tango_support.h

Go to the documentation of this file.

// Copyright 2017 Google Inc. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef TANGO_SUPPORT_TANGO_SUPPORT_H_
#define TANGO_SUPPORT_TANGO_SUPPORT_H_

#include <tango_client_api/tango_client_api.h>

#include <stdint.h>


#ifdef __cplusplus
extern "C" {
#endif


typedef enum {
  TANGO_SUPPORT_ROTATION_IGNORED = -1,

  TANGO_SUPPORT_ROTATION_0 = 0,

  TANGO_SUPPORT_ROTATION_90 = 1,

  TANGO_SUPPORT_ROTATION_180 = 2,

  TANGO_SUPPORT_ROTATION_270 = 3
} TangoSupport_Rotation;

TangoErrorType TangoSupport_getTangoVersion(void* jni_env, void* activity,
                                            int* version);

typedef TangoErrorType (*TangoSupport_GetPoseAtTimeFn)(
    double timestamp, TangoCoordinateFramePair frame, TangoPoseData* pose);

typedef TangoErrorType (*TangoSupport_GetCameraIntrinsicsFn)(
    TangoCameraId camera_id, TangoCameraIntrinsics* intrinsics);

void TangoSupport_initialize(
    TangoSupport_GetPoseAtTimeFn getPoseAtTime,
    TangoSupport_GetCameraIntrinsicsFn getCameraIntrinsics);

TangoErrorType TangoSupport_getVideoOverlayUVBasedOnDisplayRotation(
    const float uv_coordinates[8], TangoSupport_Rotation display_rotation,
    float output_uv_coordinates[8]);

TangoErrorType TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
    TangoCameraId camera_id, TangoSupport_Rotation display_rotation,
    TangoCameraIntrinsics* intrinsics);

TangoSupport_Rotation TangoSupport_getAndroidDepthCameraRotation();

TangoSupport_Rotation TangoSupport_getAndroidColorCameraRotation();

bool TangoSupport_isValidRotation(TangoSupport_Rotation rotation,
                                  bool allowIgnored);



struct TangoSupport_ImageBufferManager;

TangoErrorType TangoSupport_createImageBufferManager(
    TangoImageFormatType format, int width, int height,
    TangoSupport_ImageBufferManager** manager);

TangoErrorType TangoSupport_freeImageBufferManager(
    TangoSupport_ImageBufferManager* manager);

TangoErrorType TangoSupport_setImageBufferCopyRegion(
    TangoSupport_ImageBufferManager* manager, int y_only, uint32_t begin_line,
    uint32_t end_line);

TangoErrorType TangoSupport_updateImageBuffer(
    TangoSupport_ImageBufferManager* manager,
    const TangoImageBuffer* image_buffer);

TangoErrorType TangoSupport_getLatestImageBufferAndNewDataFlag(
    TangoSupport_ImageBufferManager* manager, TangoImageBuffer** image_buffer,
    bool* new_data);

TangoErrorType TangoSupport_getLatestImageBuffer(
    TangoSupport_ImageBufferManager* manager, TangoImageBuffer** image_buffer);



typedef enum {
  TANGO_SUPPORT_ENGINE_TANGO,

  TANGO_SUPPORT_ENGINE_OPENGL,

  TANGO_SUPPORT_ENGINE_UNITY,

  TANGO_SUPPORT_ENGINE_UNREAL,

} TangoSupport_EngineType;

typedef struct TangoSupport_MatrixTransformData {
  double timestamp;

  float matrix[16];

  TangoPoseStatusType status_code;
} TangoSupport_MatrixTransformData;

typedef struct TangoSupport_DoubleMatrixTransformData {
  double timestamp;

  double matrix[16];

  TangoPoseStatusType status_code;
} TangoSupport_DoubleMatrixTransformData;

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

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);

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);

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);

struct TangoSupport_PointCloudManager;

TangoErrorType TangoSupport_createPointCloudManager(
    size_t max_points, TangoSupport_PointCloudManager** manager);

TangoErrorType TangoSupport_freePointCloudManager(
    TangoSupport_PointCloudManager* manager);

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

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

//    rotation.
//    nullptr on failure. This pose has been transformed in the same way as
//    getPoseAtTime.
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);

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


TangoErrorType TangoSupport_fitPlaneModelNearPoint(
    const TangoPointCloud* point_cloud, const double point_cloud_translation[3],
    const double point_cloud_orientation[4],
    const float color_camera_uv_coordinates[2],
    TangoSupport_Rotation display_rotation,
    const double color_camera_translation[3],
    const double color_camera_orientation[4], double intersection_point[3],
    double plane_model[4]);

struct TangoSupport_Plane {
  double intersection_point[3];
  double plane_equation[4];
  int inlier_count;
  double inlier_ratio;
};

TangoErrorType TangoSupport_fitMultiplePlaneModelsNearPoint(
    const TangoPointCloud* point_cloud, const double point_cloud_translation[3],
    const double point_cloud_orientation[4],
    const float color_camera_uv_coordinates[2],
    TangoSupport_Rotation display_rotation,
    const double color_camera_translation[3],
    const double color_camera_orientation[4], TangoSupport_Plane** planes,
    int* number_of_planes);

void TangoSupport_freePlaneList(TangoSupport_Plane** planes);

#ifdef __cplusplus
}
#endif

#endif  // TANGO_SUPPORT_TANGO_SUPPORT_H_