Floorplan generation.

APIs for generating floorplans. More...

Functions
void	Tango3DR_destroyLevels (Tango3DR_FloorplanLevelArray *levels)
Tango3DR_Status	Tango3DR_extractFloorplanImageSegment (const Tango3DR_ReconstructionContext context, const Tango3DR_GridIndex2D grid_index, Tango3DR_FloorplanLayer layer, Tango3DR_ImageBuffer *image)
Tango3DR_Status	Tango3DR_extractFloorplanSegment (const Tango3DR_ReconstructionContext context, const Tango3DR_GridIndex2D grid_index, Tango3DR_PolygonArray *graphics)
Tango3DR_Status	Tango3DR_extractFullFloorplan (const Tango3DR_ReconstructionContext context, Tango3DR_PolygonArray *graphics)
Tango3DR_Status	Tango3DR_extractFullFloorplanImage (const Tango3DR_ReconstructionContext context, Tango3DR_FloorplanLayer layer, Tango3DR_Vector2 *origin, Tango3DR_ImageBuffer *image)
Tango3DR_Status	Tango3DR_extractLevels (const Tango3DR_ReconstructionContext context, Tango3DR_FloorplanLevelArray *levels)
Tango3DR_Status	Tango3DR_resetLevelsEstimator (const Tango3DR_ReconstructionContext context)
Tango3DR_Status	Tango3DR_selectLevel (const Tango3DR_ReconstructionContext context, const Tango3DR_FloorplanLevel *level)
Tango3DR_Status	Tango3DR_updateFloorplan (const Tango3DR_ReconstructionContext context, const Tango3DR_GridIndexArray *grid_index_array)
Tango3DR_Status	Tango3DR_updateFullFloorplan (const Tango3DR_ReconstructionContext context)
void	Tango3DR_VectorGraphics_destroy (Tango3DR_PolygonArray *graphics)

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Detailed Description

APIs for generating floorplans.

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Function Documentation

void Tango3DR_destroyLevels

(

Tango3DR_FloorplanLevelArray *

levels

)

Destroy a previously created Tango3DR_Levels object.

Parameters:

config

Pointer to a previously created vector graphics object.

Tango3DR_Status Tango3DR_extractFloorplanImageSegment	(	const Tango3DR_ReconstructionContext	context,
		const Tango3DR_GridIndex2D	grid_index,
		Tango3DR_FloorplanLayer	layer,
		Tango3DR_ImageBuffer *	image
	)

Extract a floor plan layer image segment for the specified grid cell from an existing 3D reconstruction context.

Parameters:

context	Handle to a previously created context.
grid_index	Index for the grid cell to extract.
layer	Floor plan layer to extract.
image	On successful return, this will be filled with a pointer to a freshly allocated Tango3DR_ImageBuffer object containing a floor plan layer image. Note that the image uses a coordinate system with (x: right, y: down). After use, free this by calling Tango3DR_ImageBuffer_destroy().

Returns:

TANGO_3DR_SUCCESS on successfully extracting the floor plan. Returns TANGO_3DR_INVALID if context or image is NULL.

Tango3DR_Status Tango3DR_extractFloorplanSegment	(	const Tango3DR_ReconstructionContext	context,
		const Tango3DR_GridIndex2D	grid_index,
		Tango3DR_PolygonArray *	graphics
	)

Extract a floor plan segment from an existing 3D reconstruction context. Note that this function takes only a 2D grid index (x,y) instead of a 3D grid index (x,y,z).

Parameters:

context	Handle to a previously created context.
grid_index	Index for the grid cell to extract.
graphics	On successful return, this will be filled with a pointer to a freshly allocated Tango3DR_Graphics object containing a vector graphics object. After use, free this by calling Tango3DR_destroyGraphics().

Returns:

TANGO_3DR_SUCCESS on successfully extracting the floor plan. Returns TANGO_3DR_INVALID if context or graphics is NULL.

Tango3DR_Status Tango3DR_extractFullFloorplan	(	const Tango3DR_ReconstructionContext	context,
		Tango3DR_PolygonArray *	graphics
	)

Extract a floor plan from an existing 3D reconstruction context.

Parameters:

context

Handle to a previously created context.

graphics

On successful return, this will be filled with a pointer to a freshly allocated Tango3DR_Graphics object containing a vector graphics object. The polygons are sorted by decreasing surface area, so that it is safe to render them directly using the provided ordering. Note that polygons with negative surface area indicate holes that need to be rendered in the background color. After use, free this by calling Tango3DR_destroyGraphics().

Returns:

TANGO_3DR_SUCCESS on successfully extracting the floor plan. Returns TANGO_3DR_INVALID if context or graphics is NULL.

Tango3DR_Status Tango3DR_extractFullFloorplanImage	(	const Tango3DR_ReconstructionContext	context,
		Tango3DR_FloorplanLayer	layer,
		Tango3DR_Vector2 *	origin,
		Tango3DR_ImageBuffer *	image
	)

Extract a floor plan layer image from an existing 3D reconstruction context.

Parameters:

context	Handle to a previously created context.
layer	Floor plan layer to extract.
origin	On successful return, position of the top left pixel in world coordinates (x: right, y: up).
image	On successful return, this will be filled with a pointer to a freshly allocated Tango3DR_ImageBuffer object containing a floor plan layer image. Note that the image uses a coordinate system with (x: right, y: down). After use, free the image by calling Tango3DR_ImageBuffer_destroy().

Returns:

TANGO_3DR_SUCCESS on successfully extracting the floor plan. Returns TANGO_3DR_INVALID if context or image is NULL.

Tango3DR_Status Tango3DR_extractLevels	(	const Tango3DR_ReconstructionContext	context,
		Tango3DR_FloorplanLevelArray *	levels
	)

Detect and extract (vertical) building levels. Currently, we only support single story buildings, so levels->num_levels will always equal 1.

Parameters:

context	Handle to a previously created context.
graphics	On successful return, this will be filled with a pointer to a freshly allocated Tango3DR_Levels object containing the levels of the building. After use, free this by calling Tango3DR_destroyGraphics().

Returns:

TANGO_3DR_SUCCESS on successfully destroying the vector graphics. Returns TANGO_3DR_INVALID if context or graphics is NULL.

Tango3DR_Status Tango3DR_resetLevelsEstimator

(

const Tango3DR_ReconstructionContext

context

)

Reset and enable automatic building level estimator. To disable the automatic estimator and to specify the building level manually instead, call Tango3DR_selectLevel.

Parameters:

context

Handle to a previously created context.

Returns:

TANGO_3DR_SUCCESS on successfully resetting the building level estimator. Returns TANGO_3DR_INVALID if context is NULL.

Tango3DR_Status Tango3DR_selectLevel	(	const Tango3DR_ReconstructionContext	context,
		const Tango3DR_FloorplanLevel *	level
	)

Manually select building level. This disables the automatic building level estimator. To re-enable the automatic estimator, call Tango3DR_resetLevelsEstimator.

Parameters:

context	Handle to a previously created context.
min_z	Floor height, in meters.
max_z	Ceiling height, in meters.

Returns:

TANGO_3DR_SUCCESS on successfully destroying the vector graphics. Returns TANGO_3DR_INVALID if context is NULL.

Tango3DR_Status Tango3DR_updateFloorplan	(	const Tango3DR_ReconstructionContext	context,
		const Tango3DR_GridIndexArray *	grid_index_array
	)

Update a floor plan in an existing 3D reconstruction context. You need to call this function or Tango3DR_updateFullFloorplan() prior to extracting a floor plan using Tango3DR_extractFullFloorplan() or Tango3DR_extractFloorplanSegment().

Parameters:

context	Handle to a previously created context.
grid_index_array	Grid cells that need to be updated.

Returns:

TANGO_3DR_SUCCESS on successfully updating the floor plan. Returns TANGO_3DR_INVALID if context is NULL.

Tango3DR_Status Tango3DR_updateFullFloorplan

(

const Tango3DR_ReconstructionContext

context

)

Update a floor plan in an existing 3D reconstruction context. You need to call this function or Tango3DR_updateFloorplan() prior to extracting a floor plan using Tango3DR_extractFullFloorplan() or Tango3DR_extractFloorplanSegment().

Parameters:

context

Handle to a previously created context.

Returns:

TANGO_3DR_SUCCESS on successfully updating the floor plan. Returns TANGO_3DR_INVALID if context is NULL.

void Tango3DR_VectorGraphics_destroy

(

Tango3DR_PolygonArray *

graphics

)

Destroy a previously created vector graphics object.

Parameters:

config

Pointer to a previously created vector graphics object.