point goal navigation

[dvdhfnr]

simple point goal navigation example with ARCore

[thias15]

When trying to run the point-goal navigation fragment, I get a dialog Navigation policy could not be initialized. I guess we still need to add this model to assets or download.gradle

[quentin-leboutet]

Successfully executed point goal navigation on Xiaomi POCO X3. Note however that trying to enter the legacy mode now immediately crashes the app...

[nicdaddy]

Salut Quentin!

Would you have some instructions to test point goal navigation?

Thanks!

[nicdaddy]

Nevermind, just got it to work as well!

[thias15]

Successfully executed point goal navigation on Xiaomi POCO X3. Note however that trying to enter the legacy mode now immediately crashes the app...

@quentin-leboutet can you test again.

[thias15]

Minor ToDo: Update App Readme to reflect new icon on home screen and add small section about using PointGoal Nav with ARCore.

[quentin-leboutet]

I confim: bug solved.

[thias15]

One more issue: permission handling. Currently app crashes when camera permission is not granted.

[thias15]

@quentin-leboutet can you test again?

[quentin-leboutet]

The issue related to the initial tracking acquisition is solved.
I notice that when the tracking is lost, the app tends to crash. Here is the stack:

W/System.err: android.content.res.Resources$NotFoundException: File Tracking lost. from resource ID #0x7f1100db
W/System.err:     at android.content.res.ResourcesImpl.openRawResourceFd(ResourcesImpl.java:334)
W/System.err:     at android.content.res.Resources.openRawResourceFd(Resources.java:1405)
W/System.err:     at android.media.MediaPlayer.create(MediaPlayer.java:991)
W/System.err:     at android.media.MediaPlayer.create(MediaPlayer.java:974)
W/System.err:     at org.openbot.env.AudioPlayer.play(AudioPlayer.java:64)
W/System.err:     at org.openbot.pointGoalNavigation.PointGoalNavigationFragment.onArCoreTrackingFailure(PointGoalNavigationFragment.java:226)
W/System.err:     at org.openbot.pointGoalNavigation.ArCore.lambda$onDrawFrame$3$ArCore(ArCore.java:189)
W/System.err:     at org.openbot.pointGoalNavigation.-$$Lambda$ArCore$i8p_YX9RgyRdskO3fmwQc4SoEwI.run(Unknown Source:6)
W/System.err:     at android.os.Handler.handleCallback(Handler.java:938)
W/System.err:     at android.os.Handler.dispatchMessage(Handler.java:99)
W/System.err:     at android.os.Looper.loopOnce(Looper.java:201)
W/System.err:     at android.os.Looper.loop(Looper.java:288)
W/System.err:     at android.app.ActivityThread.main(ActivityThread.java:7839)
W/System.err:     at java.lang.reflect.Method.invoke(Native Method)
W/System.err:     at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:548)
W/System.err:     at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:1003)
W/System.err: Caused by: java.io.FileNotFoundException: Tracking lost.
W/System.err:     at android.content.res.AssetManager.nativeOpenNonAssetFd(Native Method)
W/System.err:     at android.content.res.AssetManager.openNonAssetFd(AssetManager.java:1038)
W/System.err:     at android.content.res.ResourcesImpl.openRawResourceFd(ResourcesImpl.java:331)

[quentin-leboutet]

It seems everything works now.