Functions for supporting easy transformation between different frames. More...

Classes
struct	TangoSupport_DoubleMatrixTransformData
	Struct to hold transformation double matrix and its metadata. More...

struct	TangoSupport_MatrixTransformData
	Struct to hold transformation float matrix and its metadata. More...

Typedefs
typedef struct TangoSupport_DoubleMatrixTransformData	TangoSupport_DoubleMatrixTransformData
	Struct to hold transformation double matrix and its metadata. More...

typedef struct TangoSupport_MatrixTransformData	TangoSupport_MatrixTransformData
	Struct to hold transformation float matrix and its metadata. More...

Enumerations
enum	TangoSupport_EngineType { TANGO_SUPPORT_ENGINE_TANGO, TANGO_SUPPORT_ENGINE_OPENGL, TANGO_SUPPORT_ENGINE_UNITY, TANGO_SUPPORT_ENGINE_UNREAL }

Functions
TangoErrorType	TangoSupport_calculateRelativePose (double base_timestamp, TangoCoordinateFrameType base_frame, double target_timestamp, TangoCoordinateFrameType target_frame, TangoPoseData *base_frame_T_target_frame)
	Calculates the relative pose of the target frame at time target_timestamp with respect to the base frame at time base_timestamp. More...

TangoErrorType	TangoSupport_createPointCloudManager (size_t max_points, TangoSupport_PointCloudManager **manager)
	Create an object for maintaining a set of point clouds for a specified size. More...

TangoErrorType	TangoSupport_freePointCloudManager (TangoSupport_PointCloudManager *manager)
	Delete the point cloud manager object. More...

TangoErrorType	TangoSupport_getDoubleMatrixTransformAtTime (double timestamp, TangoCoordinateFrameType base_frame, TangoCoordinateFrameType target_frame, TangoSupport_EngineType base_engine, TangoSupport_EngineType target_engine, TangoSupport_Rotation display_rotation, TangoSupport_DoubleMatrixTransformData *matrix_transform)
	Calculate the tranformation matrix between specified frames and engine types. The output matrix uses doubles and is in column-major order. More...

TangoErrorType	TangoSupport_getLatestPointCloud (TangoSupport_PointCloudManager manager, TangoPointCloud *latest_point_cloud)
	Check if updated point cloud data is available. If so, swap new data to the front buffer and set latest_point_cloud to point to the front buffer. Multiple calls to this function must be made from the same thread. More...

TangoErrorType	TangoSupport_getLatestPointCloudAndNewDataFlag (TangoSupport_PointCloudManager manager, TangoPointCloud latest_point_cloud, bool new_data)
	Check if updated point cloud data is available. If so, swap new data to the front buffer and set latest_point_cloud to point to the front buffer. Multiple calls to this function must be made from the same thread. Set `new_data` to true if latest_point_cloud points to new point cloud. More...

TangoErrorType	TangoSupport_getLatestPointCloudWithPose (TangoSupport_PointCloudManager manager, TangoCoordinateFrameType base_frame, TangoSupport_EngineType base_engine, TangoSupport_EngineType target_engine, TangoSupport_Rotation display_rotation, TangoPointCloud latest_point_cloud, TangoPoseData pose)
	Returns the latest point cloud that has a pose. There is no target frame parameter because only FRAME_CAMERA_DEPTH has meaningful semantics for point clouds. Assumes the same base_engine and target_engine will be passed in each time. More...

TangoErrorType	TangoSupport_getMatrixTransformAtTime (double timestamp, TangoCoordinateFrameType base_frame, TangoCoordinateFrameType target_frame, TangoSupport_EngineType base_engine, TangoSupport_EngineType target_engine, TangoSupport_Rotation display_rotation, TangoSupport_MatrixTransformData *matrix_transform)
	Calculate the tranformation matrix between specified frames and engine types. The output matrix uses floats and is in column-major order. More...

TangoErrorType	TangoSupport_getPoseAtTime (double timestamp, TangoCoordinateFrameType base_frame, TangoCoordinateFrameType target_frame, TangoSupport_EngineType base_engine, TangoSupport_EngineType target_engine, TangoSupport_Rotation display_rotation, TangoPoseData *pose)
	Get a pose at a given timestamp from the base to the target frame using the specified target and base engine's coordinate system conventions. The base and target engine must either both be right-handed systems or both be left-handed systems. More...

TangoErrorType	TangoSupport_updatePointCloud (TangoSupport_PointCloudManager manager, const TangoPointCloud point_cloud)
	Updates the back buffer of the manager. Can be safely called from the callback thread. Update is skipped if point cloud is empty. More...

Detailed Description

Functions for supporting easy transformation between different frames.

Typedef Documentation

typedef struct TangoSupport_DoubleMatrixTransformData TangoSupport_DoubleMatrixTransformData

Struct to hold transformation double matrix and its metadata.

typedef struct TangoSupport_MatrixTransformData TangoSupport_MatrixTransformData

Struct to hold transformation float matrix and its metadata.

Enumeration Type Documentation

enum TangoSupport_EngineType

Enumeration of support engines. Every engine conversion corresponds to an axis swap from the Tango-native frame

Enumerator
TANGO_SUPPORT_ENGINE_TANGO	Tango native frame, has a different convention for forward, right, and up for each reference frame. Right-handed coordinate system.
TANGO_SUPPORT_ENGINE_OPENGL	OpenGL frame, -Z forward, X right, Y up. Right-handed coordinate system.
TANGO_SUPPORT_ENGINE_UNITY	Unity frame, +Z forward, X, right, Y up. Left-handed coordinate system.
TANGO_SUPPORT_ENGINE_UNREAL	UnrealEngine frame, X forward, Y right, Z up. Left-handed coordinate system.

Definition at line 252 of file tango_support.h.

Function Documentation

TangoErrorType TangoSupport_calculateRelativePose	(	double	base_timestamp,
		TangoCoordinateFrameType	base_frame,
		double	target_timestamp,
		TangoCoordinateFrameType	target_frame,
		TangoPoseData *	base_frame_T_target_frame
	)

Calculates the relative pose of the target frame at time target_timestamp with respect to the base frame at time base_timestamp.

Parameters

base_timestamp	The timestamp for base frame position. Must be non-negative. If set to 0.0, the most recent pose estimate is used.
base_frame	the coordinate frame type of target frame. Must be TANGO_COORDINATE_FRAME_CAMERA_*.
target_timestamp	The timestamp for target frame position. Must be non-negative. If set to 0.0, the most recent pose estimate is used.
target_frame	The coordinate frame type of base frame. Must be TANGO_COORDINATE_FRAME_CAMERA_*.
base_frame_T_target_frame	A TangoPoseData object with the calculated orientation and translation. The output represents the transform from target frame to base frame.

Returns: A TangoErrorType value of TANGO_SUCCESS on successful calculation, TANGO_INVALID if inputs are not supported, or TANGO_ERROR if an internal transform cannot be calculated.

TangoErrorType TangoSupport_createPointCloudManager	(	size_t	max_points,
		TangoSupport_PointCloudManager **	manager
	)

Create an object for maintaining a set of point clouds for a specified size.

Parameters

max_points	Maximum number of points in TangoPointCloud. Get value from config.
manager	A handle to the manager object.

Returns: TANGO_SUCCESS on successful creation, TANGO_INVALID if max_points <= 0.

TangoErrorType TangoSupport_freePointCloudManager ( TangoSupport_PointCloudManager * manager )

Delete the point cloud manager object.

Parameters

manager A handle to the manager to delete.

Returns: A TangoErrorType value of TANGO_SUCCESS on free.

TangoErrorType TangoSupport_getDoubleMatrixTransformAtTime	(	double	timestamp,
		TangoCoordinateFrameType	base_frame,
		TangoCoordinateFrameType	target_frame,
		TangoSupport_EngineType	base_engine,
		TangoSupport_EngineType	target_engine,
		TangoSupport_Rotation	display_rotation,
		TangoSupport_DoubleMatrixTransformData *	matrix_transform
	)

Calculate the tranformation matrix between specified frames and engine types. The output matrix uses doubles and is in column-major order.

When using engine OpenGL, Unity or Unreal, this function applies the corresponding rotation to base and target frames based on the display rotation. When using engine Tango no rotation is applied to that frame.

Parameters

timestamp	The timestamp of the transformation matrix of interest.
base_frame	The frame of reference the matrix converts to.
target_frame	The frame of reference the matrix converts from.
base_engine	Specifies the final orientation convention the matrix converts to.
target_engine	Specifies the original orientation convention the matrix converts from.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
matrix_transform	The final matrix output with metadata.

Returns: TANGO_INVALID on invalid input. TANGO_ERROR if the pose calculation returns error. TANGO_SUCCESS otherwise.

TangoErrorType TangoSupport_getLatestPointCloud	(	TangoSupport_PointCloudManager *	manager,
		TangoPointCloud **	latest_point_cloud
	)

Check if updated point cloud data is available. If so, swap new data to the front buffer and set latest_point_cloud to point to the front buffer. Multiple calls to this function must be made from the same thread.

Parameters

manager	A handle to the point cloud manager.
point_cloud	After the call contains a pointer to the most recent depth camera buffer.

Returns: TANGO_SUCCESS on successful assignment, TANGO_INVALID if manager is NULL.

TangoErrorType TangoSupport_getLatestPointCloudAndNewDataFlag	(	TangoSupport_PointCloudManager *	manager,
		TangoPointCloud **	latest_point_cloud,
		bool *	new_data
	)

Check if updated point cloud data is available. If so, swap new data to the front buffer and set latest_point_cloud to point to the front buffer. Multiple calls to this function must be made from the same thread. Set new_data to true if latest_point_cloud points to new point cloud.

Parameters

manager	A handle to the point cloud manager.
point_cloud	After the call contains a pointer to the most recent depth camera buffer.
new_data	True if latest_point_cloud points to new data. False otherwise.

Returns: TANGO_SUCCESS on successful assignment, TANGO_INVALID if manager is NULL.

TangoErrorType TangoSupport_getLatestPointCloudWithPose	(	TangoSupport_PointCloudManager *	manager,
		TangoCoordinateFrameType	base_frame,
		TangoSupport_EngineType	base_engine,
		TangoSupport_EngineType	target_engine,
		TangoSupport_Rotation	display_rotation,
		TangoPointCloud **	latest_point_cloud,
		TangoPoseData *	pose
	)

Returns the latest point cloud that has a pose. There is no target frame parameter because only FRAME_CAMERA_DEPTH has meaningful semantics for point clouds. Assumes the same base_engine and target_engine will be passed in each time.

Parameters

manager	A handle to the point cloud manager.
base_frame	The base frame of reference to use in the query.
base_engine	The coordinate system convention of the `base_frame`. Can be OpenGL, Unity, Unreal or Tango but the handed-ness (either left-handed or right-handed) must match the handed-ness of the `target_engine`.
target_engine	The coordinate system convention of the `target_frame`. Can be OpenGL, Unity, Unreal or Tango but the handed-ness (either left-handed or right-handed) must match the handed-ness of the `base_engine`.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
point_cloud	After the call contains a pointer to the most recent point cloud with a pose, accounting for the specified engine and display
pose	The pose of target with respect to base frame of reference, accounting for the specified engine and display rotation.
latest_point_cloud	Replaced with the latest point cloud that has a pose, or nullptr on failure. This point cloud is not transformed at all.
pose	Repalced with the pose associated with latest_point_cloud, or

Returns: TANGO_SUCCESS on success, TANGO_INVALID on invalid input, including mismatched handed-ness of the base_engine and target_engine, and TANGO_ERROR on failure.

TangoErrorType TangoSupport_getMatrixTransformAtTime	(	double	timestamp,
		TangoCoordinateFrameType	base_frame,
		TangoCoordinateFrameType	target_frame,
		TangoSupport_EngineType	base_engine,
		TangoSupport_EngineType	target_engine,
		TangoSupport_Rotation	display_rotation,
		TangoSupport_MatrixTransformData *	matrix_transform
	)

Calculate the tranformation matrix between specified frames and engine types. The output matrix uses floats and is in column-major order.

When using engine OpenGL, Unity or Unreal, this function applies the corresponding rotation to base and target frames based on the display rotation. When using engine Tango no rotation is applied to that frame.

Parameters

timestamp	The timestamp of the transformation matrix of interest.
base_frame	The frame of reference the matrix converts to.
target_frame	The frame of reference the matrix converts from.
base_engine	Specifies the final orientation convention the matrix converts to.
target_engine	Specifies the original orientation convention the matrix converts from.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
matrix_transform	The final matrix output with metadata.

Returns: TANGO_INVALID on invalid input. TANGO_ERROR if the pose calculation returns error. TANGO_SUCCESS otherwise.

TangoErrorType TangoSupport_getPoseAtTime	(	double	timestamp,
		TangoCoordinateFrameType	base_frame,
		TangoCoordinateFrameType	target_frame,
		TangoSupport_EngineType	base_engine,
		TangoSupport_EngineType	target_engine,
		TangoSupport_Rotation	display_rotation,
		TangoPoseData *	pose
	)

Get a pose at a given timestamp from the base to the target frame using the specified target and base engine's coordinate system conventions. The base and target engine must either both be right-handed systems or both be left-handed systems.

When using engine OpenGL, Unity or Unreal, this function applies the corresponding rotation to base and target frames based on the display rotation. When using engine Tango no rotation is applied to that frame.

Parameters

timestamp	Time specified in seconds. This behaves the same as the `timestamp` parameter in `TangoService_getPoseAtTime`.
base_frame	The base frame of reference to use in the query.
target_frame	The target frame of reference to use in the query.
base_engine	The coordinate system convention of the `base_frame`. Can be OpenGL, Unity, Unreal or Tango but the handed-ness (either left-handed or right-handed) must match the handed-ness of the `target_engine`.
target_engine	The coordinate system convention of the `target_frame`. Can be OpenGL, Unity, Unreal or Tango but the handed-ness (either left-handed or right-handed) must match the handed-ness of the `base_engine`.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
pose	The pose of target with respect to base frame of reference, accounting for the specified engine and display rotation.

Returns: TANGO_SUCCESS on success, TANGO_INVALID on invalid input, including mismatched handed-ness of the base_engine and target_engine, and TANGO_ERROR on failure.

The engine types should be set to TANGO_SUPPORT_ENGINE_OPENGL when the target (color camera or device) is used to control a virtual camera for rendering purposes. Typically this is done by using the matrix derived from the result pose as the view matrix of the virtual camera. The target frame engine type should be set to TANGO_SUPPORT_ENGINE_TANGO when computing a transformation for parameters used for calling other Tango support routines.

TangoErrorType TangoSupport_updatePointCloud	(	TangoSupport_PointCloudManager *	manager,
		const TangoPointCloud *	point_cloud
	)

Updates the back buffer of the manager. Can be safely called from the callback thread. Update is skipped if point cloud is empty.

Parameters

manager	A handle to the point cloud manager.
point_cloud	New point cloud data from the camera callback thread.

Returns: A TangoErrorType value of TANGO_INVALID if manager or point_cloud are NULL. Returns TANGO_SUCCESS if update is successful.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation