.

This is the logcat.
Any idea why?

 Build fingerprint: 'samsung/heroltexx/herolte:7.0/NRD90M/G930FXXS1DQGL:user/release-keys'
09-01 10:01:22.993 17195 17195 F DEBUG   : Revision: '8'
09-01 10:01:22.993 17195 17195 F DEBUG   : ABI: 'arm64'
09-01 10:01:22.994 17195 17195 F DEBUG   : pid: 17176, tid: 17176, name: om.google.tango  >>> com.google.tango <<<
09-01 10:01:22.994 17195 17195 F DEBUG   : signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
09-01 10:01:22.998 17195 17195 F DEBUG   : Abort message: 'calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess '
09-01 10:01:22.998 17195 17195 F DEBUG   :     x0   0000000000000000  x1   0000000000004318  x2   0000000000000006  x3   0000000000000008
09-01 10:01:22.998 17195 17195 F DEBUG   :     x4   0000000000000021  x5   0000000000808080  x6   0000007aef778000  x7   0000000000000000
09-01 10:01:22.998 17195 17195 F DEBUG   :     x8   0000000000000083  x9   ffffffffffffffdf  x10  0000000000000000  x11  ffffffffffffffff
09-01 10:01:22.998 17195 17195 F DEBUG   :     x12  0000000000000018  x13  0000000000000000  x14  0000000000000000  x15  00340e3dd65892f6
09-01 10:01:22.998 17195 17195 F DEBUG   :     x16  0000007aeeaf0ee0  x17  0000007aeea99a28  x18  0000000000000000  x19  0000007aef82db40
09-01 10:01:22.998 17195 17195 F DEBUG   :     x20  0000000000000006  x21  0000007aef82da98  x22  0000000000000002  x23  0000007fd228b198
09-01 10:01:22.998 17195 17195 F DEBUG   :     x24  0000000000000068  x25  0000007add851718  x26  0000007add8b1920  x27  0000007add47e820
09-01 10:01:22.998 17195 17195 F DEBUG   :     x28  0000007add47e7f8  x29  0000007fd228ab70  x30  0000007aeea96ebc
09-01 10:01:22.998 17195 17195 F DEBUG   :     sp   0000007fd228ab50  pc   0000007aeea99a30  pstate 0000000060000000
09-01 10:01:23.006 17195 17195 F DEBUG   :
09-01 10:01:23.006 17195 17195 F DEBUG   : backtrace:
09-01 10:01:23.006 17195 17195 F DEBUG   :     #00 pc 000000000006ca30  /system/lib64/libc.so (tgkill+8)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #01 pc 0000000000069eb8  /system/lib64/libc.so (pthread_kill+64)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #02 pc 0000000000024198  /system/lib64/libc.so (raise+24)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #03 pc 000000000001c9b0  /system/lib64/libc.so (abort+52)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #04 pc 0000000000005c48  /system/lib64/liblog.so (__android_log_assert+252)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #05 pc 0000000000100718  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so (_ZN13MessageLoggerD2Ev+4120)
09-01 10:01:23.006 17195 17195 F DEBUG   :     #06 pc 0000000000c8433c  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so
09-01 10:01:23.006 17195 17195 F DEBUG   :     #07 pc 0000000000c85be8  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so
09-01 10:01:23.006 17195 17195 F DEBUG   :     #08 pc 0000000000129150  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so (_ZN13tango_service12TangoContextC1ESt10shared_ptrINS_15JniTangoServiceEE+512)
09-01 10:01:23.007 17195 17195 F DEBUG   :     #09 pc 000000000013c80c  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so (_ZN12tango_binder7ServiceC2ESt10shared_ptrIN13tango_service15JniTangoServiceEE+228)
09-01 10:01:23.007 17195 17195 F DEBUG   :     #10 pc 000000000013a238  /data/app/com.google.tango-2/lib/arm64/libtango_service_library.so (Java_com_google_atap_tango_TangoServiceJNINative_CreateNativeService+972)
09-01 10:01:23.007 17195 17195 F DEBUG   :     #11 pc 00000000007d6d58  /data/app/com.google.tango-2/oat/arm64/base.odex (offset 0x7ac000)
09-01 10:01:23.028 17196 17196 F DEBUG   : *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
09-01 10:01:23.028 17196 17196 F DEBUG   : Build fingerprint: 'samsung/heroltexx/herolte:7.0/NRD90M/G930FXXS1DQGL:user/release-keys'
09-01 10:01:23.028 17196 17196 F DEBUG   : Revision: '8'
09-01 10:01:23.028 17196 17196 F DEBUG   : ABI: 'arm'
09-01 10:01:23.028 17196 17196 F DEBUG   : pid: 17052, tid: 17066, name: UnityMain  >>> com.VRcollab.ARviewer <<<
09-01 10:01:23.028 17196 17196 F DEBUG   : signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
09-01 10:01:23.032 17196 17196 F DEBUG   : Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'
09-01 10:01:23.033 17196 17196 F DEBUG   :     r0 00000000  r1 000042aa  r2 00000006  r3 00000008
09-01 10:01:23.033 17196 17196 F DEBUG   :     r4 e5bde978  r5 00000006  r6 e5bde920  r7 0000010c
09-01 10:01:23.033 17196 17196 F DEBUG   :     r8 e5bdcd18  r9 e5bdcd14  sl 00000515  fp e5bdd028
09-01 10:01:23.033 17196 17196 F DEBUG   :     ip 00000054  sp e5bdc898  lr e70fb957  pc e70fe1c0  cpsr 600f0010
09-01 10:01:23.038 17196 17196 F DEBUG   :
09-01 10:01:23.038 17196 17196 F DEBUG   : backtrace:
09-01 10:01:23.038 17196 17196 F DEBUG   :     #00 pc 0004a1c0  /system/lib/libc.so (tgkill+12)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #01 pc 00047953  /system/lib/libc.so (pthread_kill+34)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #02 pc 0001d955  /system/lib/libc.so (raise+10)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #03 pc 000194a1  /system/lib/libc.so (__libc_android_abort+34)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #04 pc 000170e8  /system/lib/libc.so (abort+4)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #05 pc 00005903  /system/lib/liblog.so (__android_log_assert+114)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #06 pc 00009e69  /data/app/com.VRcollab.ARviewer-1/lib/arm/libtango_client_api2.so
09-01 10:01:23.038 17196 17196 F DEBUG   :     #07 pc 0001256d  /data/app/com.VRcollab.ARviewer-1/lib/arm/libtango_client_api2.so
09-01 10:01:23.038 17196 17196 F DEBUG   :     #08 pc 00009247  /data/app/com.VRcollab.ARviewer-1/lib/arm/libtango_client_api2.so (TangoService_isSupported+26)
09-01 10:01:23.038 17196 17196 F DEBUG   :     #09 pc 0000618c  <anonymous:bba7d000>

There is no way to control anchor creation only when localized. Also no way to query if anchor is localized

SessionManager.Instance.MotionTrackingManager.IsLocalized ( Not exposed as an api) is used to create localized anchors but everything is done internally. What if the user only wants to create anchors when localization is achieved, or at least query which anchors are unstable(non localized)? There are no apis to do that.

Samsung S8+ does not work with ARCore

Hello, I tried the demo package in Unity. When I ran it, I received a message saying that ARCore does not support S8+.

Gradle builds can't access Tango libraries

We're developing an ARCore mode as part of an existing game and adding the new java libs have hit the dex limit, forcing us to transition to building with Gradle. Unfortunately, it seems our Gradle builds can't find the "tango_client_api2" library that is installed separately with the arcore-preview APK. I've verified that the same project built with the standard build method doesn't have this issue; to get it to build without Gradle I had to remove a number of java libs that we can't ship without. Is there something I need to configure with Gradle to make it recognize those libs?

DllNotFoundException: tango_client_api2
GoogleARCoreInternal.TangoClientApi.CallsToConnectWithoutMatchingDisconnect () (at /Users/kenny/pool-unity/Assets/KingsOfPool/Features/AR/GoogleARCore/SDK/Scripts/Api/TangoClientApi.cs:130)
GoogleARCore.SessionComponent+<_AttemptRecoverIfInvalidState>c__Iterator0.MoveNext () (at /Users/kenny/pool-unity/Assets/KingsOfPool/Features/AR/GoogleARCore/SDK/Scripts/SessionComponent.cs:306)
UnityEngine.SetupCoroutine.InvokeMoveNext (IEnumerator enumerator, IntPtr returnValueAddress) (at /Users/builduser/buildslave/unity/build/Runtime/Export/Coroutines.cs:17)
UnityEngine.MonoBehaviour:StartCoroutine(IEnumerator)

Localized and/or persistant anchors

Hello,
Is there any way to have localized anchors ? Otherwise, is it possible to get the real world position of an object like an anchor or the camera ?
I haven't found anything about persistant anchors but will it be an ARCore feature soon ?

My goal is to place some models in my room using ARCore and save the "configuration" in order to reload it later (i.e instanciating and replacing the models at the same position). I managed to work around the non localized anchors to replace my data after a loss of tracking (camera hidden). Everything is replaced whenever the anchor is visible again by the camera. My next step is to found a way to save anchors using real world positions but I don't know if it is currently possible.

Crash just after splash screen

App launch and crash just at the end of unity splash screen. Did I miss something ?

phone : google Pixel XL
Unity : 2017.2.0b11

log :

09-29 17:55:54.389 15424-15424/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
09-29 17:55:54.389 15424-15424/? A/DEBUG: Build fingerprint: 'google/marlin/marlin:8.0.0/OPR3.170623.007/4286350:user/release-keys'
09-29 17:55:54.389 15424-15424/? A/DEBUG: Revision: '0'
09-29 17:55:54.389 15424-15424/? A/DEBUG: ABI: 'arm'
09-29 17:55:54.389 15424-15424/? A/DEBUG: pid: 15361, tid: 15376, name: UnityMain  >>> com.example.helloAR <<<
09-29 17:55:54.389 15424-15424/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
09-29 17:55:54.393 15424-15424/? A/DEBUG: Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'
09-29 17:55:54.394 15424-15424/? A/DEBUG:     r0 00000000  r1 00003c10  r2 00000006  r3 00000008
09-29 17:55:54.394 15424-15424/? A/DEBUG:     r4 00003c01  r5 00003c10  r6 ce382ae0  r7 0000010c
09-29 17:55:54.394 15424-15424/? A/DEBUG:     r8 ce382f38  r9 ce382f34  sl 00000515  fp ce383248
09-29 17:55:54.394 15424-15424/? A/DEBUG:     ip 00000000  sp ce382ad0  lr eabb2537  pc eabe2c0c  cpsr 200f0010
09-29 17:55:54.398 15424-15424/? A/DEBUG: backtrace:
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #00 pc 0004ac0c  /system/lib/libc.so (tgkill+12)
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #01 pc 0001a533  /system/lib/libc.so (abort+54)
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #02 pc 0000663f  /system/lib/liblog.so (__android_log_assert+154)
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #03 pc 00009e69  /data/app/com.example.helloAR-HvU2hQST3vWG5FwSNtR3sA==/lib/arm/libtango_client_api2.so
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #04 pc 0001256d  /data/app/com.example.helloAR-HvU2hQST3vWG5FwSNtR3sA==/lib/arm/libtango_client_api2.so
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #05 pc 00009247  /data/app/com.example.helloAR-HvU2hQST3vWG5FwSNtR3sA==/lib/arm/libtango_client_api2.so (TangoService_isSupported+26)
09-29 17:55:54.398 15424-15424/? A/DEBUG:     #06 pc 00006214  <anonymous:e3140000>

Number of potential Android model spawns is unlimited (unlike Android ARCore sample)

I noticed that on the Android ARCore sample app you can only spawn 16 "Andy"s, yet on the Unity ARCore sample there is no limit.

Since my 1.5 and 3.5 year-old daughters are having a blast with the ARCore sample, having this limit is critical otherwise they just saturate the screen with Andy's 😅

I fixed this issue in my own fork in case you (or others) want to apply it: master...aornelas:limit-andy-count

For reference; here's where this limit is implemented on the Android sample.

Thanks and looking forward to build with ARCore!

Andrés

changing scene and coming back breaks ARCore connect.

If ARCore session is in a particular scene and I load a different scene and return, further attempts to connect fails.

In Unity SDK, PointCloud data does not contain the associated confidence value

Currently PointCloud has only one api GetPoint for getting a point and it returns a Vector3 position only, not the confidence. Whereas, in Android Studio Sdk, it does return the confidence value in the FloatBuffer. What is the reason for this discrepancy?

Crash on Startup - Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'

My devices is Samsung SM-G9500. After build and run the helloAR scene, app cash and get some error from adb logcat. Why the cash happen?

08-30 10:06:54.317 17086 17086 F DEBUG : *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
08-30 10:06:54.318 17086 17086 F DEBUG : Build fingerprint: 'samsung/dreamqltezc/dreamqltechn:7.0/NRD90M/G9500ZCU1AQF7:user/release-keys'
08-30 10:06:54.318 17086 17086 F DEBUG : Revision: '12'
08-30 10:06:54.318 17086 17086 F DEBUG : ABI: 'arm'
08-30 10:06:54.319 17086 17086 F DEBUG : pid: 17021, tid: 17035, name: UnityMain >>> com.hisceneyn.helloar <<<
08-30 10:06:54.319 17086 17086 F DEBUG : signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
08-30 10:06:54.326 17086 17086 F DEBUG : Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'
08-30 10:06:54.326 17086 17086 F DEBUG : r0 00000000 r1 0000428b r2 00000006 r3 00000008
08-30 10:06:54.326 17086 17086 F DEBUG : r4 e6428978 r5 00000006 r6 e6428920 r7 0000010c
08-30 10:06:54.326 17086 17086 F DEBUG : r8 e6426d68 r9 e6426d64 sl 00000515 fp e6427078
08-30 10:06:54.326 17086 17086 F DEBUG : ip 00000054 sp e64268e8 lr e7c19ba7 pc e7c1c4a0 cpsr 200f0010
08-30 10:06:54.342 17086 17086 F DEBUG :
08-30 10:06:54.342 17086 17086 F DEBUG : backtrace:
08-30 10:06:54.342 17086 17086 F DEBUG : #00 pc 0004b4a0 /system/lib/libc.so (tgkill+12)
08-30 10:06:54.342 17086 17086 F DEBUG : #1 pc 00048ba3 /system/lib/libc.so (pthread_kill+34)
08-30 10:06:54.342 17086 17086 F DEBUG : #2 pc 0001e1b9 /system/lib/libc.so (raise+10)
08-30 10:06:54.343 17086 17086 F DEBUG : #3 pc 000197a5 /system/lib/libc.so (__libc_android_abort+34)
08-30 10:06:54.343 17086 17086 F DEBUG : #4 pc 00017540 /system/lib/libc.so (abort+4)
08-30 10:06:54.343 17086 17086 F DEBUG : #5 pc 00005bb5 /system/lib/liblog.so (__android_log_assert+112)
08-30 10:06:54.343 17086 17086 F DEBUG : #6 pc 00009e69 /data/app/com.hisceneyn.helloar-1/lib/arm/libtango_client_api2.so
08-30 10:06:54.343 17086 17086 F DEBUG : #7 pc 0001256d /data/app/com.hisceneyn.helloar-1/lib/arm/libtango_client_api2.so
08-30 10:06:54.343 17086 17086 F DEBUG : #8 pc 00009247 /data/app/com.hisceneyn.helloar-1/lib/arm/libtango_client_api2.so (TangoService_isSupported+26)
08-30 10:06:54.343 17086 17086 F DEBUG : #9 pc 0000618c anonymous:c5302000

Some vertices are NaN/Infinity the first few updates

I'm almost always getting a few vertices with NaN or Infinity components the first few times the TrackedPlane.IsUpdated.

To reproduce it, simply add the following "badVertices" check. I can work around it for now, but thought it was worth mentioning.

private void _UpdateMeshWithCurrentTrackedPlane()
{
	// Note that GetBoundaryPolygon returns points in clockwise order.
	m_trackedPlane.GetBoundaryPolygon(ref m_meshVertices);

	int badVertices = 0;
	for (int i = 0; i < m_meshVertices.Count; i++)
	{
		if (IsInfinityOrNaN(m_meshVertices[i]))
		{
			badVertices++;
		}
	}

	if (badVertices > 0)
	{
		Debug.LogErrorFormat("Updated mesh with {0} bad vertices.", badVertices);
	}

	// ...
}

private static bool IsInfinityOrNaN(Vector3 v)
{
	return float.IsInfinity(v.x) || float.IsInfinity(v.y) || float.IsInfinity(v.z) ||
		float.IsNaN(v.x) || float.IsNaN(v.y) || float.IsNaN(v.z);
}

Static Variable does not get changed

I've created a static bool variable isCreated to check if the Andy prefab is created.

In the following check
if (Session.Raycast (m_firstPersonCamera.ScreenPointToRay (touch.position), raycastFilter, out hit)) , I've set the variable to be true and then put another check here

if (Input.touchCount < 1 || (touch = Input.GetTouch (0)).phase != TouchPhase.Began || isCreated) {
					return;
				}

But for some reason, the variable is never gets set to true.
I've also noticed this error in the logs, and can't help but wonder if it somehow prevents it from getting set.

Using a Google Pixel XL for hardware

Supports Unity WebGL?

It looks like a web version of ARCore is avail. Can you update ARCore Unity to also allow for Unity WebGL builds to work with ARCore?

Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'

I followed the instructions in the Unity Hello AR example, installed the latest ARCore service, but it never tracks any surfaces. Gets stuck at "Searching For Surfaces". (The Hello AR Java example works fine on the same phone). I get this error in logcat:

09-04 19:50:16.965 30645 30645 E ctxmgr  : [PlaceFenceHelper]NearbyBuffer is null!
09-04 19:50:16.980 30645  6260 W ctxmgr  : [AclManager]No 2 for (accnt=account#-517948760#, com.google.android.gms(10018):PlacesProducer, vrsn=11819000, 0, 3pPkg = null ,  3pMdlId = null ,  pid = 30645). Was: 3 for 18, account#-517948760#
09-04 19:50:17.203  4897  5881 I ApkUploadChimeraService: Upload for package com.odbol.flowers was successful, removing from upload queue
09-04 19:50:17.538   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 47000 mC, weight[0] 1
09-04 19:50:17.538   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 51000 mC, weight[1] -1
09-04 19:50:17.951  1735  1735 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.952  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:17.957  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:17.957  1735  1735 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.957  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:17.957  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:17.963  1735  1735 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.963  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:17.964  1735  1735 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:17.964  1735  1735 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.964  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:17.964  1735  1735 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:17.964  1735  1735 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.964  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:17.964  1735  1735 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:17.965  1735  1735 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.966  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:17.967  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:17.967  1735  1735 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.967  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:17.967  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:17.968  1735  1735 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.968  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:17.968  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:17.968  1735  1735 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.968  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:17.968  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:17.968  1735  1735 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:17.968  1735  1735 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:17.968  1735  1735 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:18.075   992 20211 I ActivityManager: START u0 {flg=0x10804000 cmp=com.android.systemui/.recents.RecentsActivity} from uid 10041
09-04 19:50:18.206  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.206  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:18.206  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:18.206  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.206  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:18.206  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:18.208  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.208  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:18.208  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:18.208  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.208  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:18.208  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:18.209  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.209  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:18.209  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:18.210  1735  2112 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.210  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:18.210  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:18.210  1735  2112 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.211  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:18.211  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:18.211  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.211  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:18.211  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:18.212  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.212  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:18.212  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:18.212  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:18.212  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:18.212  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:18.241  3991  5166 I PBSessionCacheImpl: Deleted sessionId[7505468762387] from persistence.
09-04 19:50:18.255  3991  3991 W SearchService: Abort, client detached.
09-04 19:50:18.264  3991  3991 I MicroDetector: Keeping mic open: false
09-04 19:50:18.265 14192 14192 I GMM-DOGFOOD-SsbServiceClientController$1: updateSsb| Received updated SsbState
09-04 19:50:18.266  3991  4343 I DeviceStateChecker: DeviceStateChecker cancelled
09-04 19:50:18.266  3991 11749 I MicroRecognitionRunner: Stopping hotword detection.
09-04 19:50:18.266  3991  4338 I MicroRecognitionRunner: Detection finished
09-04 19:50:18.267  3991  5479 I AudioController: internalShutdown
09-04 19:50:18.267  3991  5479 I MicrophoneInputStream: mic_close com.google.android.apps.gsa.speech.audio.af@d07fcb4
09-04 19:50:18.304   665  1682 D audio_hw_primary: disable_audio_route: usecase(9) reset and update mixer path: audio-record
09-04 19:50:18.305   665  1682 D hardware_info: hw_info_append_hw_type : device_name = voice-rec-mic
09-04 19:50:18.305   665  1682 D audio_hw_primary: disable_snd_device: snd_device(72: voice-rec-mic)
09-04 19:50:18.311   665  1682 D sound_trigger_platform: platform_stdev_check_and_update_concurrency: concurrency active 0, tx 0, rx 0, concurrency session_allowed 1
09-04 19:50:18.312   703   989 I SoundTriggerHwService::Module: onCallbackEvent no clients
09-04 19:50:18.402  1735  1746 I zygote64: NativeAllocBackground concurrent copying GC freed 23935(1138KB) AllocSpace objects, 0(0B) LOS objects, 50% free, 21MB/43MB, paused 164us total 178.389ms
09-04 19:50:18.459   992  1001 I zygote64: NativeAllocBackground concurrent copying GC freed 28521(1837KB) AllocSpace objects, 15(300KB) LOS objects, 42% free, 23MB/40MB, paused 247us total 236.939ms
09-04 19:50:18.539   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 48000 mC, weight[0] 1
09-04 19:50:18.539   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 52000 mC, weight[1] -1
09-04 19:50:19.166   685  1972 I WifiHAL : event received NL80211_CMD_VENDOR, vendor_id = 0x1374, subcmd = 0x1b
09-04 19:50:19.541   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 47000 mC, weight[0] 1
09-04 19:50:19.541   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 50000 mC, weight[1] -1
09-04 19:50:19.953  1949  2033 I PlayCommon: [1053] com.google.android.play.a.h.e(260): Preparing logs for uploading
09-04 19:50:19.953  1949  2033 I PlayCommon: [1053] com.google.android.play.a.h.e(264): No file ready to send
09-04 19:50:20.086  1735  1735 E BufferItemConsumer: [unnamed-1735-4] Failed to release buffer: Unknown error -1 (1)
09-04 19:50:20.118  5925  5925 I tango_camera_native_jni: Attaching texture_window 0xe7952008
09-04 19:50:20.118  5925  5925 D TangoVhs: about to bind as vhs
09-04 19:50:20.125  1949  1990 I PlayCommon: [1021] com.google.android.play.a.h.e(260): Preparing logs for uploading
09-04 19:50:20.128  5925  5925 D TangoVhs: finished bind as vhs
09-04 19:50:20.132  1735  1735 E BufferItemConsumer: [unnamed-1735-5] Failed to release buffer: Unknown error -1 (1)
09-04 19:50:20.140  1949  1990 I PlayCommon: [1021] com.google.android.play.a.h.a(474): Connecting to server: https://play.googleapis.com/play/log?format=raw&proto_v2=true
09-04 19:50:20.142   488   513 E SurfaceFlinger: Permission Denial: can't openGlobalTransaction pid=5925, uid<=10273
09-04 19:50:20.142  5925  5925 E BpSurfaceComposerClient: Failed to transact (-1)
09-04 19:50:20.142   488   514 E SurfaceFlinger: Permission Denial: can't openGlobalTransaction pid=5925, uid<=10273
09-04 19:50:20.142  5925  5925 E BpSurfaceComposerClient: Failed to transact (-1)
09-04 19:50:20.143  5925  5925 D TangoVhs: connected
09-04 19:50:20.143  5925  5925 I Tango   : TangoService connected.
09-04 19:50:20.143  5925  5925 I Tango   : Using the pure Java path for Tango client
09-04 19:50:20.144  5925  6272 I TangoCameraNative: Tango VHS Ready
09-04 19:50:20.145  5760  5783 D tango-ndk-hal: void Java_com_google_atap_tango_TangoVirtualHalService_initialize(JNIEnv*, jclass) 0x0
09-04 19:50:20.150  5925  6272 I tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_ConnectVhs(JNIEnv*, jobject, jobject, jobject)
09-04 19:50:20.151  5925  6272 I tango_camera_native_jni: Attaching tracking_window 0xcf950808
09-04 19:50:20.166   664   664 W /system/bin/hw/[email protected]: ashmem_create_region(3840) returning hidl_memory(0x7032a2c330, 3840)
09-04 19:50:20.168   664   664 W /system/bin/hw/[email protected]: ashmem_create_region(3840) returning hidl_memory(0x7032a2c330, 3840)
09-04 19:50:20.174   665   916 E volume_listener: check_and_set_gain_dep_cal: Failed to set gain dep cal level
09-04 19:50:20.175   665  4307 I ACDB-LOADER: ACDB AFE returned = -19
09-04 19:50:20.175   665  4307 D hardware_info: hw_info_append_hw_type : device_name = speaker
09-04 19:50:20.175   665  4307 D audio_hw_primary: enable_snd_device: snd_device(2: speaker)
09-04 19:50:20.175   665  4307 D audio_hw_primary: enable_audio_route: usecase(5) apply and update mixer path: audio-ull-playback speaker
09-04 19:50:20.175   740   805 E ANDR-PERF-OPTSHANDLER: Warning: Resource [2, 0] not supported for core 1. Instead use resource for core 0
09-04 19:50:20.175   740   805 E ANDR-PERF-RESOURCEQS: Failed to apply optimization [2, 2, 0]
09-04 19:50:20.183  5760  5959 I tango   : java_service_entrypoint.cc:192 bool getConfig(JNIEnv*, TangoConfigType, tango_common::Config*): Getting config...
09-04 19:50:20.183  5760  5959 I tango   : java_service_entrypoint.cc:208 bool getConfig(JNIEnv*, TangoConfigType, tango_common::Config*): Done getting config.
09-04 19:50:20.195  5925  5940 I tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_ConnectOnTextureAvailable(JNIEnv*, jobject, int, bool): camera_id = 0
09-04 19:50:20.195  5925  5940 I tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_ConnectOnTextureAvailable(JNIEnv*, jobject, int, bool) called for cam id(0) before TangoService_connect(). Callback will be registered on next call to TangoService_connect().
09-04 19:50:20.195  5925  5940 I tango_camera_native_jni: TangoCameraNative_ConnectOnImageAvailable context 0xd593011c, camera 0
09-04 19:50:20.195  5925  5940 I tango_camera_native_jni: TangoErrorType internalConnectOnImageAvailable(TangoCameraId, void*, bool, void (*)(void*, TangoCameraId, const TangoImage*, const TangoCameraMetadata*)): Connecting callbacks...
09-04 19:50:20.195  5925  5940 I tango_camera_native_jni: TangoErrorType internalConnectOnImageAvailable(TangoCameraId, void*, bool, void (*)(void*, TangoCameraId, const TangoImage*, const TangoCameraMetadata*)) called for cam id(0) before TangoService_connect(). Callback will be registered on next call to TangoService_connect().
09-04 19:50:20.196  5925  5940 I Tango   : com.google.tango: 18377
09-04 19:50:20.199   665  4307 D audio_hw_primary: out_write: retry previous failed cal level set
09-04 19:50:20.201  5760  5959 W tango   : permission_handler.cc:76 The application 'com.odbol.flowers' does not have permission to use the Tango 'Dataset Read/Write' capabilities. To ask the user of your app for this permission, invoke the Tango Android permissions intent for 'Dataset Read/Write'.
09-04 19:50:20.204  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.204  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:20.204  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:20.205  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.maps-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.205  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.maps-1/base.apk
09-04 19:50:20.205  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.maps
09-04 19:50:20.205  5760  5959 I tango   : TangoService.cc:327 Listener from 5925
09-04 19:50:20.206  5760  5959 I tango   : tango_context.cc:156 TangoContext::StartRuntime()
09-04 19:50:20.206  5760  5959 I tango   : tango_context.cc:179 All config flag settings:
09-04 19:50:20.206  5760  5959 I tango   : {
09-04 19:50:20.206  5760  5959 I tango   : "tango_service_library_version": "170828-0ce0795-arm64-v8a-android-25"
09-04 19:50:20.206  5760  5959 I tango   : "max_point_cloud_elements": 60000
09-04 19:50:20.206  5760  5959 I tango   : "experimental_color_y_tex_data_width": 480
09-04 19:50:20.206  5760  5959 I tango   : "depth_period_in_seconds": 0.2
09-04 19:50:20.206  5760  5959 I tango   : "config_use_pgs_instead_of_viwls": true
09-04 19:50:20.206  5760  5959 I tango   : "config_runtime_depth_framerate": 5
09-04 19:50:20.206  5760  5959 I tango   : "config_load_area_description_UUID": ""
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_drift_correction": true
09-04 19:50:20.206  5760  5959 I tango   : "config_runtime_recording_control": 0
09-04 19:50:20.206  5760  5959 I tango   : "config_datasets_path": "/data/data/com.google.tango/files/datasets/"
09-04 19:50:20.206  5760  5959 I tango   : "config_runtime_plane_detection_control": 0
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_depth": true
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_color_camera": true
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_low_latency_imu_integration": true
09-04 19:50:20.206  5760  5959 I tango   : "experimental_color_y_tex_data_height": 1080
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_dataset_recording": false
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_auto_recovery": true
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_use_cloud_adf": false
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_learning_mode": false
09-04 19:50:20.206  5760  5959 I tango   : "experimental_color_uv_tex_data_height": 540
09-04 19:50:20.206  5760  5959 I tango   : "config_log_callback_data": false
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_load_dataset_UUID": ""
09-04 19:50:20.206  5760  5959 I tango   : "config_dataset_recording_m
09-04 19:50:20.206  5760  5959 I tango   : ode": 0
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_enable_plane_detection": true
09-04 19:50:20.206  5760  5959 I tango   : "config_depth_mode": 0
09-04 19:50:20.206  5760  5959 I tango   : "config_enable_motion_tracking": true
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_adf_runtime_loading": false
09-04 19:50:20.206  5760  5959 I tango   : "experimental_color_uv_tex_data_width": 480
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_enable_depth_from_vio": true
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_enable_online_calibration": false
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_enable_scene_reconstruction": false
09-04 19:50:20.206  5760  5959 I tango   : "config_experimental_3dof_fallback": false
09-04 19:50:20.206  5760  5959 I tango   : "config_high_rate_pose": true
09-04 19:50:20.206  5760  5959 I tango   : "config_internal_enable_area_learning_light": false
09-04 19:50:20.206  5760  5959 I tango   : "config_smooth_pose": true
09-04 19:50:20.206  5760  5959 I tango   : "config_letango_load_dataset_UUID": ""
09-04 19:50:20.206  5760  5959 I tango   : }
09-04 19:50:20.213  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.213  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:20.213  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:20.213  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.213  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:20.213  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:20.213  1735  2112 W asset   : Asset path /data/app/com.google.corp.moma.android-2/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.213  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.corp.moma.android-2/base.apk
09-04 19:50:20.213  1735  2112 W PackageManager: Failure retrieving resources for com.google.corp.moma.android
09-04 19:50:20.214  1735  2112 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.214  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:20.214  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:20.215  1735  2112 W asset   : Asset path /data/app/com.google.android.youtube-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.215  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.youtube-1/base.apk
09-04 19:50:20.215  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.youtube
09-04 19:50:20.216  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.216  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:20.216  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:20.216  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.216  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:20.216  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:20.216  1735  2112 W asset   : Asset path /data/app/com.google.android.apps.photos-1/base.apk is neither a directory nor file (type=1).
09-04 19:50:20.216  1735  2112 E ResourcesManager: failed to add asset path /data/app/com.google.android.apps.photos-1/base.apk
09-04 19:50:20.216  1735  2112 W PackageManager: Failure retrieving resources for com.google.android.apps.photos
09-04 19:50:20.251  5760  5959 I tango   : tango_context.cc:1079 TangoContext: Starting Tango Service Application.
09-04 19:50:20.252  5760  5959 I tango   : performance_manager.cc:22 Processor data: Num processors 4
09-04 19:50:20.252  5760  5959 I tango   : Processor type: LittleBig
09-04 19:50:20.252  5760  5959 I tango   : Num small cores 2
09-04 19:50:20.252  5760  5959 I tango   : Max frequency 1593600
09-04 19:50:20.252  5760  5959 I tango   : Min frequency 307200
09-04 19:50:20.252  5760  5959 I tango   : Small cores 0 1
09-04 19:50:20.252  5760  5959 I tango   : Num big cores 2
09-04 19:50:20.252  5760  5959 I tango   : Max frequency 2150400
09-04 19:50:20.252  5760  5959 I tango   : Min frequency 307200
09-04 19:50:20.252  5760  5959 I tango   : Big cores 2 3
09-04 19:50:20.252  5760  5959 I tango   : application_base.cc:92 Created application with data source = [Superframes]
09-04 19:50:20.252  5760  5959 I tango   : dataset_meta_data.cc:28 Generated new dataset metadata with id 9dba6398-574c-2680-8698-6629de3af4a4
09-04 19:50:20.253  5760  5961 E libc    : Access denied finding property "ro.serialno"
09-04 19:50:20.253  5760  5961 I tango-ndk-hal: tango_hal_init() Creating TangoNdkContext!
09-04 19:50:20.253  5760  5959 I tango   : tango_hal_device_wrapper.cc:68 Opened libtango_hal.so
09-04 19:50:20.253  5760  5961 I tango-ndk-hal: Found sailfish:8: Setting LPF -1.820000e-03 -1.820000e-03
09-04 19:50:20.254  5760  5961 I tango-ndk-hal: Creating TangoDeviceSensors object since dataset path or UUID value not set.
09-04 19:50:20.254  5760  5961 I tango-ndk-hal: Found sailfish:8: Setting LPF -1.820000e-03 -1.820000e-03
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_wrapper.cc:241 Got num fisheye buffers 16
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_wrapper.cc:260 HAL does not define num_color_buffers. Using default 16
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_sensor_graph.cc:204 Enabling point cloud.
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_sensor_graph.cc:219 Enabling fisheye.
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_sensor_graph.cc:228 Enabling yuv.
09-04 19:50:20.254  5760  5959 I tango   : tango_hal_interface.cc:200 Rolling shutter is enabled.
09-04 19:50:20.254  5760  5959 W tango   : tango_hal_interface.cc:322 Some of the requested image streams are not supported! Available mask: 00000000000000000000000000000001 Requested mask: 00000000000000000001000000010001
09-04 19:50:20.255  5760  5959 I tango   : feature_matching_base.cc:346 Using gyro prediction for matching.
09-04 19:50:20.256  5760  5959 I tango   : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-0 is 21.2132 pixels.
09-04 19:50:20.256  5760  5959 I tango   : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-1 is 42.4264 pixels.
09-04 19:50:20.256  5760  5959 I tango   : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-2 is 64.1467 pixels.
09-04 19:50:20.256  5760  5959 I tango   : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-3 is 99.4286 pixels.
09-04 19:50:20.256  5760  5959 I tango   : feature_matcher_bin_manager.cc:157 Neighborhood radius for feature matcher bin-grid-4 is 148.18 pixels.
09-04 19:50:20.256  5760  5959 I tango   : gyro_feature_matching.cc:22 Running tracker at 10 Hz.
09-04 19:50:20.256  5760  5959 I tango   : feature_combo_node.cc:138 Number of cameras on which DoG seeded KLT is done: 1
09-04 19:50:20.256  5760  5959 W tango   : thermal_logger_application_block.cc:70 Unrecognized device type for ThermalLoggerApplicationBlock. No data will be collected.
09-04 19:50:20.257  5760  5959 W tango   : cpu_logger_application_block.cc:222 Not logging CPU on non-Yellowstone, non-Coconut device.
09-04 19:50:20.257  5760  5959 I tango   : tango_hal_debug_module.cc:17 TangoHalDebugModule - Init
09-04 19:50:20.257  5760  5959 I tango   : vio_helper.cc:47 Use calibrated IMU scale factors.
09-04 19:50:20.257  5760  5959 I tango   : vio_helper.cc:59 Use calibrated IMU misalignment factors.
09-04 19:50:20.257  5760  5959 I tango   : vio_helper.cc:47 Use calibrated IMU scale factors.
09-04 19:50:20.258  5760  5959 I tango   : vio_helper.cc:59 Use calibrated IMU misalignment factors.
09-04 19:50:20.258  5760  5959 I tango   : data_manager.cc:63 Mapping Config: 
09-04 19:50:20.258  5760  5959 I tango   : ViwlsConfig: 
09-04 19:50:20.258  5760  5959 I tango   : OnlineMappingConfig: 
09-04 19:50:20.258  5760  5959 I tango   : enable_online_viwls: 1
09-04 19:50:20.258  5760  5959 I tango   : load_online_map_in_vio: 1
09-04 19:50:20.258  5760  5959 I tango   : enable_lite_com: 0
09-04 19:50:20.258  5760  5959 I tango   : incrementally_build_problem: 0
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : MapFormulationConfig: 
09-04 19:50:20.258  5760  5959 I tango   : vio_drift_tolerance_rotation: 0.05
09-04 19:50:20.258  5760  5959 I tango   : vio_drift_tolerance_translation: 0.2
09-04 19:50:20.258  5760  5959 I tango   : enable_keypoint_pruning: 1
09-04 19:50:20.258  5760  5959 I tango   : enable_local_map_tracking: 1
09-04 19:50:20.258  5760  5959 I tango   : add_every_nth_keyframe: 3
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : WLS_options: 
09-04 19:50:20.258  5760  5959 I tango   : estimate_camera_intrinsics: 0
09-04 19:50:20.258  5760  5959 I tango   : estimate_imu_camera_extrinsics: 0
09-04 19:50:20.258  5760  5959 I tango   : estimate_imu_intrinsics: 0
09-04 19:50:20.258  5760  5959 I tango   : calculate_keyframe_covariance: 0
09-04 19:50:20.258  5760  5959 I tango   : calculate_landmark_covariance: 0
09-04 19:50:20.258  5760  5959 I tango   : calculate_calibration_parameters_covariance: 0
09-04 19:50:20.258  5760  5959 I tango   : use_huber_loss_visual_cost_term: 1
09-04 19:50:20.258  5760  5959 I tango   : nonlinear_optimization_type: NLWLS
09-04 19:50:20.258  5760  5959 I tango   : num_outlier_rejection_loops: 1
09-04 19:50:20.258  5760  5959 I tango   : log_viwls_state_estimates_to_file: 0
09-04 19:50:20.258  5760  5959 I tango   : minimize_photometric_error: 0
09-04 19:50:20.258  5760  5959 I tango   : fail_on_missing_inv_depth_base_keyframe: 1
09-04 19:50:20.258  5760  5959 I tango   : enable_lite_com: 0
09-04 19:50:20.258  5760  5959 I tango   : ViwlsProblemType: kMarginalizedViwls
09-04 19:50:20.258  5760  5959 I tango   : incrementally_build_problem: 0
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : MapSparsifierConfig: 
09-04 19:50:20.258  5760  5959 I tango   : enable_debug_output: 0
09-04 19:50:20.258  5760  5959 I tango   : marginalize_stable_landmarks: 1
09-04 19:50:20.258  5760  5959 I tango   : marginalize_n_keyframes: 20
09-04 19:50:20.258  5760  5959 I tango   : retain_n_keyframes: 5
09-04 19:50:20.258  5760  5959 I tango   : max_la
09-04 19:50:20.258  5760  5959 I tango   : ndmarks_for_cklam_plus: 50
09-04 19:50:20.258  5760  5959 I tango   : enable_marginalization: 1
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : MapLandmarkConfig: 
09-04 19:50:20.258  5760  5959 I tango   : min_landmark_observations: 5
09-04 19:50:20.258  5760  5959 I tango   : LandmarkParam: k3DInverseDepth
09-04 19:50:20.258  5760  5959 I tango   : min_depth_of_pointlandmark_from_image_plane: 0.05
09-04 19:50:20.258  5760  5959 I tango   : max_depth_of_pointlandmark_from_image_plane: 15
09-04 19:50:20.258  5760  5959 I tango   : landmark_covariance_use_approximation: 1
09-04 19:50:20.258  5760  5959 I tango   : keypoint_pixel_sigma: 1
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : Debug_options: 
09-04 19:50:20.258  5760  5959 I tango   : simulator_export_state_error_sigma_info: 0
09-04 19:50:20.258  5760  5959 I tango   : log_visual_residuals: 0
09-04 19:50:20.258  5760  5959 I tango   : evaluation_log_directory: 
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : DataManagerConfig: 
09-04 19:50:20.258  5760  5959 I tango   : visualization_enabled: 0
09-04 19:50:20.258  5760  5959 I tango   : execute_in_thread: 1
09-04 19:50:20.258  5760  5959 I tango   : enable_online_calibration: 0
09-04 19:50:20.258  5760  5959 I tango   : log_maps_for_visualization: 0
09-04 19:50:20.258  5760  5959 I tango   : fisheye_buffer_size: 7
09-04 19:50:20.258  5760  5959 I tango   : save_map_with_uuid_as_filename: 0
09-04 19:50:20.258  5760  5959 I tango   : save_map_filename: 
09-04 19:50:20.258  5760  5959 I tango   : evaluation_log_directory: 
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : MapLifeCycleConfig: 
09-04 19:50:20.258  5760  5959 I tango   : save_map_for_structure_relocalization: 0
09-04 19:50:20.258  5760  5959 I tango   : enable_multi_map_merging: 1
09-04 19:50:20.258  5760  5959 I tango   : enable_time_base_map_split: 1
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : MultiMapManagerConfig: 
09-04 19:50:20.258  5760  5959 I tango   : threshold_position_meters: 2
09-04 19:50:20.258  5760  5959 I tango   : threshold_orientation_radians: 0.174
09-04 19:50:20.258  5760  5959 I tango   : min_num_cross_adf_constraints: 9
09-04 19:50:20.258  5760  5959 I tango   : perform_full_multimap_optimization: 0
09-04 19:50:20.258  5760  5959 I tango   : merge_active_map_until_stable_coregistration: 1
09-04 19:50:20.258  5760  5959 I tango   : min_number_of_keyframes_to_add_adf: 25
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.258  5760  5959 I tango   : _adf: 25
09-04 19:50:20.258  5760  5959 I tango   : 
09-04 19:50:20.334  5760  5959 I tango   : backend_base.h:55 LC-backend initialized.
09-04 19:50:20.341  5760  5959 I tango   : loop_detector_graph.cc:52 Initializing localizer with: loop_detector_engine: inverted_multi_index_pq
09-04 19:50:20.341  5760  5959 I tango   : low_power_localization: 0
09-04 19:50:20.341  5760  5959 I tango   : feature_descriptor: lens_invariant_ocvfreak
09-04 19:50:20.341  5760  5959 I tango   : override projection_matrix: 
09-04 19:50:20.341  5760  5959 I tango   : override quantizer: 
09-04 19:50:20.341  5760  5959 I tango   : override product quantizer: 
09-04 19:50:20.341  5760  5959 I tango   : max_num_of_image_to_image_matches: 1
09-04 19:50:20.341  5760  5959 I tango   : use_landmarks_for_relocalization: 0
09-04 19:50:20.341  5760  5959 I tango   : use_augmentation_with_previous_matches: 1
09-04 19:50:20.341  5760  5959 I tango   : verification_options:
09-04 19:50:20.341  5760  5959 I tango   : skip_bad_landmarks: 1
09-04 19:50:20.341  5760  5959 I tango   : overwrite_hamming_distance_threshold: -1
09-04 19:50:20.341  5760  5959 I tango   : min_geom_inlier_ratio: 0.35
09-04 19:50:20.341  5760  5959 I tango   : Ransac structure matching:
09-04 19:50:20.341  5760  5959 I tango   : min_num_points: 8
09-04 19:50:20.341  5760  5959 I tango   : max_iterations: 50
09-04 19:50:20.341  5760  5959 I tango   : confidence: 0.99
09-04 19:50:20.341  5760  5959 I tango   : sampson_error_threshold: 0.0008
09-04 19:50:20.341  5760  5959 I tango   : use_upright_pose_estimation: 1
09-04 19:50:20.341  5760  5959 I tango   : 
09-04 19:50:20.341  5760  5959 I tango   : Ransac image to image matching:
09-04 19:50:20.341  5760  5959 I tango   : min_num_points: 8
09-04 19:50:20.341  5760  5959 I tango   : max_iterations: 50
09-04 19:50:20.341  5760  5959 I tango   : confidence: 0.99
09-04 19:50:20.341  5760  5959 I tango   : sampson_error_threshold: 0.0001
09-04 19:50:20.341  5760  5959 I tango   : use_upright_pose_estimation: 1
09-04 19:50:20.341  5760  5959 I tango   : 
09-04 19:50:20.341  5760  5959 I tango   : compute_relative_pose_covariance: 0
09-04 19:50:20.341  5760  5959 I tango   : max_num_points_covariance_calc: 60
09-04 19:50:20.341  5760  5959 I tango   : min_match_image_time_difference: 10
09-04 19:50:20.341  5760  5959 I tango   : gravity_direction_threshold_degrees: 5
09-04 19:50:20.341  5760  5959 I tango   : matching_engine_options:
09-04 19:50:20.341  5760  5959 I tango   : projected_descriptor_dimensions: 16
09-04 19:50:20.341  5760  5959 I tango   : num_closest_words_fo
09-04 19:50:20.341  5760  5959 I tango   : r_nn_search: 30
09-04 19:50:20.341  5760  5959 I tango   : knn_search_epsilon: 2
09-04 19:50:20.341  5760  5959 I tango   : knn_max_radius: 100
09-04 19:50:20.341  5760  5959 I tango   : num_neighbors: -1
09-04 19:50:20.341  5760  5959 I tango   : vote_filter_type: covisibility-graph-filter
09-04 19:50:20.341  5760  5959 I tango   : use pose prior for image to image matching: 0
09-04 19:50:20.366  5760  5959 I tango   : backend_base.h:55 LC-backend initialized.
09-04 19:50:20.369   488   513 E SurfaceFlinger: Failed to find layer (SnapshotStartingWindow for taskId=4853#0) in layer parent (no-parent).
09-04 19:50:20.373  5760  5961 I tango-ndk-hal: bool SetCallbacks(TangoHalDeviceContext, TangoHalCallbacks*): Using VHS
09-04 19:50:20.373  5760  5961 I tango-ndk-hal: Setting callbacks 0x7c466ff1f0
09-04 19:50:20.374  5760  5959 I tango   : tango_hal_device_wrapper.cc:161 HAL device wrapper calling start.
09-04 19:50:20.374  5760  5961 I tango-ndk-hal: bool Start(TangoHalDeviceContext): Using VHS
09-04 19:50:20.375  5760  5961 I tango-ndk-hal: Found raw gyro
09-04 19:50:20.375  5760  5961 I tango-ndk-hal: Found raw accelerometer
09-04 19:50:20.376  5760  5959 I tango   : tango_hal_device_wrapper.cc:164 Start was successful.
09-04 19:50:20.376  5760  5959 I tango   : tango_hal_interface.cc:345 Monitoring callbacks
09-04 19:50:20.377  5760  5959 I tango   : TangoService.cc:359 Connect succeeded
09-04 19:50:20.377  5925  5940 I TangoCameraNative: startCamerasIfNeeded: VHS ready so camera can start.
09-04 19:50:20.378   704 13711 I CameraService: CameraService::connect call (PID -1 "", camera ID 0) for HAL version default and Camera API version 2
09-04 19:50:20.380   704 13711 I Camera2ClientBase: Camera 0: Opened. Client:  (PID 5925, UID 10273)
09-04 19:50:20.381   704 13711 I CameraDeviceClient: CameraDeviceClient 0: Opened
09-04 19:50:20.381  5760  6293 I tango-ndk-hal: Gyro min delay 2500, using 5000
09-04 19:50:20.384  5760  6292 I tango-ndk-hal: Opened libexternal_lift_optimized_cpu
09-04 19:50:20.384   704 13711 I CameraService: onTorchStatusChangedLocked: Torch status changed for cameraId=0, newStatus=0
09-04 19:50:20.384  5760  6296 W tango   : helpers.cc:418 Defaulting to persistent calibration file.
09-04 19:50:20.385   667   667 I QCamera : <HAL><INFO> cameraDeviceOpen: 386: Open camera id 0 API version 768
09-04 19:50:20.385  5760  6296 W tango   : helpers.cc:395 Property calibration_cad is not defined.
09-04 19:50:20.385  5760  6296 I tango   : calibration_provider.cc:486 Instantiating calibration provider with sources:
09-04 19:50:20.385  5760  6296 I tango   : 	CAD: 
09-04 19:50:20.385  5760  6296 I tango   : 	Factory: 
09-04 19:50:20.385  5760  6296 I tango   : 	Online: /data/data/com.google.tango/files/config/online-calibration.xml
09-04 19:50:20.385  5760  6296 I tango   : 	ActiveFile: kOnlineCalibrationFile
09-04 19:50:20.385  5760  6296 I tango   : 	Hardcoded CAD model fallback: Enabled
09-04 19:50:20.385   667   667 I vndksupport: sphal namespace is not configured for this process. Loading /vendor/lib/hw/power.marlin.so from the current namespace instead.
09-04 19:50:20.385  5760  6296 I tango   : device_provider.cc:340 Identified device type: kSailfish
09-04 19:50:20.385  5760  6296 W tango   : calibration_provider.cc:379 Requested parsing of Online calibration, but failed to parse it and the following fallbacks: 
09-04 19:50:20.385  5760  6296 W tango   : - Online calibration: File does not exist: /data/data/com.google.tango/files/config/online-calibration.xml.
09-04 19:50:20.385  5760  6296 W tango   : - Factory calibration: File not set.
09-04 19:50:20.385  5760  6296 W tango   : - CAD calibration: File not set.
09-04 19:50:20.385  5760  6296 W tango   : - Hardcoded CAD model: Could not load hardcoded CAD model. It is only available when:
09-04 19:50:20.385  5760  6296 W tango   :   - Explicitly setting the active file to kHardcodedCadModel.
09-04 19:50:20.385  5760  6296 W tango   :   - On device, as a fallback when reading the CAD calibration file fails.
09-04 19:50:20.386  5760  6296 W tango   : calibration_provider.cc:372 Requested parsing of CAD calibration, but fell back to Hardcoded CAD model.
09-04 19:50:20.386  5760  6296 W tango   : Attempted fallbacks:
09-04 19:50:20.386  5760  6296 W tango   : - CAD calibration: File not set.
09-04 19:50:20.386  5760  6296 W tango   : - Hardcoded CAD model: Successfully parsed file: 
09-04 19:50:20.386  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:40 Building LIFT with poly3 cam model
09-04 19:50:20.386  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  0: 479.359
09-04 19:50:20.386  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  1: 479.129
09-04 19:50:20.386  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  2: 320.912
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  3: 240.562
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  4: 0.0234639
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  5: -0.0710531
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code_dynamic.cc:48 camera intrinsics:  6: 0.103244
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code.cc:27 Running optimized C++ / NEON feature extraction.
09-04 19:50:20.387  5760  6296 I tango   : external_lift_optimized_cpu_code.cc:40 Number of octaves used in DoG 4
09-04 19:50:20.387  5760  6292 D tango-ndk-hal: Allocate LIFT tracker
09-04 19:50:20.387   667   667 I QCamera : <HAL><INFO> openCamera: 675: [KPI Perf]: E PROFILE_OPEN_CAMERA camera id 0
09-04 19:50:20.388   704 13711 I CameraProviderManager: Camera device [email protected]/legacy/0 torch status is now NOT_AVAILABLE
09-04 19:50:20.388   704 13711 I CameraService: onTorchStatusChangedLocked: Torch status changed for cameraId=0, newStatus=0
09-04 19:50:20.388   667   667 I mm-camera: <MCT   >< INFO> 64: mct_controller_new: Creating new mct_controller with session-id 2
09-04 19:50:20.388   667  6298 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E sensor
09-04 19:50:20.388   667  6298 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module sensor
09-04 19:50:20.389   667  6299 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E iface
09-04 19:50:20.389   667  6299 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module iface
09-04 19:50:20.390   667  6299 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module iface start_session rc = 1
09-04 19:50:20.390   667  6299 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 1, success = 1
09-04 19:50:20.390   667  6299 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X iface
09-04 19:50:20.390   667  6301 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E isp
09-04 19:50:20.390   667  6301 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module isp
09-04 19:50:20.390   667  6301 I mm-camera: <ISP   >< INFO> 190: isp_module_start_session: session id 2
09-04 19:50:20.391  5760  6293 I tango-ndk-hal: Accel min delay 2500, using 5000
09-04 19:50:20.392   667  6301 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module isp start_session rc = 1
09-04 19:50:20.392   667  6301 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 2, success = 2
09-04 19:50:20.392   667  6301 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X isp
09-04 19:50:20.393   667  6303 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E stats
09-04 19:50:20.393   667  6303 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module stats
09-04 19:50:20.393   667  6307 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E pproc
09-04 19:50:20.393   667  6307 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module pproc
09-04 19:50:20.395   667  6308 I mm-camera: <MCT   >< INFO> 4162: mct_pipeline_start_session_thread: E imglib
09-04 19:50:20.395   667  6308 I mm-camera: <MCT   >< INFO> 4169: mct_pipeline_start_session_thread: Calling start_session on Module imglib
09-04 19:50:20.395   667  6308 I mm-camera: <IMGLIB>< INFO> 1768: module_imglib_start_session: module_imglib_start_session:1768 ###Img_Loglevel 1, moduleMask 65535
09-04 19:50:20.395   667  6308 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module imglib start_session rc = 1
09-04 19:50:20.395   667  6308 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 3, success = 3
09-04 19:50:20.395   667  6308 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X imglib
09-04 19:50:20.396   667  6307 I mm-camera: <C2D   >< INFO> 394: c2d_module_start_session: Warning: Cannot open ION fd
09-04 19:50:20.398   667  6298 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module sensor start_session rc = 1
09-04 19:50:20.398   667  6298 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 4, success = 4
09-04 19:50:20.398   667  6298 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X sensor
09-04 19:50:20.398   667  6300 I mm-camera: <SENSOR>< INFO> 92: module_sensor_offload_init_config: E
09-04 19:50:20.400   667  6307 I Adreno  : QUALCOMM build                   : 7142022, Ib5823dd10c
09-04 19:50:20.400   667  6307 I Adreno  : Build Date                       : 06/23/17
09-04 19:50:20.400   667  6307 I Adreno  : OpenGL ES Shader Compiler Version: EV031.18.00.00
09-04 19:50:20.400   667  6307 I Adreno  : Local Branch                     : O11A
09-04 19:50:20.400   667  6307 I Adreno  : Remote Branch                    : 
09-04 19:50:20.400   667  6307 I Adreno  : Remote Branch                    : 
09-04 19:50:20.400   667  6307 I Adreno  : Reconstruct Branch               : 
09-04 19:50:20.401   667  6303 I mm-camera: <STATS_AIS >< INFO> 334: gyro_port_use_dsps_iface: Native sensor interface is default
09-04 19:50:20.401   667  6307 I vndksupport: sphal namespace is not configured for this process. Loading /vendor/lib/hw/gralloc.msm8996.so from the current namespace instead.
09-04 19:50:20.403   667  6303 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module stats start_session rc = 1
09-04 19:50:20.403   667  6303 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 5, success = 5
09-04 19:50:20.403   667  6303 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X stats
09-04 19:50:20.404   667  6307 I Adreno  : PFP: 0x005ff087, ME: 0x005ff063
09-04 19:50:20.406   667  6312 I mm-camera: <STATS_AIS >< INFO> 689: sensor_event_callback: Available: GYRO_TYPE
09-04 19:50:20.406   667  6312 I mm-camera: <STATS_AIS >< INFO> 686: sensor_event_callback: Available: ACCELEROMETER_TYPE
09-04 19:50:20.406   667  6312 I mm-camera: <STATS_AIS >< INFO> 692: sensor_event_callback: Available: GRAVITY_TYPE
09-04 19:50:20.406   667  6312 I mm-camera: <STATS_AIS >< INFO> 695: sensor_event_callback: Available: LINEAR_ACCELERATION_TYPE
09-04 19:50:20.409   667  6307 D eglc2d  : Create display/context:0x1/0xef184100
09-04 19:50:20.410   667  6307 D eglc2d  : EglC2DLoadProgram
09-04 19:50:20.410   667  6307 I eglc2d  : Load program binary size 10756, format 34624
09-04 19:50:20.410   667  6307 D eglc2d  : EglC2DLoadProgram
09-04 19:50:20.410   667  6307 I eglc2d  : Load program binary size 9964, format 34624
09-04 19:50:20.411   667  6307 I eglc2d  : Create triangle mesh for 12 x 12 grid
09-04 19:50:20.411   667  6307 D eglc2d  : EglC2DLoadProgram
09-04 19:50:20.411   667  6307 I eglc2d  : Load program binary size 10652, format 34624
09-04 19:50:20.411   667  6307 I eglc2d  : Create triangle mesh for 12 x 12 grid
09-04 19:50:20.412   667  6307 I GoogGyro: tripod Reset
09-04 19:50:20.412   667  6307 I GoogGyro: enable tripod:1
09-04 19:50:20.412   667  6307 I GoogGyro: tripod mode, average threshold: 0.004000
09-04 19:50:20.412   667  6307 I GoogGyro: tripod mode, variance threshold: 0.001000
09-04 19:50:20.412   667  6307 I GoogGyro: tripod mode, adaptive step: 0.001000
09-04 19:50:20.412   667  6307 I GoogGyro: tripod mode, deque size: 100
09-04 19:50:20.412   667  6307 I GoogGyro: tripod mode, damping duration: 5.000000
09-04 19:50:20.412   667  6307 I mm-camera: <MCT   >< INFO> 4172: mct_pipeline_start_session_thread: Module pproc start_session rc = 1
09-04 19:50:20.412   667  6307 I mm-camera: <MCT   >< INFO> 4180: mct_pipeline_start_session_thread: started_num = 6, success = 6
09-04 19:50:20.412   667  6307 I mm-camera: <MCT   >< INFO> 4187: mct_pipeline_start_session_thread: X pproc
09-04 19:50:20.416   667   667 I mm-camera: <MCT   >< INFO> 4083: mct_pipeline_start_stream_internal: Adding session stream streamid= 0xf for session=2
09-04 19:50:20.416   667   667 I mm-camera: <MCT   >< INFO> 4131: mct_pipeline_start_stream_internal: Linking session stream for session 2
09-04 19:50:20.416   667   667 I mm-camera: <MCT   >< INFO> 464: mct_stream_start_link: Start linking Session-stream 0x2000f
09-04 19:50:20.416   667   667 I mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xf437d200 ide 2000f type 10 dim 0 0
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 446: pproc_port_add_modules_to_stream: stream 10 int_link = 0xf385de00
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods paaf and goog_eis for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods goog_eis and llvd for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods llvd and ezt for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods ezt and c2d for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <C2D   >< INFO> 1510: c2d_module_notify_add_stream: width 0, height 0, stride 0, scanline 0, is_type 0
09-04 19:50:20.417   667   667 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods c2d and cpp for identity 2000f
09-04 19:50:20.417   667   667 I mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 0, height 0, stride 0, scanline 0, framelen 0
09-04 19:50:20.417   667   667 E mm-camera: <CPP   ><ERROR> 2209: cpp_module_notify_add_stream: failed, CPP current version can not support rotation
09-04 19:50:20.417   667   667 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
09-04 19:50:20.418   667   667 I mm-camera: <MCT   >< INFO> 4140: mct_pipeline_start_stream_internal: Session stream linked successfully session 2
09-04 19:50:20.420   667   667 I QCamera : <HAL><INFO> openCamera: 685: [KPI Perf]: X PROFILE_OPEN_CAMERA camera id 0, rc: 0
09-04 19:50:20.420   667   667 I QCamera : <HAL><INFO> initialize: 886: E :mCameraId = 0 mState = 1
09-04 19:50:20.420   667   667 I QCamera : <HAL><INFO> initialize: 919: X
09-04 19:50:20.422  5925  5940 E Camera2-Metadata: Update metadata entry: Unknown tag -1073741824
09-04 19:50:20.422  5925  5940 W ndk_camera: Failed to set the TANGO_MODE vendor tag for the color camera!This may not be required on this device.
09-04 19:50:20.422  5925  5940 I tango_camera_native: Camera 0 is open, starting.
09-04 19:50:20.424   704 13711 W CameraDeviceClient: createSurfaceFromGbp: Camera 0 with consumer usage flag: 0x100: Forcing asynchronous mode for stream
09-04 19:50:20.424   704 13711 W CameraDeviceClient: createSurfaceFromGbp: Camera 0: Overriding format 0x1 to IMPLEMENTATION_DEFINED
09-04 19:50:20.425   667   667 I QCamera : <HAL><INFO> configureStreamsPerfLocked: 1607: stream[0] type = 0, format = 35, width = 640, height = 480, rotation = 0, usage = 0x3
09-04 19:50:20.425   667   667 I QCamera : <HAL><INFO> configureStreamsPerfLocked: 1607: stream[1] type = 0, format = 35, width = 640, height = 480, rotation = 0, usage = 0x3
09-04 19:50:20.425   667   667 I QCamera : <HAL><INFO> configureStreamsPerfLocked: 1607: stream[2] type = 0, format = 34, width = 1920, height = 1080, rotation = 0, usage = 0x100
09-04 19:50:20.425   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
09-04 19:50:20.425   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
09-04 19:50:20.425   667  6318 I mm-camera: <MCT   >< INFO> 720: mct_stream_start_link: Link Metadata stream 0x20001: do nothing
09-04 19:50:20.425   667  6318 I mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20001 stream type=7
09-04 19:50:20.425   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
09-04 19:50:20.429   704 13711 D Camera3-Device: Set real time priority for request queue thread (tid 6325)
09-04 19:50:20.430  5925  5940 I tango_camera_native: Camera 0 is starting, waiting for it to be done.
09-04 19:50:20.430  5925  6295 I ndk_camera: Camera capture session started processing.
09-04 19:50:20.430  5925  5940 I tango_camera_native: Camera 0 start successfull.
09-04 19:50:20.432  5760  5959 I tango   : TangoService.cc:245 set poseListenerFrames from 5925
09-04 19:50:20.435   667   667 I QCamera : <HAL><INFO> processCaptureRequest: 3828: STREAM INFO : type 5, wxh: 640 x 480, pp_mask: 0x100068e Format:0
09-04 19:50:20.435   667   667 I QCamera : <HAL><INFO> processCaptureRequest: 3828: STREAM INFO : type 5, wxh: 640 x 480, pp_mask: 0x100068e Format:0
09-04 19:50:20.435   667   667 I QCamera : <HAL><INFO> processCaptureRequest: 3828: STREAM INFO : type 1, wxh: 1920 x 1080, pp_mask: 0x100068e Format:1
09-04 19:50:20.435   667   667 I QCamera : <HAL><INFO> processCaptureRequest: 3828: STREAM INFO : type 11, wxh: 640 x 480, pp_mask: 0x100068e Format:1
09-04 19:50:20.435   667  6318 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
09-04 19:50:20.436   667  6318 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
09-04 19:50:20.436   667  6318 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
09-04 19:50:20.436   667  6318 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
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6231: isp_util_print_meta_stream_info: Stream type 5 Resolution: 640x480 pp_mask: 0x100068e
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6231: isp_util_print_meta_stream_info: Stream type 5 Resolution: 640x480 pp_mask: 0x100068e
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6231: isp_util_print_meta_stream_info: Stream type 1 Resolution: 1920x1080 pp_mask: 0x100068e
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6231: isp_util_print_meta_stream_info: Stream type 11 Resolution: 640x480 pp_mask: 0x100068e
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 2309: isp_resource_allocate: INFO: ISP resource acquired: session 2 num_isp 1
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 2311: isp_resource_allocate: INFO: ISP resource acquired: hw_id 1
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6136: isp_util_map_streams_to_hw_hal3: priority stream: 0 num: 1 mask: 0x800
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6192: isp_util_decide_stream_mapping: stream_port_map num streams 4
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6202: isp_util_decide_stream_mapping: INFO: type 1 resolution 1920x1080 hw_stream 1 need_native_buff 1 controllable_output 0 shared_output 0
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6202: isp_util_decide_stream_mapping: INFO: type 5 resolution 640x480 hw_stream 1 need_native_buff 1 controllable_output 0 shared_output 0
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6202: isp_util_decide_stream_mapping: INFO: type 5 resolution 640x480 hw_stream 1 need_native_buff 1 controllable_output 0 shared_output 0
09-04 19:50:20.436   667  6318 I mm-camera: <ISP   >< INFO> 6202: isp_util_decide_stream_mapping: INFO: type 11 resolution 640x480 hw_stream 2 need_native_buff 1 controllable_output 0 shared_output 0
09-04 19:50:20.437   667  6318 E mm-camera: <ISP   ><ERROR> 256: isp_port_process_downstream_module_event: failed: iface_request_stream_mapping_info
09-04 19:50:20.437   667  6318 E mm-camera: <ISP   ><ERROR> 369: isp_port_process_downstream_event: failed: isp_port_process_downstream_module_event
09-04 19:50:20.437   667  6318 E mm-camera: <ISP   ><ERROR> 506: isp_port_event: failed: isp_port_process_downstream_event
09-04 19:50:20.437   667  6318 E mm-camera: <IFACE ><ERROR> 1504: iface_util_request_stream_mapping_info: iface_util_request_stream_mapping_info:1504 post module msg error
09-04 19:50:20.437   667  6318 E mm-camera: <IFACE ><ERROR> 5587: iface_util_handle_meta_stream_info: iface_util_handle_meta_stream_info:5587 stream mapping req failed, no native buf opt
09-04 19:50:20.438   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
09-04 19:50:20.439   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
09-04 19:50:20.439   667  6318 I mm-camera: <MCT   >< INFO> 522: mct_stream_start_link: Start linking callback stream 0x20002
09-04 19:50:20.439   667  6318 I mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xf437d200 ide 20002 type 5 dim 640 480
09-04 19:50:20.439   667  6318 I mm-camera: <PPROC >< INFO> 446: pproc_port_add_modules_to_stream: stream 5 int_link = 0xf385e080
09-04 19:50:20.439   667  6318 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods tmod and cpp for identity 20002
09-04 19:50:20.439   667  6318 I mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 640, height 480, stride 640, scanline 512, framelen 491520
09-04 19:50:20.439   667  6318 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
09-04 19:50:20.439   667  6318 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
09-04 19:50:20.439   667  6318 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
09-04 19:50:20.439   667  6318 I mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20002 stream type=5
09-04 19:50:20.440   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
09-04 19:50:20.442   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
09-04 19:50:20.443   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
09-04 19:50:20.443   667  6318 I mm-camera: <MCT   >< INFO> 522: mct_stream_start_link: Start linking callback stream 0x20003
09-04 19:50:20.443   667  6318 I mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xf437d200 ide 20003 type 5 dim 640 480
09-04 19:50:20.443  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.443  5925  5940 E Unity   : 
09-04 19:50:20.443  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.443  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.443  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.443  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.443  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.443  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.443  5925  5940 E Unity   :  
09-04 19:50:20.443  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.443  5925  5940 E Unity   : 
09-04 19:50:20.444   667  6318 I mm-camera: <PPROC >< INFO> 446: pproc_port_add_modules_to_stream: stream 5 int_link = 0xf385e080
09-04 19:50:20.444   667  6318 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods tmod and cpp for identity 20003
09-04 19:50:20.444   667  6318 I mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 640, height 480, stride 640, scanline 512, framelen 491520
09-04 19:50:20.444   667  6318 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
09-04 19:50:20.444   667  6318 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
09-04 19:50:20.444   667  6318 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
09-04 19:50:20.444   667  6318 I mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20003 stream type=5
09-04 19:50:20.444   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
09-04 19:50:20.447   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
09-04 19:50:20.447   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
09-04 19:50:20.447   667  6318 I mm-camera: <MCT   >< INFO> 438: mct_stream_start_link: Start linking preview stream 0x20004
09-04 19:50:20.447   667  6318 I mm-camera: <MCT   >< INFO> 452: mct_stream_start_link: non secure stream linking
09-04 19:50:20.447   667  6318 I mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xf437d200 ide 20004 type 1 dim 1920 1080
09-04 19:50:20.448   667  6318 I mm-camera: <PPROC >< INFO> 446: pproc_port_add_modules_to_stream: stream 1 int_link = 0xf385e080
09-04 19:50:20.448   667  6318 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 20004
09-04 19:50:20.448   667  6318 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods paaf and cpp for identity 20004
09-04 19:50:20.448   667  6318 I mm-camera: <CPP   >< INFO> 2113: cpp_module_notify_add_stream: :width 1920, height 1080, stride 1920, scanline 1088, framelen 3248128
09-04 19:50:20.448   667  6318 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
09-04 19:50:20.448   667  6318 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
09-04 19:50:20.448   667  6318 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
09-04 19:50:20.449   667  6318 I mm-camera: <IMGLIB>< INFO> 4386: faceproc_hw_comp_create: Using FD HW Hybrid solution : Tracker v2 + SWFP v6
09-04 19:50:20.450   667  6318 I mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20004 stream type=1
09-04 19:50:20.451   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
09-04 19:50:20.451   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800000a
09-04 19:50:20.451   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000018
09-04 19:50:20.451   667  6318 I mm-camera: <MCT   >< INFO> 679: mct_stream_start_link: Starting Analysis stream linking
09-04 19:50:20.451   667  6318 I mm-camera: <ISP   >< INFO> 784: isp_port_check_caps_reserve: port 0xf437d200 ide 20005 type 11 dim 640 480
09-04 19:50:20.451   667  6318 I mm-camera: <PPROC >< INFO> 446: pproc_port_add_modules_to_stream: stream 11 int_link = 0xf385e300
09-04 19:50:20.452   667  6318 I mm-camera: <PPROC >< INFO> 458: pproc_port_add_modules_to_stream: :LINK linking mods tmod and paaf for identity 20005
09-04 19:50:20.452   667  6318 I mm-camera: <MCT   >< INFO> 3363: mct_pipeline_process_set: Linking successful for stream 0x20005 stream type=11
09-04 19:50:20.452   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000004
09-04 19:50:20.452   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
09-04 19:50:20.486   667  6300 I mm-camera: <SENSOR>< INFO> 151: module_sensor_offload_init_config: SENSOR_INIT returned
09-04 19:50:20.487  5760  6292 D tango_tracker: tracker timeout
09-04 19:50:20.498   667  6300 I mm-camera: <SENSOR>< INFO> 187: module_sensor_offload_init_config: EEPROM set up
09-04 19:50:20.500   667  6300 I mm-camera: <SENSOR>< INFO> 198: module_sensor_offload_init_config: FLASH set up
09-04 19:50:20.519  1949  1990 I PlayCommon: [1021] com.google.android.play.a.h.a(531): Successfully uploaded logs.
09-04 19:50:20.522   667  6300 I mm-camera: <SENSOR>< INFO> 218: module_sensor_offload_init_config: Actuator set up
09-04 19:50:20.522   667  6300 I mm-camera: <SENSOR>< INFO> 259: module_sensor_offload_init_config: Success
09-04 19:50:20.522   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
09-04 19:50:20.522   667  6318 I chatty  : uid=1047(cameraserver) CAM_MctServ identical 1 line
09-04 19:50:20.522   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000019
09-04 19:50:20.522   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=800001c
09-04 19:50:20.522   667  6318 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
09-04 19:50:20.531   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
09-04 19:50:20.531   667  6318 I mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20001 stream type=7
09-04 19:50:20.531   667  6318 I mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20001, stream type=7
09-04 19:50:20.531   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
09-04 19:50:20.531   667  6318 I mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20002 stream type=5
09-04 19:50:20.531   667  6318 I mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x2000f
09-04 19:50:20.532   667  6318 I mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x20002
09-04 19:50:20.532   667  6318 I mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x20003
09-04 19:50:20.532   667  6318 I mm-camera: <CPP   >< INFO> 1732: cpp_module_handle_stream_cfg_event: frame_offset=3, input_fps=30.00, identity=0x20004
09-04 19:50:20.536   992  1467 W SensorService: sensor 00000002 already enabled in connection 0x7c55455ec0 (ignoring)
09-04 19:50:20.541   667  6318 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
09-04 19:50:20.542   667  6318 I mm-camera: <ISP   >< INFO> 1143: isp_resource_get_stats_type_mask: enable_stats_mask 1588
09-04 19:50:20.542   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 48000 mC, weight[0] 1
09-04 19:50:20.542   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 52000 mC, weight[1] -1
09-04 19:50:20.542   667  6318 I mm-camera: <IFACE >< INFO> 3470: iface_util_dump_isp_resource_request:  =====DUMP RESOURCE: PIX STREAM=== 
09-04 19:50:20.542   667  6318 I mm-camera: <IFACE >< INFO> 3471: iface_util_dump_isp_resource_request: num pix stream = 2
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3474: iface_util_dump_isp_resource_request: num_isp = 1, isp_mask = 2, request_op_pix_clk = 0
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3478: iface_util_dump_isp_resource_request: ispif stripe info: split 0, overlap 0, stripe offset 0
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3481: iface_util_dump_isp_resource_request: pix stream 0
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3484: iface_util_dump_isp_resource_request: num mct stream mapped = 3(Mapped stream ID[0] = 2)
09-04 19:50:20.543   667  6318 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
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3481: iface_util_dump_isp_resource_request: pix stream 1
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3484: iface_util_dump_isp_resource_request: num mct stream mapped = 1(Mapped stream ID[0] = 5)
09-04 19:50:20.543   667  6318 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
09-04 19:50:20.543   667  6318 I mm-camera: <IFACE >< INFO> 3509: iface_util_dump_isp_resource_request: num STATS stream = 5
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 865: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS]  stream type 5, width 1920, height 1442,stride 1920, scanline 1442, planes 2
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 0, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 2768640, offset:0
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 1, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 1386240, offset:0
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 865: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS]  stream type 5, width 1920, height 1442,stride 1920, scanline 1442, planes 2
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 0, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 2768640, offset:0
09-04 19:50:20.543   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 1, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 1386240, offset:0
09-04 19:50:20.544   667  6318 I mm-camera: <CPP   >< INFO> 865: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS]  stream type 1, width 1920, height 1442,stride 1920, scanline 1442, planes 2
09-04 19:50:20.544   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 0, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 2768640, offset:0
09-04 19:50:20.544   667  6318 I mm-camera: <CPP   >< INFO> 884: cpp_module_handle_isp_out_dim_event: [STREAM_PARAMS] plane 1, stride 1920, scanline 1442, offset_x 0, offset_y 0, len 1386240, offset:0
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8308: iface_util_dump_camif_cfg: =====Camif DUMP cfg for PIX interface====
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8310: iface_util_dump_camif_cfg: camif input type = 3(MIPI=3), op_pix_clk = 480000000
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8312: iface_util_dump_camif_cfg: camif pix_pattern(RGRG-0/GRGR-1/BGBG-2/GBGB-3) = 2
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8314: iface_util_dump_camif_cfg: camif first_pix = 0, last_pix = 4047
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8316: iface_util_dump_camif_cfg: camif first_line = 8, last_line = 3043
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8318: iface_util_dump_camif_cfg: camif pixels_per_line = 4048, lines_per_frame = 3044
09-04 19:50:20.546   667  6318 I mm-camera: <IFACE >< INFO> 8322: iface_util_dump_camif_cfg: camif irq subsample pattern = 0, period = 0 sof_step 1
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 10002 ===
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: ENCODER hw_stream width 1920, height 1442
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
09-04 19:50:20.546   667  6341 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)
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 1920, height = 1442
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 1920, scanlines = 1442
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
09-04 19:50:20.546   667  6341 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)
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[1]: width = 1920, height = 721
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[1]: stride = 1920, scanlines = 722
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[1]: address_offset 0
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 10005 ===
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: VIDEO hw_stream width 640, height 480
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
09-04 19:50:20.546   667  6341 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)
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 640, height = 480
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 640, scanlines = 480
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 535: iface_dump_axi_plane_config: === AXI DUMP: VFE session_id 2, hw_stream_id 90001 ===
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 539: iface_dump_axi_plane_config:     AXI DUMP Axi_src: RDI_0 hw_stream width 4056, height 2
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 541: iface_dump_axi_plane_config: need buf divert = 1, burst count = 0
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 544: iface_dump_axi_plane_config: hfr mode = 0, skip pattern = 0, init_frame_drop = 2
09-04 19:50:20.546   667  6341 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)
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 579: iface_dump_axi_plane_config: plane[0]: width = 4056, height = 2
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 581: iface_dump_axi_plane_config: plane[0]: stride = 4064, scanlines = 2
09-04 19:50:20.546   667  6341 I mm-camera: <IFACE >< INFO> 583: iface_dump_axi_plane_config: plane[0]: address_offset 0
09-04 19:50:20.549   667  6318 I mm-camera: <IFACE >< INFO> 1559: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 2
09-04 19:50:20.549   667  6302 I mm-camera: <IFACE >< INFO> 1902: iface_streamon: E, session_id 2 mct_stream_id = 2
09-04 19:50:20.549   667  6302 I mm-camera: <IFACE >< INFO> 10346: iface_util_get_user_streams_by_bundle: got No.1 bundled streamon, mct stream id 2total bundled stream num = 4
09-04 19:50:20.550   667  6318 I mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf4598000 hw_id 0 fd 0 0xed207a7c
09-04 19:50:20.550   992  1467 W SensorService: sensor 00000002 already enabled in connection 0x7c55455ec0 (ignoring)
09-04 19:50:20.556   992 27563 W SensorService: sensor 00000002 already enabled in connection 0x7c55455ec0 (ignoring)
09-04 19:50:20.560   667  6342 I Laser   : openInput
09-04 19:50:20.566   667  6318 I mm-camera: <CPP   >< INFO> 3832: cpp_module_handle_streamon_event: identity=0x20002, stream-on done
09-04 19:50:20.567   667  6318 I mm-camera: <IFACE >< INFO> 1588: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 2
09-04 19:50:20.567   667  6309 I mm-camera: <CPP   >< INFO> 362: cpp_hardware_set_clock: Set clock 200000000 BW avg 280324800 BW inst 280324800
09-04 19:50:20.567   667  6318 I mm-camera: <MCT   >< INFO> 149: start_sof_check_thread: Starting SOF timeout thread session id =2
09-04 19:50:20.567   667  6318 I mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20002, stream type=5
09-04 19:50:20.575   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
09-04 19:50:20.575   667  6318 I mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20003 stream type=5
09-04 19:50:20.575   667  6318 I mm-camera: <IFACE >< INFO> 1559: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 3
09-04 19:50:20.575   667  6302 I mm-camera: <IFACE >< INFO> 1902: iface_streamon: E, session_id 2 mct_stream_id = 3
09-04 19:50:20.575   667  6302 I mm-camera: <IFACE >< INFO> 10346: iface_util_get_user_streams_by_bundle: got No.2 bundled streamon, mct stream id 3total bundled stream num = 4
09-04 19:50:20.576   667  6318 I mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf4598000 hw_id 0 fd 0 0xed207a8c
09-04 19:50:20.576   667  6318 I mm-camera: <CPP   >< INFO> 3832: cpp_module_handle_streamon_event: identity=0x20003, stream-on done
09-04 19:50:20.576   667  6318 I mm-camera: <IFACE >< INFO> 1588: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 3
09-04 19:50:20.576   667  6318 I mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20003, stream type=5
09-04 19:50:20.576   667  6309 I mm-camera: <CPP   >< INFO> 362: cpp_hardware_set_clock: Set clock 320000000 BW avg 560649600 BW inst 560649600
09-04 19:50:20.577   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
09-04 19:50:20.577   667  6318 I mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20004 stream type=1
09-04 19:50:20.577   667  6318 I mm-camera: <IFACE >< INFO> 1559: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 4
09-04 19:50:20.577   667  6302 I mm-camera: <IFACE >< INFO> 1902: iface_streamon: E, session_id 2 mct_stream_id = 4
09-04 19:50:20.577   667  6302 I mm-camera: <IFACE >< INFO> 10346: iface_util_get_user_streams_by_bundle: got No.3 bundled streamon, mct stream id 4total bundled stream num = 4
09-04 19:50:20.577   667  6318 I mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf4598000 hw_id 0 fd 0 0xed207a8c
09-04 19:50:20.578   667  6318 I mm-camera: <CPP   >< INFO> 3832: cpp_module_handle_streamon_event: identity=0x20004, stream-on done
09-04 19:50:20.578   667  6318 I mm-camera: <IFACE >< INFO> 1588: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 4
09-04 19:50:20.578   667  6318 I mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20004, stream type=1
09-04 19:50:20.579   667  6318 I mm-camera: <MCT   >< INFO> 3265: mct_pipeline_process_set: command=8000008
09-04 19:50:20.579   667  6318 I mm-camera: <MCT   >< INFO> 3403: mct_pipeline_process_set:  STREAM-ON on stream 0x20005 stream type=11
09-04 19:50:20.579   667  6318 I mm-camera: <IFACE >< INFO> 1559: iface_streamon_to_thread: iface_streamon_to_thread: E, session id = 2, user stream id = 5
09-04 19:50:20.579   667  6302 I mm-camera: <IFACE >< INFO> 1902: iface_streamon: E, session_id 2 mct_stream_id = 5
09-04 19:50:20.579   667  6302 I mm-camera: <IFACE >< INFO> 10340: iface_util_get_user_streams_by_bundle: streamon, got all bundled streamon!
09-04 19:50:20.580   667  6309 I mm-camera: <CPP   >< INFO> 362: cpp_hardware_set_clock: Set clock 320000000 BW avg 812357888 BW inst 812357888
09-04 19:50:20.580   667  6318 I mm-camera: <ISP   >< INFO> 285: isp_resource_update_module_cfg: Warning: 0xf4598000 hw_id 0 fd 0 0xed207a8c
09-04 19:50:20.582   667  6318 I mm-camera: <IMGLIB>< INFO> 1180: faceproc_hw_comp_send_msg: faceproc_hw_comp_send_msg 1180] FDHW_MSG_CHROMATIX_UPDATE 
09-04 19:50:20.587  5760  6292 D tango_tracker: tracker timeout
09-04 19:50:20.592   667  6302 I mm-camera: <IFACE >< INFO> 2155: iface_streamon: X
09-04 19:50:20.592   667  6318 I mm-camera: <IFACE >< INFO> 1588: iface_streamon_to_thread: iface_streamon_to_thread: X, session id = 2, user stream id = 5
09-04 19:50:20.592   667  6318 I mm-camera: <MCT   >< INFO> 3418: mct_pipeline_process_set:  STREAM-ON success for stream 0x20005, stream type=11
09-04 19:50:20.602   667  6342 I Laser   : inputName: STM VL53L0 proximity sensor found
09-04 19:50:20.602   667  6342 E Laser   : open_sensors gets called!
09-04 19:50:20.602   667  6342 E Laser   : sensors_poll_context_t::activate gets called!
09-04 19:50:20.602   667  6342 I Laser   : ProximitySensor::enable function called for stmvl53L0!
09-04 19:50:20.614   667  6340 E mm-camera: <ISP   ><ERROR> 1255: isp_handler_module_handle_reg_update:  Warning! Invalid reg_update state 0
09-04 19:50:20.678   667  6342 I Laser   : ProximitySensor::enable stmvl53L0 enabled sucessfully!
09-04 19:50:20.688  5760  6292 D tango_tracker: tracker timeout
09-04 19:50:20.714   667  6309 I mm-camera: <CPP   >< INFO> 362: cpp_hardware_set_clock: Set clock 320000000 BW avg 662851328 BW inst 662851328
09-04 19:50:20.720  5925  5940 E tango_camera_native: Couldn't get image exposure/skew for timestamp offset!
09-04 19:50:20.720  5925  5940 E ndk_camera: metadata has: 366959.094280
09-04 19:50:20.720  5925  5940 W tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_UpdateTextureExternalOes(JNIEnv*, jobject, int, int, jdoubleArray): Got a negative timestamp -0.000000 from camera with id 0.
09-04 19:50:20.720  5925  5940 W System.err: com.google.atap.tangoservice.TangoErrorException
09-04 19:50:20.720  5925  5940 W System.err: 	at com.google.atap.tangoservice.Tango.throwTangoExceptionIfNeeded(Tango.java:1533)
09-04 19:50:20.720  5925  5940 W System.err: 	at com.google.atap.tangoservice.Tango.updateTextureExternalOes(Tango.java:511)
09-04 19:50:20.720  5925  5940 W System.err: 	at com.unity3d.player.UnityPlayer.nativeRender(Native Method)
09-04 19:50:20.720  5925  5940 W System.err: 	at com.unity3d.player.UnityPlayer.c(Unknown Source:0)
09-04 19:50:20.720  5925  5940 W System.err: 	at com.unity3d.player.UnityPlayer$c$1.handleMessage(Unknown Source:151)
09-04 19:50:20.720  5925  5940 W System.err: 	at android.os.Handler.dispatchMessage(Handler.java:101)
09-04 19:50:20.720  5925  5940 W System.err: 	at android.os.Looper.loop(Looper.java:164)
09-04 19:50:20.720  5925  5940 W System.err: 	at com.unity3d.player.UnityPlayer$c.run(Unknown Source:20)
09-04 19:50:20.736  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.736  5925  5940 E Unity   : 
09-04 19:50:20.736  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.736  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.736  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.736  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.736  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.736  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.736  5925  5940 E Unity   :  
09-04 19:50:20.736  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.736  5925  5940 E Unity   : 
09-04 19:50:20.745  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:20.754  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.754  5925  5940 E Unity   : 
09-04 19:50:20.754  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.754  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.754  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.754  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.754  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.754  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.754  5925  5940 E Unity   :  
09-04 19:50:20.754  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.754  5925  5940 E Unity   : 
09-04 19:50:20.757  5760  5959 W tango   : gyro_helper.cc:59 Gyro samples do not cover << [ 0 ; 366959.116092831013 ] sec. Use identity R. Gyro samples cover [ 366958.880271750037 ; 366959.177522523038 ] sec.
09-04 19:50:20.757  5760  5959 W tango   : feature_processing.cc:154 Skipping first feature measurement because we don't have a previous to diff against.
09-04 19:50:20.770  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.770  5925  5940 E Unity   : 
09-04 19:50:20.770  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.770  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.770  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.770  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.770  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.770  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.770  5925  5940 E Unity   :  
09-04 19:50:20.770  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.770  5925  5940 E Unity   : 
09-04 19:50:20.783   667  6306 E mm-camera: <ERROR> 831: dmlroc_init: dmlroc_init cfg: camif 3036x4048, elem 126x126, thres 0.002500, accur 8
09-04 19:50:20.783   667  6306 E mm-camera: <ERROR> 832: dmlroc_init: dmlroc_init cfg: offsetH 8, offsetV 6
09-04 19:50:20.783   667  6306 E mm-camera: <ERROR> 833: dmlroc_init: dmlroc_init mesh: rxc 13x17, subs 4, hxw 64x64, offset vert 18, horz 24
09-04 19:50:20.786  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.786  5925  5940 E Unity   : 
09-04 19:50:20.786  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.786  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.786  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.786  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.786  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.786  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.786  5925  5940 E Unity   :  
09-04 19:50:20.786  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.786  5925  5940 E Unity   : 
09-04 19:50:20.802  1735 14441 I zygote64: Explicit concurrent copying GC freed 70330(2MB) AllocSpace objects, 0(0B) LOS objects, 49% free, 19MB/38MB, paused 246us total 324.439ms
09-04 19:50:20.804  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.804  5925  5940 E Unity   : 
09-04 19:50:20.804  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.804  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.804  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.804  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.804  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.804  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.804  5925  5940 E Unity   :  
09-04 19:50:20.804  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.804  5925  5940 E Unity   : 
09-04 19:50:20.820  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:20.836  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.836  5925  5940 E Unity   : 
09-04 19:50:20.836  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.836  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.836  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.836  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.836  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.836  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.836  5925  5940 E Unity   :  
09-04 19:50:20.836  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.836  5925  5940 E Unity   : 
09-04 19:50:20.848  5760  5959 I tango   : vio_initializer.cc:665 Not accepting frame as first BA keyframe.
09-04 19:50:20.853  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.853  5925  5940 E Unity   : 
09-04 19:50:20.853  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.853  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.853  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.853  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.853  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.853  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.853  5925  5940 E Unity   :  
09-04 19:50:20.853  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.853  5925  5940 E Unity   : 
09-04 19:50:20.937  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 5 lines
09-04 19:50:20.955  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.955  5925  5940 E Unity   : 
09-04 19:50:20.955  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.955  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.955  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.955  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.955  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.955  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.955  5925  5940 E Unity   :  
09-04 19:50:20.955  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.955  5925  5940 E Unity   : 
09-04 19:50:20.962  5760  5959 I tango   : vio_initializer.cc:665 Not accepting frame as first BA keyframe.
09-04 19:50:20.971  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:20.971  5925  5940 E Unity   : 
09-04 19:50:20.971  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:20.971  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:20.971  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:20.971  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.971  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:20.971  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:20.971  5925  5940 E Unity   :  
09-04 19:50:20.971  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:20.971  5925  5940 E Unity   : 
09-04 19:50:21.039  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 4 lines
09-04 19:50:21.055  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.055  5925  5940 E Unity   : 
09-04 19:50:21.055  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.055  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.055  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.055  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.055  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.055  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.055  5925  5940 E Unity   :  
09-04 19:50:21.055  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.055  5925  5940 E Unity   : 
09-04 19:50:21.060  5760  5959 I tango   : vio_initializer.cc:665 Not accepting frame as first BA keyframe.
09-04 19:50:21.072  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.072  5925  5940 E Unity   : 
09-04 19:50:21.072  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.072  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.072  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.072  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.072  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.072  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.072  5925  5940 E Unity   :  
09-04 19:50:21.072  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.072  5925  5940 E Unity   : 
09-04 19:50:21.442  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 22 lines
09-04 19:50:21.457  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.457  5925  5940 E Unity   : 
09-04 19:50:21.457  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.457  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.457  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.457  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.457  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.457  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.457  5925  5940 E Unity   :  
09-04 19:50:21.457  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.457  5925  5940 E Unity   : 
09-04 19:50:21.468  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 1641, and after elimination 312
09-04 19:50:21.469  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 4
09-04 19:50:21.469  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:21.469  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.00906617
09-04 19:50:21.474  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.474  5925  5940 E Unity   : 
09-04 19:50:21.474  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.474  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.474  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.474  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.474  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.474  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.474  5925  5940 E Unity   :  
09-04 19:50:21.474  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.474  5925  5940 E Unity   : 
09-04 19:50:21.478  5760  5959 W tango   : tightly_coupled_dsolver.cc:395 Invalid local gravity solution. Failed to solve constrained deterministic optimization.
09-04 19:50:21.478  5760  5959 W tango   : tightly_coupled_dsolver.cc:397 Solved local gravity   9.68286 -0.241669  0.567881
09-04 19:50:21.478  5760  5959 W tango   : tightly_coupled_dsolver.cc:398 Expected gravity norm 9.7993|  Solved gravity norm 9.70251
09-04 19:50:21.491  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.491  5925  5940 E Unity   : 
09-04 19:50:21.491  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.491  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.491  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.491  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.491  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.491  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.491  5925  5940 E Unity   :  
09-04 19:50:21.491  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.491  5925  5940 E Unity   : 
09-04 19:50:21.492  5760  5959 W tango   : tightly_coupled_dsolver.cc:427 Invalid local gravity solution. Failed to solve unconstrained deterministic optimization.
09-04 19:50:21.492  5760  5959 W tango   : tightly_coupled_dsolver.cc:429 Solved local gravity    9.17074 -0.0105664 -0.0112791
09-04 19:50:21.492  5760  5959 W tango   : tightly_coupled_dsolver.cc:430 Expected gravity norm 9.7993|  Solved gravity norm 9.17076
09-04 19:50:21.492  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:21.495  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 312
09-04 19:50:21.495  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 0
09-04 19:50:21.495  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 60
09-04 19:50:21.496  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 252
09-04 19:50:21.496  5760  5959 I tango   : ba_initialization.cc:194 Intrinsic vector size of the camera 0 is 7
09-04 19:50:21.507  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.507  5925  5940 E Unity   : 
09-04 19:50:21.507  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.507  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.507  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.507  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.507  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.507  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.507  5925  5940 E Unity   :  
09-04 19:50:21.507  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.507  5925  5940 E Unity   : 
09-04 19:50:21.524  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.524  5925  5940 E Unity   : 
09-04 19:50:21.524  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.524  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.524  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.524  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.524  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.524  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.524  5925  5940 E Unity   :  
09-04 19:50:21.524  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.524  5925  5940 E Unity   : 
09-04 19:50:21.536  5760  5959 I tango   : ba_initialization.cc:393 
09-04 19:50:21.536  5760  5959 I tango   : Solver Summary (v 1.12.0-eigen-(3.2.0)-lapack-suitesparse-(4.5.0)-openmp)
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   :                                      Original                  Reduced
09-04 19:50:21.536  5760  5959 I tango   : Parameter blocks                           71                       68
09-04 19:50:21.536  5760  5959 I tango   : Parameters                                138                      124
09-04 19:50:21.536  5760  5959 I tango   : Effective parameters                      129                      116
09-04 19:50:21.536  5760  5959 I tango   : Residual blocks                           246                      246
09-04 19:50:21.536  5760  5959 I tango   : Residual                                  537                      537
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Minimizer                        TRUST_REGION
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Dense linear algebra library            EIGEN
09-04 19:50:21.536  5760  5959 I tango   : Trust region strategy     LEVENBERG_MARQUARDT
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   :                                         Given                     Used
09-04 19:50:21.536  5760  5959 I tango   : Linear solver                     DENSE_SCHUR              DENSE_SCHUR
09-04 19:50:21.536  5760  5959 I tango   : Threads                                     1                        1
09-04 19:50:21.536  5760  5959 I tango   : Linear solver threads                       1                        1
09-04 19:50:21.536  5760  5959 I tango   : Linear solver ordering              AUTOMATIC   
09-04 19:50:21.536  5760  5959 I tango   :                   62,6
09-04 19:50:21.536  5760  5959 I tango   : Schur structure                         d,d,d                    d,d,d
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Cost:
09-04 19:50:21.536  5760  5959 I tango   : Initial                          4.379364e+02
09-04 19:50:21.536  5760  5959 I tango   : Final                            1.877722e+02
09-04 19:50:21.536  5760  5959 I tango   : Change                           2.501642e+02
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Minimizer iterations                       19
09-04 19:50:21.536  5760  5959 I tango   : Successful steps                           19
09-04 19:50:21.536  5760  5959 I tango   : Unsuccessful steps                          0
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Time (in seconds):
09-04 19:50:21.536  5760  5959 I tango   : Preprocessor                           0.0010
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   :   Residual evaluation                  0.0068
09-04 19:50:21.536  5760  5959 I tango   :   Jacobian evaluation                  0.0109
09-04 19:50:21.536  5760  5959 I tango   :   Linear solver                        0.0174
09-04 19:50:21.536  5760  5959 I tango   : Minimizer                              0.0374
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Postprocessor                          0.0000
09-04 19:50:21.536  5760  5959 I tango   : Total                                  0.0384
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : Termination:                   NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 18.)
09-04 19:50:21.536  5760  5959 I tango   : 
09-04 19:50:21.536  5760  5959 I tango   : ba_initialization.cc:403 Initializer did not converge: Maximum number of iterations reached. Number of iterations: 18.
09-04 19:50:21.537  5760  5959 I tango   : ba_initialization_helper_impl.h:42 Number of measurements used in BA initialization for temporal landmarks: 240
09-04 19:50:21.537  5760  5959 I tango   : ba_initialization_helper_impl.h:44 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 229
09-04 19:50:21.541  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.541  5925  5940 E Unity   : 
09-04 19:50:21.541  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.541  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.541  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.541  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.541  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.541  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.541  5925  5940 E Unity   :  
09-04 19:50:21.541  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.541  5925  5940 E Unity   : 
09-04 19:50:21.544   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 50000 mC, weight[0] 1
09-04 19:50:21.544   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 54000 mC, weight[1] -1
09-04 19:50:21.558  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.558  5925  5940 E Unity   : 
09-04 19:50:21.558  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.558  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.558  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.558  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.558  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.558  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.558  5925  5940 E Unity   :  
09-04 19:50:21.558  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.558  5925  5940 E Unity   : 
09-04 19:50:21.566  5760  5959 I tango   : visual_inertial_filter.cc:956 VIO sliding window is initialized, with sliding window size 3
09-04 19:50:21.566  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:21.574  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.574  5925  5940 E Unity   : 
09-04 19:50:21.574  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.574  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.574  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.574  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.574  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.574  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.574  5925  5940 E Unity   :  
09-04 19:50:21.574  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.574  5925  5940 E Unity   : 
09-04 19:50:21.927  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 21 lines
09-04 19:50:21.944  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.944  5925  5940 E Unity   : 
09-04 19:50:21.944  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.944  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.944  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.944  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.944  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.944  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.944  5925  5940 E Unity   :  
09-04 19:50:21.944  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.944  5925  5940 E Unity   : 
09-04 19:50:21.955  5760  5959 W tango   : vio_fault_detector.cc:299 Fault: VIO and Ransac results are not consistent.
09-04 19:50:21.955  5760  5959 W tango   : vio_status_monitor.cc:206 VIO is at fault conditions, wait for reset. Current timestamp 366960.3172286
09-04 19:50:21.955  5760  5959 I tango   : vio_fault_detector.cc:82 IMU and camera data quality are qualified for VIO recovery.
09-04 19:50:21.955  5760  5959 W tango   : vio_status_monitor.cc:266 VIO is ready for reset. Current timestamp 366960.3172286
09-04 19:50:21.955  5760  5959 W tango   : vio_status_monitor.cc:147 VIO receives reasonable visual and inertial data, try to reset now.
09-04 19:50:21.955  5760  5959 I tango   : vio_status_monitor.cc:153 Resetting without last good frame.
09-04 19:50:21.955  5760  5959 I tango   : manager.cc:319 VIO reset with last good timestamp = 0
09-04 19:50:21.956  5760  5959 W tango   : data_filter.cc:72 Vio_status reset, drop 4 bad vio status.
09-04 19:50:21.960  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:21.960  5925  5940 E Unity   : 
09-04 19:50:21.960  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:21.960  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:21.960  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:21.960  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.960  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:21.960  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:21.960  5925  5940 E Unity   :  
09-04 19:50:21.960  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:21.960  5925  5940 E Unity   : 
09-04 19:50:22.027  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 4 lines
09-04 19:50:22.044  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.044  5925  5940 E Unity   : 
09-04 19:50:22.044  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.044  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.044  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.044  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.044  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.044  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.044  5925  5940 E Unity   :  
09-04 19:50:22.044  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.044  5925  5940 E Unity   : 
09-04 19:50:22.058  5760  5959 W tango   : data_manager.cc:167 Re-initializing filter!
09-04 19:50:22.062  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.062  5925  5940 E Unity   : 
09-04 19:50:22.062  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.062  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.062  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.062  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.062  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.062  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.062  5925  5940 E Unity   :  
09-04 19:50:22.062  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.062  5925  5940 E Unity   : 
09-04 19:50:22.067  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2059, and after elimination 319
09-04 19:50:22.067  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 5
09-04 19:50:22.067  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:22.067  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.0119404
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity     9.6568 -0.0453689   -1.66403
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G  0.456642  0.454502 -0.539517  0.542058
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity  0.107803 -0.112601  0.125729
09-04 19:50:22.074  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:22.075  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:22.077  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 176
09-04 19:50:22.077  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 143
09-04 19:50:22.077  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.077  5925  5940 E Unity   : 
09-04 19:50:22.077  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.077  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.077  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.077  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.077  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.077  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.077  5925  5940 E Unity   :  
09-04 19:50:22.077  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.077  5925  5940 E Unity   : 
09-04 19:50:22.077  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 60
09-04 19:50:22.077  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 259
09-04 19:50:22.077  5760  5959 I tango   : ba_initialization.cc:194 Intrinsic vector size of the camera 0 is 7
09-04 19:50:22.094  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.094  5925  5940 E Unity   : 
09-04 19:50:22.094  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.094  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.094  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.094  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.094  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.094  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.094  5925  5940 E Unity   :  
09-04 19:50:22.094  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.094  5925  5940 E Unity   : 
09-04 19:50:22.105  5760  5959 I tango   : ba_initialization.cc:393 
09-04 19:50:22.105  5760  5959 I tango   : Solver Summary (v 1.12.0-eigen-(3.2.0)-lapack-suitesparse-(4.5.0)-openmp)
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   :                                      Original                  Reduced
09-04 19:50:22.105  5760  5959 I tango   : Parameter blocks                           73                       70
09-04 19:50:22.105  5760  5959 I tango   : Parameters                                154                      140
09-04 19:50:22.105  5760  5959 I tango   : Effective parameters                      144                      131
09-04 19:50:22.105  5760  5959 I tango   : Residual blocks                           305                      305
09-04 19:50:22.105  5760  5959 I tango   : Residual                                  666                      666
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Minimizer                        TRUST_REGION
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Dense linear algebra library            EIGEN
09-04 19:50:22.105  5760  5959 I tango   : Trust region strategy     LEVENBERG_MARQUARDT
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   :                                         Given                     Used
09-04 19:50:22.105  5760  5959 I tango   : Linear solver                     DENSE_SCHUR              DENSE_SCHUR
09-04 19:50:22.105  5760  5959 I tango   : Threads                                     1                        1
09-04 19:50:22.105  5760  5959 I tango   : Linear solver threads                       1                        1
09-04 19:50:22.105  5760  5959 I tango   : Linear solver ordering              AUTOMATIC   
09-04 19:50:22.105  5760  5959 I tango   :                   63,7
09-04 19:50:22.105  5760  5959 I tango   : Schur structure                         d,d,d                    d,d,d
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Cost:
09-04 19:50:22.105  5760  5959 I tango   : Initial                          4.188062e+03
09-04 19:50:22.105  5760  5959 I tango   : Final                            5.590274e+01
09-04 19:50:22.105  5760  5959 I tango   : Change                           4.132160e+03
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Minimizer iterations                       10
09-04 19:50:22.105  5760  5959 I tango   : Successful steps                           10
09-04 19:50:22.105  5760  5959 I tango   : Unsuccessful steps                          0
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Time (in seconds):
09-04 19:50:22.105  5760  5959 I tango   : Preprocessor                           0.0007
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   :   Residual evaluation                  0.0038
09-04 19:50:22.105  5760  5959 I tango   :   Jacobian evaluation                  0.0072
09-04 19:50:22.105  5760  5959 I tango   :   Linear solver                        0.0113
09-04 19:50:22.105  5760  5959 I tango   : Minimizer                              0.0236
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Postprocessor                          0.0000
09-04 19:50:22.105  5760  5959 I tango   : Total                                  0.0243
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : Termination:                     USER_SUCCESS (User callback returned SOLVER_TERMINATE_SUCCESSFULLY.)
09-04 19:50:22.105  5760  5959 I tango   : 
09-04 19:50:22.105  5760  5959 I tango   : ba_initialization_helper_impl.h:42 Number of measurements used in BA initialization for temporal landmarks: 300
09-04 19:50:22.105  5760  5959 I tango   : ba_initialization_helper_impl.h:44 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 298
09-04 19:50:22.111  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.111  5925  5940 E Unity   : 
09-04 19:50:22.111  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.111  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.111  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.111  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.111  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.111  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.111  5925  5940 E Unity   :  
09-04 19:50:22.111  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.111  5925  5940 E Unity   : 
09-04 19:50:22.145  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 2 lines
09-04 19:50:22.162  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.162  5925  5940 E Unity   : 
09-04 19:50:22.162  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.162  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.162  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.162  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.162  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.162  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.162  5925  5940 E Unity   :  
09-04 19:50:22.162  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.162  5925  5940 E Unity   : 
09-04 19:50:22.169  5760  5959 I tango   : visual_inertial_filter.cc:956 VIO sliding window is initialized, with sliding window size 4
09-04 19:50:22.178  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.178  5925  5940 E Unity   : 
09-04 19:50:22.178  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.178  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.178  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.178  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.178  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.178  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.178  5925  5940 E Unity   :  
09-04 19:50:22.178  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.178  5925  5940 E Unity   : 
09-04 19:50:22.189  5760  5959 I tango   : visual_inertial_wls.cc:309 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
09-04 19:50:22.195  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.195  5925  5940 E Unity   : 
09-04 19:50:22.195  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.195  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.195  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.195  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.195  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.195  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.195  5925  5940 E Unity   :  
09-04 19:50:22.195  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.195  5925  5940 E Unity   : 
09-04 19:50:22.513  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 19 lines
09-04 19:50:22.530  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.530  5925  5940 E Unity   : 
09-04 19:50:22.530  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.530  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.530  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.530  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.530  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.530  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.530  5925  5940 E Unity   :  
09-04 19:50:22.530  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.530  5925  5940 E Unity   : 
09-04 19:50:22.545   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 51000 mC, weight[0] 1
09-04 19:50:22.545   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 56000 mC, weight[1] -1
09-04 19:50:22.547  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.547  5925  5940 E Unity   : 
09-04 19:50:22.547  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.547  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.547  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.547  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.547  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.547  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.547  5925  5940 E Unity   :  
09-04 19:50:22.547  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.547  5925  5940 E Unity   : 
09-04 19:50:22.565  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.565  5925  5940 E Unity   : 
09-04 19:50:22.565  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.565  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.565  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.565  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.565  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.565  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.565  5925  5940 E Unity   :  
09-04 19:50:22.565  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.565  5925  5940 E Unity   : 
09-04 19:50:22.574  5760  5959 W tango   : vio_fault_detector.cc:209 VIO is moving fast with velocity (m/s):  0.300563  0.947164 -0.445493 but ransac fails provide valid frame to frame translation by reporting degeneracy.
09-04 19:50:22.583  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.583  5925  5940 E Unity   : 
09-04 19:50:22.583  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.583  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.583  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.583  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.583  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.583  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.583  5925  5940 E Unity   :  
09-04 19:50:22.583  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.583  5925  5940 E Unity   : 
09-04 19:50:22.652  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 4 lines
09-04 19:50:22.665  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.665  5925  5940 E Unity   : 
09-04 19:50:22.665  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.665  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.665  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.665  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.665  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.665  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.665  5925  5940 E Unity   :  
09-04 19:50:22.665  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.665  5925  5940 E Unity   : 
09-04 19:50:22.680  5760  5959 W tango   : vio_fault_detector.cc:299 Fault: VIO and Ransac results are not consistent.
09-04 19:50:22.680  5760  5959 W tango   : vio_status_monitor.cc:206 VIO is at fault conditions, wait for reset. Current timestamp 366961.01701493
09-04 19:50:22.680  5760  5959 I tango   : vio_fault_detector.cc:82 IMU and camera data quality are qualified for VIO recovery.
09-04 19:50:22.680  5760  5959 W tango   : vio_status_monitor.cc:266 VIO is ready for reset. Current timestamp 366961.01701493
09-04 19:50:22.680  5760  5959 W tango   : vio_status_monitor.cc:147 VIO receives reasonable visual and inertial data, try to reset now.
09-04 19:50:22.680  5760  5959 I tango   : vio_status_monitor.cc:151 Resetting with last good frame.
09-04 19:50:22.683  5760  5959 I tango   : manager.cc:319 VIO reset with last good timestamp = 366961
09-04 19:50:22.683  5760  5959 I tango   : data_manager.cc:134 Mapping backend detected fault.
09-04 19:50:22.684  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.684  5925  5940 E Unity   : 
09-04 19:50:22.684  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.684  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.684  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.684  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.684  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.684  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.684  5925  5940 E Unity   :  
09-04 19:50:22.684  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.684  5925  5940 E Unity   : 
09-04 19:50:22.686  5760  5959 I tango   : data_manager.cc:140 Saving current map to map buffer.
09-04 19:50:22.692  5760  5959 I tango   : data_manager.cc:161 Generated map # 0, ID 9f46f49d-574c-2680-8757-720fd1d43f83, non-marginalized keyframes 4, landmarks 0
09-04 19:50:22.698  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.698  5925  5940 E Unity   : 
09-04 19:50:22.698  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.698  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.698  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.698  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.698  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.698  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.698  5925  5940 E Unity   :  
09-04 19:50:22.698  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.698  5925  5940 E Unity   : 
09-04 19:50:22.733  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 2 lines
09-04 19:50:22.750  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.750  5925  5940 E Unity   : 
09-04 19:50:22.750  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.750  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.750  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.750  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.750  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.750  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.750  5925  5940 E Unity   :  
09-04 19:50:22.750  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.750  5925  5940 E Unity   : 
09-04 19:50:22.756  5760  5959 W tango   : data_manager.cc:167 Re-initializing filter!
09-04 19:50:22.766  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.766  5925  5940 E Unity   : 
09-04 19:50:22.766  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.766  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.766  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.766  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.766  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.766  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.766  5925  5940 E Unity   :  
09-04 19:50:22.766  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.766  5925  5940 E Unity   : 
09-04 19:50:22.768  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2038, and after elimination 343
09-04 19:50:22.768  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 5
09-04 19:50:22.768  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:22.768  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.0136858
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity   9.71099 -0.107638  -1.30484
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G  0.468093  0.462933 -0.529293  0.535192
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity 0.00279234 -0.0987495   0.118282
09-04 19:50:22.775  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:22.776  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:22.778  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 274
09-04 19:50:22.778  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 69
09-04 19:50:22.778  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 60
09-04 19:50:22.778  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 283
09-04 19:50:22.778  5760  5959 I tango   : ba_initialization.cc:194 Intrinsic vector size of the camera 0 is 7
09-04 19:50:22.782  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.782  5925  5940 E Unity   : 
09-04 19:50:22.782  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.782  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.782  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.782  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.782  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.782  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.782  5925  5940 E Unity   :  
09-04 19:50:22.782  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.782  5925  5940 E Unity   : 
09-04 19:50:22.800  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.800  5925  5940 E Unity   : 
09-04 19:50:22.800  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.800  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.800  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.800  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.800  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.800  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.800  5925  5940 E Unity   :  
09-04 19:50:22.800  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.800  5925  5940 E Unity   : 
09-04 19:50:22.816  5760  5959 I tango   : ba_initialization.cc:393 
09-04 19:50:22.816  5760  5959 I tango   : Solver Summary (v 1.12.0-eigen-(3.2.0)-lapack-suitesparse-(4.5.0)-openmp)
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   :                                      Original                  Reduced
09-04 19:50:22.816  5760  5959 I tango   : Parameter blocks                           73                       70
09-04 19:50:22.816  5760  5959 I tango   : Parameters                                154                      140
09-04 19:50:22.816  5760  5959 I tango   : Effective parameters                      144                      131
09-04 19:50:22.816  5760  5959 I tango   : Residual blocks                           307                      307
09-04 19:50:22.816  5760  5959 I tango   : Residual                                  672                      672
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Minimizer                        TRUST_REGION
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Dense linear algebra library            EIGEN
09-04 19:50:22.816  5760  5959 I tango   : Trust region strategy     LEVENBERG_MARQUARDT
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   :                                         Given                     Used
09-04 19:50:22.816  5760  5959 I tango   : Linear solver                     DENSE_SCHUR              DENSE_SCHUR
09-04 19:50:22.816  5760  5959 I tango   : Threads                                     1                        1
09-04 19:50:22.816  5760  5959 I tango   : Linear solver threads                       1                        1
09-04 19:50:22.816  5760  5959 I tango   : Linear solver ordering              AUTOMATIC   
09-04 19:50:22.816  5760  5959 I tango   :                   63,7
09-04 19:50:22.816  5760  5959 I tango   : Schur structure                         d,d,d                    d,d,d
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Cost:
09-04 19:50:22.816  5760  5959 I tango   : Initial                          2.505668e+03
09-04 19:50:22.816  5760  5959 I tango   : Final                            8.707215e+01
09-04 19:50:22.816  5760  5959 I tango   : Change                           2.418596e+03
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Minimizer iterations                       11
09-04 19:50:22.816  5760  5959 I tango   : Successful steps                           11
09-04 19:50:22.816  5760  5959 I tango   : Unsuccessful steps                          0
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Time (in seconds):
09-04 19:50:22.816  5760  5959 I tango   : Preprocessor                           0.0013
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   :   Residual evaluation                  0.0059
09-04 19:50:22.816  5760  5959 I tango   :   Jacobian evaluation                  0.0087
09-04 19:50:22.816  5760  5959 I tango   :   Linear solver                        0.0163
09-04 19:50:22.816  5760  5959 I tango   : Minimizer                              0.0332
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Postprocessor                          0.0001
09-04 19:50:22.816  5760  5959 I tango   : Total                                  0.0346
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : Termination:                     USER_SUCCESS (User callback returned SOLVER_TERMINATE_SUCCESSFULLY.)
09-04 19:50:22.816  5760  5959 I tango   : 
09-04 19:50:22.816  5760  5959 I tango   : ba_initialization_helper_impl.h:42 Number of measurements used in BA initialization for temporal landmarks: 300
09-04 19:50:22.816  5760  5959 I tango   : ba_initialization_helper_impl.h:44 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 298
09-04 19:50:22.821  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.821  5925  5940 E Unity   : 
09-04 19:50:22.821  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.821  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.821  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.821  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.821  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.821  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.821  5925  5940 E Unity   :  
09-04 19:50:22.821  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.821  5925  5940 E Unity   : 
09-04 19:50:22.832  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:22.849  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.849  5925  5940 E Unity   : 
09-04 19:50:22.849  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.849  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.849  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.849  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.849  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.849  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.849  5925  5940 E Unity   :  
09-04 19:50:22.849  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.849  5925  5940 E Unity   : 
09-04 19:50:22.860  5760  5959 I tango   : visual_inertial_filter.cc:956 VIO sliding window is initialized, with sliding window size 4
09-04 19:50:22.870  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.870  5925  5940 E Unity   : 
09-04 19:50:22.870  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.870  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.870  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.870  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.870  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.870  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.870  5925  5940 E Unity   :  
09-04 19:50:22.870  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.870  5925  5940 E Unity   : 
09-04 19:50:22.886  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.886  5925  5940 E Unity   : 
09-04 19:50:22.886  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.886  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.886  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.886  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.886  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.886  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.886  5925  5940 E Unity   :  
09-04 19:50:22.886  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.886  5925  5940 E Unity   : 
09-04 19:50:22.887  5760  5959 I tango   : visual_inertial_wls.cc:309 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
09-04 19:50:22.903  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:22.903  5925  5940 E Unity   : 
09-04 19:50:22.903  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:22.903  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:22.903  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:22.903  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.903  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:22.903  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:22.903  5925  5940 E Unity   :  
09-04 19:50:22.903  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:22.903  5925  5940 E Unity   : 
09-04 19:50:23.370  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 28 lines
09-04 19:50:23.389  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.389  5925  5940 E Unity   : 
09-04 19:50:23.389  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.389  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.389  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.389  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.389  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.389  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.389  5925  5940 E Unity   :  
09-04 19:50:23.389  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.389  5925  5940 E Unity   : 
09-04 19:50:23.402 30645 31374 I Places  : ?: PlacesBleScanner start() with priority 2
09-04 19:50:23.404  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.404  5925  5940 E Unity   : 
09-04 19:50:23.404  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.404  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.404  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.404  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.404  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.404  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.404  5925  5940 E Unity   :  
09-04 19:50:23.404  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.404  5925  5940 E Unity   : 
09-04 19:50:23.424  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.424  5925  5940 E Unity   : 
09-04 19:50:23.424  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.424  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.424  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.424  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.424  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.424  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.424  5925  5940 E Unity   :  
09-04 19:50:23.424  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.424  5925  5940 E Unity   : 
09-04 19:50:23.428 30645 31374 I Places  : ?: PlacesBleScanner start() with priority 2
09-04 19:50:23.439  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.439  5925  5940 E Unity   : 
09-04 19:50:23.439  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.439  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.439  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.439  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.439  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.439  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.439  5925  5940 E Unity   :  
09-04 19:50:23.439  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.439  5925  5940 E Unity   : 
09-04 19:50:23.455  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:23.472  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.472  5925  5940 E Unity   : 
09-04 19:50:23.472  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.472  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.472  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.472  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.472  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.472  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.472  5925  5940 E Unity   :  
09-04 19:50:23.472  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.472  5925  5940 E Unity   : 
09-04 19:50:23.472 30645 31374 I Places  : Converted 45 out of 45 WiFi scans
09-04 19:50:23.492  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.492  5925  5940 E Unity   : 
09-04 19:50:23.492  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.492  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.492  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.492  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.492  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.492  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.492  5925  5940 E Unity   :  
09-04 19:50:23.492  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.492  5925  5940 E Unity   : 
09-04 19:50:23.505  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.505  5925  5940 E Unity   : 
09-04 19:50:23.505  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.505  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.505  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.505  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.505  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.505  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.505  5925  5940 E Unity   :  
09-04 19:50:23.505  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.505  5925  5940 E Unity   : 
09-04 19:50:23.513 30645 31374 I Places  : ?: PlacesBleScanner start() with priority 2
09-04 19:50:23.521  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.521  5925  5940 E Unity   : 
09-04 19:50:23.521  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.521  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.521  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.521  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.521  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.521  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.521  5925  5940 E Unity   :  
09-04 19:50:23.521  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.521  5925  5940 E Unity   : 
09-04 19:50:23.525 30645  6177 I PlaceInferenceEngine: No beacon scan available - ignoring candidates.
09-04 19:50:23.538  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.538  5925  5940 E Unity   : 
09-04 19:50:23.538  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.538  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.538  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.538  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.538  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.538  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.538  5925  5940 E Unity   :  
09-04 19:50:23.538  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.538  5925  5940 E Unity   : 
09-04 19:50:23.547   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 52000 mC, weight[0] 1
09-04 19:50:23.547   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 57000 mC, weight[1] -1
09-04 19:50:23.556  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.556  5925  5940 E Unity   : 
09-04 19:50:23.556  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.556  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.556  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.556  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.556  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.556  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.556  5925  5940 E Unity   :  
09-04 19:50:23.556  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.556  5925  5940 E Unity   : 
09-04 19:50:23.571  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.571  5925  5940 E Unity   : 
09-04 19:50:23.571  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.571  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.571  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.571  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.571  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.571  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.571  5925  5940 E Unity   :  
09-04 19:50:23.571  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.571  5925  5940 E Unity   : 
09-04 19:50:23.574 30645 31374 I Places  : Converted 45 out of 45 WiFi scans
09-04 19:50:23.590  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.590  5925  5940 E Unity   : 
09-04 19:50:23.590  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.590  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.590  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.590  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.590  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.590  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.590  5925  5940 E Unity   :  
09-04 19:50:23.590  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.590  5925  5940 E Unity   : 
09-04 19:50:23.605  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:23.621  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.621  5925  5940 E Unity   : 
09-04 19:50:23.621  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.621  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.621  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.621  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.621  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.621  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.621  5925  5940 E Unity   :  
09-04 19:50:23.621  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.621  5925  5940 E Unity   : 
09-04 19:50:23.633 30645  6177 I PlaceInferenceEngine: No beacon scan available - ignoring candidates.
09-04 19:50:23.638  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.638  5925  5940 E Unity   : 
09-04 19:50:23.638  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.638  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.638  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.638  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.638  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.638  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.638  5925  5940 E Unity   :  
09-04 19:50:23.638  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.638  5925  5940 E Unity   : 
09-04 19:50:23.755  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 7 lines
09-04 19:50:23.772  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.772  5925  5940 E Unity   : 
09-04 19:50:23.772  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.772  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.772  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.772  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.772  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.772  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.772  5925  5940 E Unity   :  
09-04 19:50:23.772  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.772  5925  5940 E Unity   : 
09-04 19:50:23.774  5760  5959 W tango   : vio_fault_detector.cc:299 Fault: VIO and Ransac results are not consistent.
09-04 19:50:23.775  5760  5959 W tango   : vio_status_monitor.cc:206 VIO is at fault conditions, wait for reset. Current timestamp 366962.11205313
09-04 19:50:23.775  5760  5959 I tango   : vio_fault_detector.cc:82 IMU and camera data quality are qualified for VIO recovery.
09-04 19:50:23.775  5760  5959 W tango   : vio_status_monitor.cc:266 VIO is ready for reset. Current timestamp 366962.11205313
09-04 19:50:23.775  5760  5959 W tango   : vio_status_monitor.cc:147 VIO receives reasonable visual and inertial data, try to reset now.
09-04 19:50:23.775  5760  5959 I tango   : vio_status_monitor.cc:151 Resetting with last good frame.
09-04 19:50:23.776  5760  5959 I tango   : manager.cc:319 VIO reset with last good timestamp = 366962
09-04 19:50:23.776  5760  5959 W tango   : data_filter.cc:72 Vio_status reset, drop 5 bad vio status.
09-04 19:50:23.777  5760  5959 I tango   : data_manager.cc:134 Mapping backend detected fault.
09-04 19:50:23.777  5760  5959 I tango   : data_manager.cc:140 Saving current map to map buffer.
09-04 19:50:23.786  5760  5959 I tango   : data_manager.cc:161 Generated map # 0, ID 9f46f49e-574c-2680-879f-cf25ddc4221f, non-marginalized keyframes 2, landmarks 0
09-04 19:50:23.789  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.789  5925  5940 E Unity   : 
09-04 19:50:23.789  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.789  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.789  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.789  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.789  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.789  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.789  5925  5940 E Unity   :  
09-04 19:50:23.789  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.789  5925  5940 E Unity   : 
09-04 19:50:23.873  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 5 lines
09-04 19:50:23.891  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.891  5925  5940 E Unity   : 
09-04 19:50:23.891  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.891  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.891  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.891  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.891  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.891  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.891  5925  5940 E Unity   :  
09-04 19:50:23.891  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.891  5925  5940 E Unity   : 
09-04 19:50:23.900  5760  5959 W tango   : data_manager.cc:167 Re-initializing filter!
09-04 19:50:23.907  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.907  5925  5940 E Unity   : 
09-04 19:50:23.907  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.907  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.907  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.907  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.907  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.907  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.907  5925  5940 E Unity   :  
09-04 19:50:23.907  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.907  5925  5940 E Unity   : 
09-04 19:50:23.910  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2860, and after elimination 368
09-04 19:50:23.910  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 7
09-04 19:50:23.910  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:23.910  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.18993
09-04 19:50:23.919  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:23.919  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity  9.46123 0.808746 -2.42016
09-04 19:50:23.919  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G  0.414998  0.451985 -0.581631  0.534034
09-04 19:50:23.919  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:23.920  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity 0.133761 -0.28113 0.201321
09-04 19:50:23.920  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:23.920  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:23.923  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 82
09-04 19:50:23.923  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 286
09-04 19:50:23.923  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 60
09-04 19:50:23.923  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 308
09-04 19:50:23.923  5760  5959 W tango   : ba_initialization.cc:139 BA initialization failed: Image has too few landmarks.
09-04 19:50:23.923  5760  5959 E tango   : vio_initializer.cc:563 Initializer's BA failed to produce a valid output!
09-04 19:50:23.925  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.925  5925  5940 E Unity   : 
09-04 19:50:23.925  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.925  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.925  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.925  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.925  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.925  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.925  5925  5940 E Unity   :  
09-04 19:50:23.925  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.925  5925  5940 E Unity   : 
09-04 19:50:23.940  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:23.958  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.958  5925  5940 E Unity   : 
09-04 19:50:23.958  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.958  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.958  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.958  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.958  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.958  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.958  5925  5940 E Unity   :  
09-04 19:50:23.958  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.958  5925  5940 E Unity   : 
09-04 19:50:23.963  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2896, and after elimination 343
09-04 19:50:23.964  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 7
09-04 19:50:23.964  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:23.964  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.181252
09-04 19:50:23.972  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity  9.49618 0.460709 -2.37413
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G 0.424561 0.445658 -0.57063 0.543617
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity 0.197082 -0.30709 0.184656
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:23.973  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:23.975  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 7
09-04 19:50:23.975  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 336
09-04 19:50:23.976  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 7
09-04 19:50:23.976  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 336
09-04 19:50:23.976  5760  5959 E tango   : ba_initialization.cc:710 SSBA does not get enough landmarks. Found 7 < 16
09-04 19:50:23.976  5760  5959 E tango   : ba_initialization.cc:77 Failed to initialize the network.
09-04 19:50:23.976  5760  5959 E tango   : vio_initializer.cc:563 Initializer's BA failed to produce a valid output!
09-04 19:50:23.976  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:23.976  5925  5940 E Unity   : 
09-04 19:50:23.976  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:23.976  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:23.976  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:23.976  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.976  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:23.976  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:23.976  5925  5940 E Unity   :  
09-04 19:50:23.976  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:23.976  5925  5940 E Unity   : 
09-04 19:50:24.058  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 5 lines
09-04 19:50:24.075  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.075  5925  5940 E Unity   : 
09-04 19:50:24.075  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.075  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.075  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.075  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.075  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.075  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.075  5925  5940 E Unity   :  
09-04 19:50:24.075  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.075  5925  5940 E Unity   : 
09-04 19:50:24.089  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2533, and after elimination 336
09-04 19:50:24.090  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 6
09-04 19:50:24.090  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:24.090  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.111449
09-04 19:50:24.091  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.091  5925  5940 E Unity   : 
09-04 19:50:24.091  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.091  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.091  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.091  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.091  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.091  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.091  5925  5940 E Unity   :  
09-04 19:50:24.091  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.091  5925  5940 E Unity   : 
09-04 19:50:24.102  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:24.102  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity   9.47981 -0.561164  -2.41771
09-04 19:50:24.103  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G  0.446596  0.420941 -0.541537  0.574542
09-04 19:50:24.103  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:24.103  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity  0.171746 -0.112268  0.112029
09-04 19:50:24.103  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:24.104  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:24.107  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 5
09-04 19:50:24.107  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 331
09-04 19:50:24.107  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.107  5925  5940 E Unity   : 
09-04 19:50:24.107  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.107  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.107  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.107  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.107  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.107  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.107  5925  5940 E Unity   :  
09-04 19:50:24.107  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.107  5925  5940 E Unity   : 
09-04 19:50:24.108  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 5
09-04 19:50:24.108  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 331
09-04 19:50:24.108  5760  5959 E tango   : ba_initialization.cc:710 SSBA does not get enough landmarks. Found 5 < 16
09-04 19:50:24.108  5760  5959 E tango   : ba_initialization.cc:77 Failed to initialize the network.
09-04 19:50:24.108  5760  5959 E tango   : vio_initializer.cc:563 Initializer's BA failed to produce a valid output!
09-04 19:50:24.124  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.124  5925  5940 E Unity   : 
09-04 19:50:24.124  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.124  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.124  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.124  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.124  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.124  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.124  5925  5940 E Unity   :  
09-04 19:50:24.124  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.124  5925  5940 E Unity   : 
09-04 19:50:24.141  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 1 line
09-04 19:50:24.160  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.160  5925  5940 E Unity   : 
09-04 19:50:24.160  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.160  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.160  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.160  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.160  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.160  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.160  5925  5940 E Unity   :  
09-04 19:50:24.160  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.160  5925  5940 E Unity   : 
09-04 19:50:24.173  5760  5959 I tango   : ba_initialization_helpers.cc:512 Number of landmarks before eliminating short tracks 2445, and after elimination 345
09-04 19:50:24.173  5760  5959 I tango   : ba_initialization_helpers.cc:676 num_frames_for_dsolver: 6
09-04 19:50:24.173  5760  5959 I tango   : ba_initialization_helpers.cc:677 number_of_landmarks_for_dsolver: 50
09-04 19:50:24.173  5760  5959 I tango   : ba_initialization_helpers.cc:684 maximum_cam_meas_displacement_squared: 0.074364
09-04 19:50:24.175  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.175  5925  5940 E Unity   : 
09-04 19:50:24.175  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.175  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.175  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.175  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.175  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.175  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.175  5925  5940 E Unity   :  
09-04 19:50:24.175  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.175  5925  5940 E Unity   : 
09-04 19:50:24.178  5760  5959 I tango   : ba_initialization_helpers.cc:746 Deterministic solution
09-04 19:50:24.178  5760  5959 I tango   : ba_initialization_helpers.cc:747 Local gravity   9.38172 -0.264369  -2.81793
09-04 19:50:24.179  5760  5959 I tango   : ba_initialization_helpers.cc:748 Estimated I_q_G  0.427932  0.416044 -0.559307  0.575289
09-04 19:50:24.179  5760  5959 I tango   : ba_initialization_helpers.cc:749 Gyro bias 4.05534e-05  0.00193615 0.000263579
09-04 19:50:24.179  5760  5959 I tango   : ba_initialization_helpers.cc:750 Global velocity -0.147588 -0.245022  0.151974
09-04 19:50:24.179  5760  5959 I tango   : ba_initialization_helpers.cc:752 Accel bias -0.550504 0.0821015 -0.291423
09-04 19:50:24.179  5760  5959 I tango   : ba_initialization.cc:685 Deterministic initialization
09-04 19:50:24.181  5760  5959 I tango   : ba_initialization_helpers.cc:831 Num. landmarks before pruning 325
09-04 19:50:24.181  5760  5959 I tango   : ba_initialization_helpers.cc:832 Num. landmarks uninitialized: 20
09-04 19:50:24.181  5760  5959 I tango   : ba_initialization_helpers.cc:844 Num. landmarks initialized after pruning 60
09-04 19:50:24.181  5760  5959 I tango   : ba_initialization_helpers.cc:846 Num. landmarks uninitialized: 285
09-04 19:50:24.181  5760  5959 I tango   : ba_initialization.cc:194 Intrinsic vector size of the camera 0 is 7
09-04 19:50:24.194  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.194  5925  5940 E Unity   : 
09-04 19:50:24.194  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.194  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.194  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.194  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.194  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.194  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.194  5925  5940 E Unity   :  
09-04 19:50:24.194  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.194  5925  5940 E Unity   : 
09-04 19:50:24.225  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 2 lines
09-04 19:50:24.241  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.241  5925  5940 E Unity   : 
09-04 19:50:24.241  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.241  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.241  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.241  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.241  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.241  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.241  5925  5940 E Unity   :  
09-04 19:50:24.241  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.241  5925  5940 E Unity   : 
09-04 19:50:24.242  5760  5959 I tango   : ba_initialization.cc:393 
09-04 19:50:24.242  5760  5959 I tango   : Solver Summary (v 1.12.0-eigen-(3.2.0)-lapack-suitesparse-(4.5.0)-openmp)
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   :                                      Original                  Reduced
09-04 19:50:24.242  5760  5959 I tango   : Parameter blocks                           75                       72
09-04 19:50:24.242  5760  5959 I tango   : Parameters                                170                      156
09-04 19:50:24.242  5760  5959 I tango   : Effective parameters                      159                      146
09-04 19:50:24.242  5760  5959 I tango   : Residual blocks                           366                      366
09-04 19:50:24.242  5760  5959 I tango   : Residual                                  801                      801
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Minimizer                        TRUST_REGION
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Dense linear algebra library            EIGEN
09-04 19:50:24.242  5760  5959 I tango   : Trust region strategy     LEVENBERG_MARQUARDT
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   :                                         Given                     Used
09-04 19:50:24.242  5760  5959 I tango   : Linear solver                     DENSE_SCHUR              DENSE_SCHUR
09-04 19:50:24.242  5760  5959 I tango   : Threads                                     1                        1
09-04 19:50:24.242  5760  5959 I tango   : Linear solver threads                       1                        1
09-04 19:50:24.242  5760  5959 I tango   : Linear solver ordering              AUTOMATIC   
09-04 19:50:24.242  5760  5959 I tango   :                   63,9
09-04 19:50:24.242  5760  5959 I tango   : Schur structure                         d,d,d                    d,d,d
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Cost:
09-04 19:50:24.242  5760  5959 I tango   : Initial                          1.673000e+03
09-04 19:50:24.242  5760  5959 I tango   : Final                            5.079830e+02
09-04 19:50:24.242  5760  5959 I tango   : Change                           1.165017e+03
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Minimizer iterations                       19
09-04 19:50:24.242  5760  5959 I tango   : Successful steps                           15
09-04 19:50:24.242  5760  5959 I tango   : Unsuccessful steps                          4
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Time (in seconds):
09-04 19:50:24.242  5760  5959 I tango   : Preprocessor                           0.0009
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   :   Residual evaluation                  0.0106
09-04 19:50:24.242  5760  5959 I tango   :   Jacobian evaluation                  0.0133
09-04 19:50:24.242  5760  5959 I tango   :   Linear solver                        0.0302
09-04 19:50:24.242  5760  5959 I tango   : Minimizer                              0.0571
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Postprocessor                          0.0000
09-04 19:50:24.242  5760  5959 I tango   : Total                                  0.0580
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : Termination:                   NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 18.)
09-04 19:50:24.242  5760  5959 I tango   : 
09-04 19:50:24.242  5760  5959 I tango   : ba_initialization.cc:403 Initializer did not converge: Maximum number of iterations reached. Number of iterations: 18.
09-04 19:50:24.242  5760  5959 I tango   : ba_initialization_helper_impl.h:42 Number of measurements used in BA initialization for temporal landmarks: 360
09-04 19:50:24.243  5760  5959 I tango   : ba_initialization_helper_impl.h:44 Number of good measurements (i.e., reprojection errors <= 3 pixels) in BA initialization for temporal landmarks: 332
09-04 19:50:24.258  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.258  5925  5940 E Unity   : 
09-04 19:50:24.258  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.258  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.258  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.258  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.258  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.258  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.258  5925  5940 E Unity   :  
09-04 19:50:24.258  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.258  5925  5940 E Unity   : 
09-04 19:50:24.275  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.275  5925  5940 E Unity   : 
09-04 19:50:24.275  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.275  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.275  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.275  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.275  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.275  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.275  5925  5940 E Unity   :  
09-04 19:50:24.275  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.275  5925  5940 E Unity   : 
09-04 19:50:24.277  5760  5959 I tango   : visual_inertial_filter.cc:956 VIO sliding window is initialized, with sliding window size 4
09-04 19:50:24.292  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.292  5925  5940 E Unity   : 
09-04 19:50:24.292  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.292  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.292  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.292  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.292  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.292  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.292  5925  5940 E Unity   :  
09-04 19:50:24.292  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.292  5925  5940 E Unity   : 
09-04 19:50:24.295  5760  5959 I tango   : visual_inertial_wls.cc:309 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
09-04 19:50:24.308  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.308  5925  5940 E Unity   : 
09-04 19:50:24.308  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.308  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.308  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.308  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.308  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.308  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.308  5925  5940 E Unity   :  
09-04 19:50:24.308  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.308  5925  5940 E Unity   : 
09-04 19:50:24.528  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 13 lines
09-04 19:50:24.544  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.544  5925  5940 E Unity   : 
09-04 19:50:24.544  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.544  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.544  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.544  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.544  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.544  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.544  5925  5940 E Unity   :  
09-04 19:50:24.544  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.544  5925  5940 E Unity   : 
09-04 19:50:24.549   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 53000 mC, weight[0] 1
09-04 19:50:24.549   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 57000 mC, weight[1] -1
09-04 19:50:24.562  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.562  5925  5940 E Unity   : 
09-04 19:50:24.562  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.562  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.562  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.562  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.562  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.562  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.562  5925  5940 E Unity   :  
09-04 19:50:24.562  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.562  5925  5940 E Unity   : 
09-04 19:50:24.576  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:24.576  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:24.578  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.578  5925  5940 E Unity   : 
09-04 19:50:24.578  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.578  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.578  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.578  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.578  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.578  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.578  5925  5940 E Unity   :  
09-04 19:50:24.578  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.578  5925  5940 E Unity   : 
09-04 19:50:24.947  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 22 lines
09-04 19:50:24.963  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.963  5925  5940 E Unity   : 
09-04 19:50:24.963  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.963  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.963  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.963  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.963  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.963  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.963  5925  5940 E Unity   :  
09-04 19:50:24.963  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.963  5925  5940 E Unity   : 
09-04 19:50:24.973  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:24.973  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:24.979  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:24.979  5925  5940 E Unity   : 
09-04 19:50:24.979  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:24.979  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:24.979  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:24.979  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.979  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:24.979  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:24.979  5925  5940 E Unity   :  
09-04 19:50:24.979  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:24.979  5925  5940 E Unity   : 
09-04 19:50:25.064  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 5 lines
09-04 19:50:25.081  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.081  5925  5940 E Unity   : 
09-04 19:50:25.081  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.081  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.081  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.081  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.081  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.081  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.081  5925  5940 E Unity   :  
09-04 19:50:25.081  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.081  5925  5940 E Unity   : 
09-04 19:50:25.082  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:25.083  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:25.096  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.096  5925  5940 E Unity   : 
09-04 19:50:25.096  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.096  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.096  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.096  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.096  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.096  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.096  5925  5940 E Unity   :  
09-04 19:50:25.096  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.096  5925  5940 E Unity   : 
09-04 19:50:25.500  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 24 lines
09-04 19:50:25.516  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.516  5925  5940 E Unity   : 
09-04 19:50:25.516  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.516  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.516  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.516  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.516  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.516  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.516  5925  5940 E Unity   :  
09-04 19:50:25.516  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.516  5925  5940 E Unity   : 
09-04 19:50:25.525  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:25.526  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:25.533  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.533  5925  5940 E Unity   : 
09-04 19:50:25.533  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.533  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.533  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.533  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.533  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.533  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.533  5925  5940 E Unity   :  
09-04 19:50:25.533  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.533  5925  5940 E Unity   : 
09-04 19:50:25.551   734   842 I ThermalEngine: vs_get_temperature: read[0] tsens_tz_sensor15 53000 mC, weight[0] 1
09-04 19:50:25.551   734   842 I ThermalEngine: vs_get_temperature: read[1] tsens_tz_sensor0 56000 mC, weight[1] -1
09-04 19:50:25.552  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.552  5925  5940 E Unity   : 
09-04 19:50:25.552  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.552  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.552  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.552  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.552  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.552  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.552  5925  5940 E Unity   :  
09-04 19:50:25.552  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.552  5925  5940 E Unity   : 
09-04 19:50:25.803  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 15 lines
09-04 19:50:25.819  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.819  5925  5940 E Unity   : 
09-04 19:50:25.819  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.819  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.819  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.819  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.819  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.819  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.819  5925  5940 E Unity   :  
09-04 19:50:25.819  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.819  5925  5940 E Unity   : 
09-04 19:50:25.823  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:25.825  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:25.836  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.836  5925  5940 E Unity   : 
09-04 19:50:25.836  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.836  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.836  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.836  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.836  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.836  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.836  5925  5940 E Unity   :  
09-04 19:50:25.836  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.836  5925  5940 E Unity   : 
09-04 19:50:25.869  5925  5940 I chatty  : uid=10273(u0_a273) UnityMain identical 2 lines
09-04 19:50:25.885  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.885  5925  5940 E Unity   : 
09-04 19:50:25.885  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.885  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.885  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.885  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.885  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.885  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.885  5925  5940 E Unity   :  
09-04 19:50:25.885  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.885  5925  5940 E Unity   : 
09-04 19:50:25.900  5760  5959 E tango   : filter_update_base.cc:87 Temporary visual feature update failed when computing its residual and Jacobian.
09-04 19:50:25.901  5760  5959 I tango   : vio_fault_detector.cc:468 VIO did not use vision constraints.
09-04 19:50:25.902  5760  5959 W tango   : vio_fault_detector.cc:514 VIO has consecutive bad visual update, for 1.52341 sec. The maximum allowable time duration is 1.5 sec. Current velocity 0.335839
09-04 19:50:25.902  5760  5959 W tango   : Pose set to invalid state!
09-04 19:50:25.902  5760  5959 W tango   : vio_status_monitor.cc:206 VIO is at fault conditions, wait for reset. Current timestamp 366964.24367547
09-04 19:50:25.902  5760  5959 I tango   : vio_helper.cc:102 Not enough RANSAC inlier feature tracks for recovery.
09-04 19:50:25.903  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.903  5925  5940 E Unity   : 
09-04 19:50:25.903  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.903  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.903  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.903  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.903  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.903  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.903  5925  5940 E Unity   :  
09-04 19:50:25.903  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.903  5925  5940 E Unity   : 
09-04 19:50:25.903  5760  5959 W tango   : data_filter.cc:72 Vio_status reset, drop 14 bad vio status.
09-04 19:50:25.904  5760  5959 I tango   : manager.cc:319 VIO reset with last good timestamp = 366963
09-04 19:50:25.904  5760  5959 I tango   : data_manager.cc:134 Mapping backend detected fault.
09-04 19:50:25.904  5760  5959 I tango   : data_manager.cc:140 Saving current map to map buffer.
09-04 19:50:25.904  5760  5959 I tango   : visual_inertial_wls.cc:309 The number of keyframes in the current map is less than 2 keyframes. This is not a valid map right now.
09-04 19:50:25.918  5925  5940 E Unity   : MissingMethodException: Method not found: 'UnityEngine.XR.Tango.TangoInputTracking.add_trackingAcquired'.
09-04 19:50:25.918  5925  5940 E Unity   : 
09-04 19:50:25.918  5925  5940 E Unity   : Rethrow as TypeInitializationException: An exception was thrown by the type initializer for GoogleAR.UnityNative.InputTracking
09-04 19:50:25.918  5925  5940 E Unity   :   at GoogleARCoreInternal.MotionTrackingManager.TryGetLatestPose (UnityEngine.Pose& pose, System.Double& timestamp) [0x00000] in <filename unknown>:0 
09-04 19:50:25.918  5925  5940 E Unity   :   at GoogleARCore.Frame.get_TrackingState () [0x00000] in <filename unknown>:0 
09-04 19:50:25.918  5925  5940 E Unity   :   at GoogleARCoreInternal.AnchorManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.918  5925  5940 E Unity   :   at GoogleARCoreInternal.SessionManager.EarlyUpdate () [0x00000] in <filename unknown>:0 
09-04 19:50:25.918  5925  5940 E Unity   :   at GoogleARCore.SessionComponent.Update () [0x00000] in <filename unknown>:0 
09-04 19:50:25.918  5925  5940 E Unity   :  
09-04 19:50:25.918  5925  5940 E Unity   : (Filename:  Line: -1)
09-04 19:50:25.918  5925  5940 E Unity   :

Crash on Startup - Unable to find libtango_3d_reconstruction_api and others!

Hi,

I'm Following these instructions but my app crashes on startup. It seems some of libraries are missing.

Here is the debug info:

08-29 21:48:55.268 13366-13380/? E/Unity: Error trying to call delegated method resume. null
08-29 21:48:55.279 13366-13380/? I/Unity: SystemInfo CPU = ARMv7 VFPv3 NEON, Cores = 8, Memory = 2857mb
08-29 21:48:55.279 13366-13380/? I/Unity: SystemInfo ARM big.LITTLE configuration: 8 big (mask: 255), 0 little (mask: 0)
08-29 21:48:55.280 13366-13380/? I/Unity: ApplicationInfo com.taesiri.ARCore version 1.0 build cd424641-5a7e-4a75-a06e-a1c77d15088f
08-29 21:48:55.352 13366-13380/? E/Unity: Unable to find libaudioplugingvrunity
08-29 21:48:55.353 13366-13380/? E/Unity: Unable to find AudioPluginOculusSpatializer
08-29 21:48:55.354 13366-13380/? E/Unity: Unable to find audioplugingvrunity
08-29 21:48:55.355 13366-13380/? E/Unity: Unable to find unitygar
08-29 21:48:55.356 13366-13380/? E/Unity: Unable to find libAudioPluginOculusSpatializer
08-29 21:48:55.357 13366-13380/? E/Unity: Unable to find libtango_3d_reconstruction_api
08-29 21:48:55.381 13366-13380/? D/Unity:  GL_OES_EGL_image GL_OES_EGL_image_external GL_OES_EGL_sync GL_OES_vertex_half_float GL_OES_framebuffer_object GL_OES_rgb8_rgba8 GL_OES_compressed_ETC1_RGB8_texture GL_AMD_compressed_ATC_texture GL_KHR_texture_compression_astc_ldr GL_KHR_texture_compression_astc_hdr GL_OES_texture_compression_astc GL_OES_texture_npot GL_EXT_texture_filter_anisotropic GL_EXT_texture_format_BGRA8888 GL_OES_texture_3D GL_EXT_color_buffer_float GL_EXT_color_buffer_half_float GL_QCOM_alpha_test GL_OES_depth24 GL_OES_packed_depth_stencil GL_OES_depth_texture GL_OES_depth_texture_cube_map GL_EXT_sRGB GL_OES_texture_float GL_OES_texture_float_linear GL_OES_texture_half_float GL_OES_texture_half_float_linear GL_EXT_texture_type_2_10_10_10_REV GL_EXT_texture_sRGB_decode GL_OES_element_index_uint GL_EXT_copy_image GL_EXT_geometry_shader GL_EXT_tessellation_shader GL_OES_texture_stencil8 GL_EXT_shader_io_blocks GL_OES_shader_image_atomic GL_OES_sample_variables GL_EXT_texture_border_clamp GL_EXT_multisampled_render_to_texture GL_OES_sha
08-29 21:48:55.381 13366-13380/? D/Unity: der_multisample_interpolation GL_EXT_texture_cube_map_array GL_EXT_draw_buffers_indexed GL_EXT_gpu_shader5 GL_EXT_robustness GL_EXT_texture_buffer GL_EXT_shader_framebuffer_fetch GL_ARM_shader_framebuffer_fetch_depth_stencil GL_OES_texture_storage_multisample_2d_array GL_OES_sample_shading GL_OES_get_program_binary GL_EXT_debug_label GL_KHR_blend_equation_advanced GL_KHR_blend_equation_advanced_coherent GL_QCOM_tiled_rendering GL_ANDROID_extension_pack_es31a GL_EXT_primitive_bounding_box GL_OES_standard_derivatives GL_OES_vertex_array_object GL_EXT_disjoint_timer_query GL_KHR_debug GL_EXT_YUV_target GL_EXT_sRGB_write_control GL_EXT_texture_norm16 GL_EXT_discard_framebuffer GL_OES_surfaceless_context GL_OVR_multiview GL_OVR_multiview2 GL_EXT_texture_sRGB_R8 GL_KHR_no_error GL_EXT_debug_marker GL_OES_EGL_image_external_essl3 GL_OVR_multiview_multisampled_render_to_texture GL_EXT_buffer_storage GL_EXT_blit_framebuffer_params GL_EXT_clip_cull_distance GL_EXT_protected_textures GL_EXT_shader_non_constant_global_i
08-29 21:48:55.381 13366-13380/? D/Unity: nitializers
08-29 21:48:56.251 2551-5587/? I/TaskMonitor: Top activity component: ComponentInfo{com.taesiri.ARCore/com.unity3d.player.UnityPlayerActivity} lookup 1ms, sleep 31341650ms
08-29 21:48:57.907 13366-13380/? I/Unity: Handle to Tango Unity 3DR shim library is non-NULL
08-29 21:48:57.946 13366-13380/? A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 13380 (UnityMain)
                                         
                                         [ 08-29 21:48:57.947   424:  424 W/         ]
                                         debuggerd: handling request: pid=13366 uid=10112 gid=10112 tid=13380
                                         
                                         
                                         [ 08-29 21:48:57.949 13438:13438 D/         ]
                                         Starting BBRY crash monitor thread.
08-29 21:48:58.035 13438-13438/? A/DEBUG: pid: 13366, tid: 13380, name: UnityMain  >>> com.taesiri.ARCore <<<

Unity version : 2017.2.0b9
Device: BlackBerry KeyOne - Android 7.1.1

S8 stretching

The background video view is horisontally stretched on my S8, making it mismatch the rendered content. The S8 screen has a really wide aspect ratio that doesn't match the camera aspect. But instead of zooming to fill the screen (or using black borders on the sides) it stretches horisontally to fill.
Also, the demo scene is running at around 30 fps, which seems to be because that's the framerate of the background video feed, but not entirely sure.

OPENGL NATIVE PLUG-IN ERROR: GL_INVALID_ENUM: enum argument out of range

Using the demo on a pixel, And the latest Unity beta.
PS: the demo works. But the monitors spams this error. Not sure, but I think every frame.

08-29 14:11:40.564 13392-13407/? E/Unity: OPENGL NATIVE PLUG-IN ERROR: GL_INVALID_ENUM: enum argument out of range
                                       
(Filename: ./Runtime/GfxDevice/opengles/GfxDeviceGLES.cpp Line: 368)

App crashes, if ARCore isn't installed

We want to handle case, when user doesn't have installed ARCore on device. I've checked where SessionConnectionState.DeviceNotSupported is used by the sdk, it is set in SessionComponent.Connect. But when I run the app with no ARCore installed on the device, the app crashes when I use SessionComponent.Connect. It looks like right now SessionConnectionState.DeviceNotSupported doesn't work.

Am I missing something? Is there a way to check, if ARCore is installed or supported on the device?

I've tested the app on Samsung Galaxy S8 and Samsung Galaxy S7 Edge.

camera preview data can't update

@chaosemer your log shows didn't find the video. I think maybe you didn't put "urls_arcore.txt" or "model-2.nut" files into /sdcard/ directory. you can use these commands( "adb push urls_arcore.txt /sdcard/", "adb push model-2.nut /sdcard/" ), then open the app. and I catch the full logcat:
arcore_logcat.txt

please ensure this thing, thanks.

Disconnecting and reconnecting to the Tango service results in a crash

I've added the following code on SessionComponent

        public void OnDestroy()
        {
            UnityTango.Device.Disconnect();
        }

Added buttons to load a non-ar scene and then from that scene, load back into HelloAR which results in the following crash:

09-22 13:43:25.631: E/Unity(7202): OPENGL NATIVE PLUG-IN ERROR: GL_INVALID_ENUM: enum argument out of range
09-22 13:43:25.631: E/Unity(7202):  
09-22 13:43:25.631: E/Unity(7202): (Filename: ./Runtime/GfxDevice/opengles/GfxDeviceGLES.cpp Line: 368)
09-22 13:43:26.546: E/Unity(7202): There was an error accessing the ARCore API.
09-22 13:43:26.546: E/Unity(7202):    at GoogleARCore.SessionComponent.Connect(GoogleARCore.SessionConfig sessionConfig)
09-22 13:43:26.546: E/Unity(7202):    at GoogleARCore.SessionComponent.Connect()
09-22 13:43:26.546: E/Unity(7202):    at GoogleARCore.SessionComponent.Awake()
09-22 13:43:26.546: E/Unity(7202):  
09-22 13:43:26.546: E/Unity(7202): (Filename: ./artifacts/generated/common/runtime/DebugBindings.gen.cpp Line: 51)
09-22 13:43:26.547: I/Unity(7202): Connection state became ConnectToServiceFailed
09-22 13:43:26.547: I/Unity(7202):  
09-22 13:43:26.547: I/Unity(7202): (Filename: ./artifacts/generated/common/runtime/DebugBindings.gen.cpp Line: 51)

Is there a way to stop/connect and/or pause the tango service for scenes that don't have AR features?

Thanks!

libtango_3d_reconstruction.so Included in apk

Building an apk with ARCore adds libtango_3d_reconstruction.so into apk, which increases apk size by something like 5MB. In Google Tango, 3D reconstuction was an experimental feature, I'm not sure if ARCore uses this lib. It would be great to have an option to exclude this lib from apk, if it's possible.

Can I use custom camera preview?

I want to detect face when show the camera preview, and then create 3D model by Unity in the preview surface. So can I use custom camera preview?

Unchecking "Enable AR Background" from DefaultSessionConfig also disable tracking altogether.

All is in the title, I managed to fix by chanching tangoConfig.enableColorCamera = sessionConfig.m_enableARBackground; to tangoConfig.enableColorCamera = true; in "SessionComponent.cs". Not sure if it's affecting anything else though.

Unity 2017.3.0b1 support?

Maybe I'm doing something but I can't find "ARCore Supported" on XR Settings on Unity using 2017.3.0b1 on Windows..
any help..
thanks..

Sample app crashes on Pixel 2

Hi,

I've installed the plugin and built the sample app as described in the guide but the app crashes upon start.

This is the log:

11-10 00:35:50.135 2893 2893 W SearchService: Abort, client detached.
11-10 00:35:50.167 11407 11430 E libEGL : error opening cache file /data/user_de/0/com.unity.arcoretest/code_cache/com.android.opengl.shaders_cache: Permission denied (13)
11-10 00:35:52.215 11407 11422 F tango : jni_helper.cc:19 'vm' Must be non NULL
11-10 00:35:52.216 11407 11422 F libc : Fatal signal 6 (SIGABRT), code -6 in tid 11422 (UnityMain), pid 11407 (nity.arcoretest)
11-10 00:35:52.273 11470 11470 I crash_dump32: obtaining output fd from tombstoned, type: kDebuggerdTombstone
11-10 00:35:52.274 920 920 I /system/bin/tombstoned: received crash request for pid 11407
11-10 00:35:52.276 11470 11470 I crash_dump32: performing dump of process 11407 (target tid = 11422)
11-10 00:35:52.277 11470 11470 F DEBUG : *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
11-10 00:35:52.277 11470 11470 F DEBUG : Build fingerprint: 'google/walleye/walleye:8.0.0/OPD1.170816.025/4424668:user/release-keys'
11-10 00:35:52.277 11470 11470 F DEBUG : Revision: 'MP1'
11-10 00:35:52.277 11470 11470 F DEBUG : ABI: 'arm'
11-10 00:35:52.277 11470 11470 F DEBUG : pid: 11407, tid: 11422, name: UnityMain >>> com.unity.arcoretest <<<
11-10 00:35:52.277 11470 11470 F DEBUG : signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
11-10 00:35:52.283 11470 11470 F DEBUG : Abort message: 'jni_helper.cc:19 'vm' Must be non NULL'
11-10 00:35:52.283 11470 11470 F DEBUG : r0 00000000 r1 00002c9e r2 00000006 r3 00000008
11-10 00:35:52.283 11470 11470 F DEBUG : r4 00002c8f r5 00002c9e r6 cd7bdbfc r7 0000010c
11-10 00:35:52.283 11470 11470 F DEBUG : r8 00000000 r9 cd7be054 sl 00000515 fp cd7be368
11-10 00:35:52.283 11470 11470 F DEBUG : ip 00000000 sp cd7bdbe8 lr ea6addc1 pc ea6a7790 cpsr 200f0030
11-10 00:35:52.287 11470 11470 F DEBUG :
11-10 00:35:52.287 11470 11470 F DEBUG : backtrace:
11-10 00:35:52.287 11470 11470 F DEBUG : #00 pc 0001a790 /system/lib/libc.so (abort+63)
11-10 00:35:52.287 11470 11470 F DEBUG : #1 pc 00006561 /system/lib/liblog.so (__android_log_assert+156)
11-10 00:35:52.287 11470 11470 F DEBUG : #2 pc 00009e69 /data/app/com.unity.arcoretest-vOVt2rkCJdM3TxRkuUsPrQ==/lib/arm/libtango_client_api2.so
11-10 00:35:52.287 11470 11470 F DEBUG : #3 pc 0001256d /data/app/com.unity.arcoretest-vOVt2rkCJdM3TxRkuUsPrQ==/lib/arm/libtango_client_api2.so
11-10 00:35:52.287 11470 11470 F DEBUG : #4 pc 00009247 /data/app/com.unity.arcoretest-vOVt2rkCJdM3TxRkuUsPrQ==/lib/arm/libtango_client_api2.so (TangoService_isSupported+26)
11-10 00:35:52.287 11470 11470 F DEBUG : #5 pc 00006214 anonymous:e287b000
11-10 00:35:52.825 920 920 E /system/bin/tombstoned: Tombstone written to: /data/tombstones/tombstone_03
11-10 00:35:52.831 1179 1224 I BootReceiver: Copying /data/tombstones/tombstone_03 to DropBox (SYSTEM_TOMBSTONE)
11-10 00:35:52.831 1179 11472 W ActivityManager: Force finishing activity com.unity.arcoretest/com.unity3d.player.UnityPlayerActivity
11-10 00:35:52.839 1179 1221 I ActivityManager: Showing crash dialog for package com.unity.arcoretest u0
11-10 00:35:52.841 820 820 E lowmemorykiller: Error writing /proc/11407/oom_score_adj; errno=22

Thanks!

Pixel 2 does not show camera

I've recently got a pixel 2 and I tried to load the AR Core demo app, but all I get is a blue screen. I followed the instructions to the letter. Any help would be appreciated

DiffuseWithLightEstimation shader too dark in low lighting

First I wanted to say I love this library and it's super easy and fun to get started. Thanks!

I've exported voxel models from MagicaVoxel into the Unity sample project. I then applied the ARCore/DiffuseWithLightEstimateion [sic] shader to the models.

On my Pixel, it seems to perform pretty well in daylight and bright indoor lighting, but with lower light situations like a bar or street night lighting, all the models are pitch black (even though there's enough light in the scene to see the sidewalk and detect surfaces).

Am I doing something wrong? Should I be adding light sources to my Unity scene, or using a normal map with the specular shader or something? Or is there a way to tweak the shader so it never dips below a certain lighting intensity?

No turn on camera flash apis

I need to turn on flash from ARCore app but there are no ways to do so. Even if I turn the flash on using android apis before arcore startup, it gets disabled on arcore session initialization. Vuforia sdk provides option to turn the flash on, so ARCore should also provide one to do so.

Tango server is not closed

Hello, when I switch the scene, I found that tango Server was not closed, how can we close tango Server? thank you very much!

Surface Detection Enhancement

Is there any way to adjust the threshold of what's considered a surface without breaking anything? ARCore seems to be having a lot of trouble picking up surfaces in the environment around me which is well-lit.

Pixel 2 XL: last app/homescreen showing on some surfaces in ARCore

See app icons where a shadow would be. Shadow would be provided by ARCoreUtils. I am not sure but it is possible this started after updating to Unity 2017.3.0b5 Personal.

Searching for surfaces forever

It always shows "Searching for surfaces" forever. Nothing else, no more actions to appear in the "HelloAR" example. I run it on Pixel with Android 8.0.0

Camera aspect ratio issue

We are aware of the screen stretch issue on s8 and pixel 2 XL, but I am having a different issue. My camera view is stretched out horizontally very far. I am not sure if this is due to an issue with ARCore and the newest Unity beta, or if it is something I did wrong in my app.

This object should be a near perfect circle:

Any thoughts, or is this happening to you?

Render with update mode "BLOCKING"

Is it possible to change the update mode of the session to "BLOCKING", to only update ones a new camera image is ready, as described in the ARCore Android SDK documentation?
I am curious to try out how this would affect game feel.

Front Camera not Playing when ARCore Session is Running

There seems to be an issue with ARCore not allowing other camera devices to be accessed when it's running. For example, trying to play the feed from the front camera on a Pixel returns a black texture. Below is a quad with the camera feed from the front camera trying to render to it. Black screen if ARCore is running, renders properly if ARCore is off. Unity Build

Lack of access to image data per frame restricting use?

While I expect access to actual pixel data on a per Frame basis is deliberately excluded from the API rather than an oversight, it is currently blocking several avenues of use for us. Is there an intention for this to be accessible in any shape going forward? Or a way to get to this data, if accepting a performance hit?

Vertical Surfaces (Walls) Detection

Hi,

ARCore can effectively detect horizontal surfaces. I was curious to know whether anyone has found a way to detect vertical surfaces. My app is basically trying to detect various walls and augment objects on walls.

Has anyone found any solution?

Thanks.

How to access the video feed texture?

Edit: Oops, didn't actually add a description!

We are trying to access the video feed that arcore renders to the background. I've managed to find the material via UnityTango.Device.backgroundRenderer and when I assign it to a UI.RawImage, it shows the live feed.

However, I would like to make a copy of the texture and accessing UnityTango.Device.backgroundRenderer.backgroundMaterial.GetTexture("_MainTex") returns null.

Thanks in advance.

Getting pink screen, first person camera not selected error

I have been trying to integrate this interface into an existing ARKit project. I have been getting a pink screen when I build for android and run on pixel. (I have successfully built the example scene for android and run them on pixel using same unity/android studio installation. The issue is specific to my existing project scenes. )

I believe the issue is captured below, and originates from the "first person camera" not being selected. Such and error is thrown from GoogleARCore\SDK\Scripts\SessionComponent.cs:279

Any ideas on how to fix this from here? I have not been able to figure out what can be done to ensure the first person camera is selected.

I/tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_ConnectOnTextureAvailable(JNIEnv*, jobject, int, bool): camera_id = 0
I/tango_camera_native_jni: jint Java_com_google_tango_jni_TangoCameraNative_ConnectOnTextureAvailable(JNIEnv*, jobject, int, bool) called for cam id(0) before TangoService_connect(). Callback will be registered on next call to TangoService_connect().
I/tango_camera_native_jni: TangoCameraNative_ConnectOnImageAvailable context 0xc827711c, camera 0
I/tango_camera_native_jni: TangoErrorType internalConnectOnImageAvailable(TangoCameraId, void*, bool, void (*)(void*, TangoCameraId, const TangoImage*, const TangoCameraMetadata*)): Connecting callbacks...
E/NdkImageReader: AImageReader_getWindow
I/tango_camera_native_jni: TangoErrorType internalConnectOnImageAvailable(TangoCameraId, void*, bool, void (*)(void*, TangoCameraId, const TangoImage*, const TangoCameraMetadata*)) called for cam id(0) before TangoService_connect(). Callback will be registered on next call to TangoService_connect().
I/Tango: com.google.tango: 18377
I/TangoCameraNative: startCamerasIfNeeded: VHS ready so camera can start.
E/Camera2-Metadata: Update metadata entry: Unknown tag -1073741824
W/ndk_camera: Failed to set the TANGO_MODE vendor tag for the color camera!This may not be required on this device.
I/tango_camera_native: Camera 0 is open, starting.
I/tango_camera_native: Camera 0 is starting, waiting for it to be done.
I/ndk_camera: Camera capture session started processing.
I/tango_camera_native: Camera 0 start successfull.
E/Unity: The first person camera must be set for video overlay to work.
         UnityEngine.DebugLogHandler:Internal_Log(LogType, String, Object)
         UnityEngine.DebugLogHandler:LogFormat(LogType, Object, String, Object[])
         UnityEngine.Logger:Log(LogType, Object)
         UnityEngine.Debug:LogError(Object)
         GoogleARCore.SessionComponent:_SetupVideoOverlay() (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:279)
         GoogleARCore.SessionComponent:_ConnectToService(SessionConfig, Action`1) (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:237)
         GoogleARCore.SessionComponent:Connect(SessionConfig) (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:196)
         GoogleARCore.SessionComponent:Connect() (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:145)
         UnityARInterface.ARCoreInterface:StartService(Settings) (at C
I/Unity: Connection state became Connected
         UnityEngine.DebugLogHandler:Internal_Log(LogType, String, Object)
         UnityEngine.DebugLogHandler:LogFormat(LogType, Object, String, Object[])
         UnityEngine.Logger:LogFormat(LogType, String, Object[])
         UnityEngine.Debug:LogFormat(String, Object[])
         GoogleARCoreInternal.SessionManager:set_ConnectionState(SessionConnectionState) (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\Managers\SessionManager.cs:64)
         GoogleARCore.SessionComponent:_ConnectToService(SessionConfig, Action`1) (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:240)
         GoogleARCore.SessionComponent:Connect(SessionConfig) (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:196)
         GoogleARCore.SessionComponent:Connect() (at C:\Users\arjun\Documents\Unity Projects\tester\Assets\Plugins\GoogleARCore\SDK\Scripts\SessionComponent.cs:145)
         UnityARInterface.ARCoreInter

Autofocus

Is there anyway to use autofocus? This is to do additional detection and CV work, but the resolution is quite poor without autofocus

Jitter when objects are moving rapidly or attached to the camera

Performance & feel of moving objects driven by either RigidBody + force or just updating transform are okay until you start moving the camera at the same time.

So, maybe I'm a total noob and can't configure Unity properly (might happen), or there is some issue with camera/world frame sync.

I've created a fork and modified it a little to showcase the issue.
Changes are:

modified Andy prefab (added Plane to be camera RayCast target & added nested Andy to follow the pointer).
added ExampleScript that applies force on RigidBody so it follows a pointer.

Google Photos link to video with poor jitter Andy

P.S. While I was searching for an answer on forums I stumbled upon this bug-report that is so alike but with Daydream and a year ago.

Any help would be appreciated.

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