Functions for getting input from the device's cameras. Use no more than one of TangoService_connectTextureId() or TangoService_connectOnTextureAvailable(). More...

Typedefs
typedef int64_t	TangoBufferId
typedef void(*	TangoService_OnTextureAvailable )(void *, TangoCameraId)
	Callback for when a new camera texture is available.
Functions
TangoErrorType	TangoService_connectOnFrameAvailable (TangoCameraId id, void context, void(onFrameAvailable)(void context, TangoCameraId id, const TangoImageBuffer buffer))
TangoErrorType	TangoService_connectOnImageAvailable (TangoCameraId id, void context, void(onImageAvailable)(void context, TangoCameraId id, const TangoImage image, const TangoCameraMetadata *metadata))
TangoErrorType	TangoService_connectOnTextureAvailable (TangoCameraId id, void *context, TangoService_OnTextureAvailable callback)
TangoErrorType	TangoService_connectTextureId (TangoCameraId id, unsigned int tex, void *context, TangoService_OnTextureAvailable callback)
TangoErrorType	TangoService_disconnectCamera (TangoCameraId id)
TangoErrorType	TangoService_getCameraIntrinsics (TangoCameraId camera_id, TangoCameraIntrinsics *intrinsics)
TangoErrorType	TangoService_lockCameraBuffer (TangoCameraId id, double timestamp, TangoBufferId buffer)
void	TangoService_unlockCameraBuffer (TangoCameraId id, TangoBufferId buffer)
TangoErrorType	TangoService_updateTexture (TangoCameraId id, double *timestamp)
TangoErrorType	TangoService_updateTextureExternalOes (TangoCameraId id, unsigned int tex, double *timestamp)
TangoErrorType	TangoService_updateTextureExternalOesForBuffer (TangoCameraId id, unsigned int texture_id, TangoBufferId buffer)

Detailed Description

Functions for getting input from the device's cameras. Use no more than one of TangoService_connectTextureId() or TangoService_connectOnTextureAvailable().

Typedef Documentation

typedef int64_t TangoBufferId

Definition at line 941 of file tango_client_api.h.

typedef void(* TangoService_OnTextureAvailable)(void *, TangoCameraId)

Callback for when a new camera texture is available.

Definition at line 871 of file tango_client_api.h.

Function Documentation

TangoErrorType TangoService_connectOnFrameAvailable	(	TangoCameraId	id,
		void *	context,
		void()(void context, TangoCameraId id, const TangoImageBuffer *buffer)	onFrameAvailable
	)

Connect a callback to a camera for access to the pixels. This is not recommended for display but for applications requiring access to the pixel data as an array of bytes. The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are supported. The onFrameAvailable callback will be called when a new frame is available from the camera. The TangoConfig flag config_enable_color_camera (see Configuration Parameters ) must be set to true for TangoService_connectOnFrameAvailable() to succeed after TangoService_connect() is called.

Parameters:

id	The ID of the camera to connect this texture to. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
context	The context returned during the onFrameAvailable callback.
onFrameAvailable	Function called when a new frame is available from the camera.

TangoErrorType TangoService_connectOnImageAvailable	(	TangoCameraId	id,
		void *	context,
		void()(void context, TangoCameraId id, const TangoImage image, const TangoCameraMetadata metadata)	onImageAvailable
	)

Connect a callback to a camera for access to the pixels. This is not recommended for display but for applications requiring access to the pixel data as an array of bytes. The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The onImageAvailable callback will be called when a new image is available from the camera. The TangoConfig flag config_enable_color_camera (see Configuration Parameters ) must be set to true in order to receive callbacks after TangoService_connect() is called.

Parameters:

id	The ID of the camera to connect this texture to. Only `TANGO_CAMERA_COLOR` is supported.
context	The context returned during the onImageAvailable callback.
onImageAvailable	Function called when a new image is available from the camera.

TangoErrorType TangoService_connectOnTextureAvailable	(	TangoCameraId	id,
		void *	context,
		TangoService_OnTextureAvailable	callback
	)

Connect a callback to a camera.

Currently only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are supported. The TangoConfig flag config_enable_color_camera must be set to true for connectOnTextureAvailable to succeed after TangoService_connect() is called.

Parameters:

id	The ID of the camera to connect this texture to. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
context	The context returned during the onTextureAvailable callback.
callback	The callback called when a new texture is available.

Returns:: TANGO_INVALID if the camera ID is not valid, or TANGO_ERROR if an internal error occurred.

TangoErrorType TangoService_connectTextureId	(	TangoCameraId	id,
		unsigned int	tex,
		void *	context,
		TangoService_OnTextureAvailable	callback
	)

Connect a Texture ID to a camera; the camera is selected by specifying a TangoCameraId. Currently only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are supported. The texture must be the ID of a texture that has been allocated and initialized by the calling application. The TangoConfig flag config_enable_color_camera must be set to true for connectTextureId to succeed after TangoService_connect() is called.

Parameters:

id	The ID of the camera to connect this texture to. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
context	The context returned during the onFrameAvailable callback.
tex	The texture ID of the texture to connect the camera to. Must be a valid texture in the applicaton.

Returns:: TANGO_INVALID if the camera ID is not valid, or TANGO_ERROR if an internal error occurred.

TangoErrorType TangoService_disconnectCamera ( TangoCameraId id )

Disconnect a camera. The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are supported. This call disconnects callbacks that have been registered with TangoService_connectTextureId() or TangoService_connectOnFrameAvailable().

TangoErrorType TangoService_getCameraIntrinsics	(	TangoCameraId	camera_id,
		TangoCameraIntrinsics *	intrinsics
	)

Get the intrinsic calibration parameters for a given camera. The intrinsics are as specified by the TangoCameraIntrinsics struct and are accessed via the API.

Parameters:

camera_id	The camera ID to retrieve the calibration intrinsics for.
intrinsics	A TangoCameraIntrinsics struct that must be allocated before calling, and is filled with calibration intrinsics for the camera `camera_id` upon successful return.

Returns:: TANGO_SUCCESS on successfully retrieving calibration intrinsics, TANGO_INVALID if the camera_id is out of range or if intrinsics argument was NULL, or TANGO_ERROR if an internal error occurs while getting intrinsics.

TangoErrorType TangoService_lockCameraBuffer	(	TangoCameraId	id,
		double *	timestamp,
		TangoBufferId *	buffer
	)

Keep the most recent image buffer of a camera around so that it can be available to update in the future.

This is useful to get the timestamp for a camera image outside of the render thread and then update the image in the render thread.

Parameters:

id	The ID of the camera to lock the most recent image.
timestamp	Upon return, if not NULL upon calling, timestamp contains the timestamp of the image buffer locked.
buffer	Upon return, buffer contains a handle that can be passed to `TangoService_updateTextureExternalOesForBuffer` to update a GL texture in the render thread.

Returns:: TANGO_INVALID if id is out of range or buffer is NULL; TANGO_ERROR if too many buffers are currently locked; TANGO_SUCCESS otherwise.

void TangoService_unlockCameraBuffer	(	TangoCameraId	id,
		TangoBufferId	buffer
	)

Stop keeping a specific camera buffer around.

Call this after you have issues all the necessary render commands for a texture. This must be called in the render thread.

Parameters:

id	The ID of the camera whose buffer to unlock.
buffer	The buffer to unlock.

TangoErrorType TangoService_updateTexture	(	TangoCameraId	id,
		double *	timestamp
	)

Update the texture that has been connected to camera referenced by TangoCameraId. The texture is updated with the latest image from the camera. If timestamp is not NULL, it will be filled with the image timestamp.

Parameters:

id	The ID of the camera to connect this texture to. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
timestamp	Upon return, if not NULL upon calling, timestamp contains the timestamp of the image that has been pushed to the connected texture.

Returns:: TANGO_INVALID if id is out of range or if a texture ID was never associated with the camera; TANGO_SUCCESS otherwise.

TangoErrorType TangoService_updateTextureExternalOes	(	TangoCameraId	id,
		unsigned int	tex,
		double *	timestamp
	)

Update a GL_TEXTURE_EXTERNAL_OES texture to the latest camera image available.

If timestamp is not NULL, it will be filled with the image timestamp. The texture passed in must be of type GL_TEXTURE_EXTERNAL_OES. This is not checked.

Parameters:

id	The ID of the camera to use for the update. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
tex	Texture to update. This texture must be of type `GL_TEXTURE_EXTERNAL_OES`.
timestamp	Upon return, if not NULL upon calling, timestamp contains the timestamp of the image that has been pushed to the texture.

Returns:: TANGO_INVALID if id is out of range or if tex is not a texture ID; TANGO_SUCCESS otherwise.

TangoErrorType TangoService_updateTextureExternalOesForBuffer	(	TangoCameraId	id,
		unsigned int	texture_id,
		TangoBufferId	buffer
	)

Update a GL_TEXTURE_EXTERNAL_OES texture to a previously locked buffer. This must be called in the render thread.

The texture passed in must be of type GL_TEXTURE_EXTERNAL_OES. This is not checked.

Parameters:

id	The ID of the camera to use for the update. Only `TANGO_CAMERA_COLOR` and `TANGO_CAMERA_FISHEYE` are supported.
texture_id	Texture to update. This texture must be of type `GL_TEXTURE_EXTERNAL_OES`.
buffer	A previously locked buffer returned from `TangoService_lockCameraBuffer`.

Returns:: TANGO_INVALID if id is out of range, if tex is not a texture ID, or buffer is not a locked buffer; TANGO_SUCCESS otherwise.

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation