EasyAR sdk与Intel Realsense SDK发行

Question

我在我的项目中同时使用英特尔realsense和EasyAR sdk时出现了这个错误。我的想法是增加一个三维物体，并使用英特尔realsense相机，手势跟踪移动它。请帮帮忙。

对象引用未设置为对象的实例( C:/buildslave/unity/build/Editor/Mono/GUI/DockArea.cs:272) PXCMSenseManager:PXCMSenseManager_Init(IntPtr，IntPtr) PXCMSenseManager:Init(Handler) PXCMSenseManager:Init() EasyAR.RealityPlaneBehaviour:Start() (at Assets/EasyAR/Scripts/RealityPlaneBehaviour.cs:51)** )

我正在使用两个SDKS提供的示例代码。把它们合并到一个项目中。我成功地增强了三维物体，但无法通过手势跟踪移动三维物体。

这是我正在使用的代码：

using UnityEngine;
using System.Collections;

namespace EasyAR
{
    public class RealityPlaneBehaviour : RealityPlaneBaseBehaviour
    {

        public GameObject Paddle1;
        public GameObject Paddle2;
        private PXCMSenseManager _pxcmSenseManager;
        private PXCMHandModule _pxcmHandModule;
        private PXCMHandData handData;
        private pxcmStatus status;

        // Use this for initialization
        private void Start()
        {
            _pxcmSenseManager = PXCMSenseManager.CreateInstance();


            if (_pxcmSenseManager == null)
            {
                Debug.LogError("SenseManager Initialization Failed");
            }
            else
            {
                //pxcmStatus pxcmResult = _pxcmSenseManager.EnableHand();
                pxcmStatus pxcmResult = _pxcmSenseManager.EnableHand();
                if (pxcmResult != pxcmStatus.PXCM_STATUS_NO_ERROR)
                {
                    Debug.LogError("EnableHand: " + pxcmResult);
                }
                else
                {
                    Debug.LogError("Reached Here:1 " + pxcmResult);
                    _pxcmHandModule = _pxcmSenseManager.QueryHand();
                    Debug.LogError("Reached Here:1 " + _pxcmHandModule.ToString());
                    handData = _pxcmHandModule.CreateOutput();
                    Debug.LogError("Reached Here:1 " + handData.ToString());
                    if(_pxcmHandModule == null)
                    {
                        Debug.LogError("PxcmHandModule is null during Setup");
                        return;
                    }   
                    _pxcmSenseManager.Init();

                    PXCMHandConfiguration configuration = _pxcmHandModule.CreateActiveConfiguration();
                    configuration.EnableAllGestures();
                    configuration.ApplyChanges();
                    configuration.Dispose();



                }
            }
        }


        // Update is called once per frame
        private void Update()
        {
            if (_pxcmSenseManager == null)
            {
                Debug.LogError("PxcmSenseManager is null");
                return;
            }

            _pxcmSenseManager.AcquireFrame(false, 0);

            status = _pxcmSenseManager.AcquireFrame(true);
            if (status != pxcmStatus.PXCM_STATUS_NO_ERROR) 
                return;

            _pxcmHandModule = _pxcmSenseManager.QueryHand();
            if(_pxcmHandModule == null)
            {
                Debug.LogError("PxcmHandModule is null");
                return;
            }   

            PXCMHandData handData = _pxcmHandModule.CreateOutput();
            handData.Update();

            MoveBall(handData, PXCMHandData.AccessOrderType.ACCESS_ORDER_LEFT_HANDS, Paddle1);
            MoveBall(handData, PXCMHandData.AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, Paddle2);

            _pxcmSenseManager.ReleaseFrame();
        }

        private void MoveBall(PXCMHandData handData, PXCMHandData.AccessOrderType accessOrderType, GameObject gameObject)
        {
            // Get first hand data (index 0),
            PXCMHandData.IHand pxcmHandData;


            if (handData.QueryHandData(accessOrderType, 0, out pxcmHandData) == pxcmStatus.PXCM_STATUS_NO_ERROR)
            {
                PXCMHandData.JointData jointData;
                if (pxcmHandData.QueryTrackedJoint(PXCMHandData.JointType.JOINT_CENTER, out jointData) ==
                    pxcmStatus.PXCM_STATUS_NO_ERROR)
                {   
                    gameObject.GetComponent<Rigidbody>().velocity = new Vector3(-9, jointData.positionWorld.y*100f, 0);
                }
            }
        }

        private void OnDisable()
        {
            _pxcmHandModule.Dispose();
            _pxcmSenseManager.Dispose();
        }







    }
}

Answer 1

这是一个读/写问题，因为在安装Realsense SDK时，它安装在一个受保护的目录(C:/Program Files)中，您通常没有写入权限。

重新安装Realsense，但这一次，将安装目录更改为C:/RealsenseSDK。权限问题应该消失了，您将不再获得对象引用异常。