File containing Project Tango C API. More...
#include <stdbool.h>#include <stddef.h>#include <stdint.h>
Go to the source code of this file.
Detailed Description
File containing Project Tango C API.
Definition in file tango_client_api.h.
Define Documentation
| #define TANGO_MAX_IMAGE_PLANES (4) |
The TangoImage contains information about a byte buffer holding image data. This version supplies a pointer to the start of each image plane, as there may be padding between the planes. It is meant to closely replicate the data available from the Android Image class, and as such camera specific metadata has been moved into a separate struct, TangoCameraMetadata.
Definition at line 382 of file tango_client_api.h.
Typedef Documentation
| typedef struct TangoCameraIntrinsics TangoCameraIntrinsics |
The TangoCameraIntrinsics struct contains intrinsic parameters for a camera.
Given a 3D point (X, Y, Z) in camera coordinates, the corresponding pixel coordinates (x, y) are:
x = X / Z * fx * rd / ru + cx y = Y / Z * fy * rd / ru + cy
The normalized radial distance ru is given by:
ru = sqrt((X^2 + Y^2) / (Z^2))
The distorted radial distance rd depends on the distortion model used.
TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS implements Brown's camera model, where rd is a polynomial that depends on the three distortion coefficients k1, k2 and k3:
rd = ru + k1 * ru^3 + k2 * ru^5 + k3 * ru^7
TANGO_CALIBRATION_EQUIDISTANT implements the FOV camera model, where rd depends on the single distortion coefficient w:
rd = 1 / w * arctan(2 * ru * tan(w / 2))
For more information, see our page on Camera Intrinsics and Extrinsics.
| typedef struct TangoCameraMetadata TangoCameraMetadata |
TangoCameraMetadata. This struct contains information specific to the camera capture. It is meant to replicate some of the information provided by the Android CameraMetadata class.
| typedef struct TangoEvent TangoEvent |
The TangoEvent structure signals important sensor and tracking events. Each event comes with a timestamp, a type, and a key-value pair describing the event. The type is an enumeration which generally classifies the event type. The key is a text string describing the event. The description holds parameters specific to the event.
Possible descriptions (as "key:value") are:
- "TangoServiceException:X" - The service has encountered an exception, and a text description is given in X.
- "FisheyeOverExposed:X" - The fisheye image is over exposed with average pixel value X px.
- "FisheyeUnderExposed:X" - The fisheye image is under exposed with average pixel value X px.
- "ColorOverExposed:X" - The color image is over exposed with average pixel value X px.
- "ColorUnderExposed:X" - The color image is under exposed with average pixel value X px.
- "TooFewFeaturesTracked:X" - Too few features were tracked in the fisheye image. The number of features tracked is X.
- "AreaDescriptionSaveProgress:X" - ADF saving is X * 100 percent complete.
- "Unknown"
| typedef struct TangoImage TangoImage |
| typedef struct TangoImageBuffer TangoImageBuffer |
The TangoImageBuffer contains information about a byte buffer holding image data. This data is populated by the service when it returns an image.
| typedef struct TangoPointCloud TangoPointCloud |
TangoPointCloud contains information returned from the depth sensor.
| typedef struct TangoPoseData TangoPoseData |
The TangoPoseData struct contains pose information returned from motion tracking. The device pose is given using Android conventions. See the Android Sensor Overview page for more information.
| typedef struct TangoTransformation TangoTransformation |
The TangoTransformation struct contains an orientation and translation that can be applied to transform a point.
| typedef struct TangoXYZij TangoXYZij |
- Deprecated:
- Use
TangoPointCloudinstead.
The TangoXYZij struct contains information returned from the depth sensor.
Function Documentation
| TangoErrorType TangoService_Experimental_connectTextureIdUnity | ( | TangoCameraId | id, |
| unsigned int | texture_y, | ||
| unsigned int | texture_Cb, | ||
| unsigned int | texture_Cr, | ||
| void * | context, | ||
| void(*)(void *, TangoCameraId) | callback | ||
| ) |
Experimental API only, subject to change. Connect a Texture IDs to a camera. The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture handles will be regenerated by the API on startup after which the application can use them, and will be packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighbouring pixels). If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same. See YV12 and NV21 formats for details.
- 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. texture_y The texture ID to use for the Y-plane. texture_Cb The texture ID to use for a chroma plane. texture_Cr The texture ID to use for a chroma plane.
- Returns:
TANGO_INVALIDif the camera ID is not valid, orTANGO_ERRORif an internal error occurred.
| TangoErrorType TangoService_Experimental_deleteDataset | ( | const TangoUUID | dataset_uuid | ) |
Experimental API only, subject to change. Deletes a dataset.
- Parameters:
-
dataset_uuid The ID of the dataset to be deleted.
- Returns:
TANGO_SUCCESSif the dataset was successfully deleted,TANGO_ERRORif communication failed or the datasets could not be found, orTANGO_NO_DATASET_PERMISSIONif user has not given permissions to read and write datasets.
| TangoErrorType TangoService_Experimental_getCurrentDatasetUUID | ( | TangoUUID * | dataset_uuid | ) |
Experimental API only, subject to change. Gets the current dataset UUID.
- Parameters:
-
dataset_uuid The current dataset UUID.
- Returns:
TANGO_SUCCESSif the id was successfully retrieved, orTANGO_ERRORif communication failed.
| TangoErrorType TangoService_Experimental_getDatasetUUIDs | ( | TangoUUID ** | dataset_uuids, |
| int * | num_dataset_uuids | ||
| ) |
Experimental API only, subject to change. Returns a list of Tango dataset UUIDs, containing a UUID for each valid dataset recorded to the Tango Service application directory. Memory will be dynamically allocated by this call, and must be deallocated using TangoService_Experimental_ReleaseDatasetUUIDs. The service does not need to be connected in order to call this function.
- Parameters:
-
dataset_uuids a dynamic array of TangoUUIDs. Will be dynamically allocated by this call. num_dataset_uuids An output parameter for the number of dataset UUIDs returned.
- Returns:
TANGO_SUCCESSif the dataset UUIDs were successfully retrieved,TANGO_ERRORif communication failed or the datasets could not be enumerated,TANGO_NO_DATASET_PERMISSIONif user has not given permissions to read and write datasets, orTANGO_INVALIDif any of the arguments passed wereNULL.
| TangoErrorType TangoService_Experimental_releaseDatasetUUIDs | ( | TangoUUID ** | dataset_uuids | ) |
Experimental API only, subject to change Frees up memory allocated by TangoService_Experimental_GetDatasetUUIDs
- Parameters:
-
dataset_uuids a dynamic array of TangoUUIDs. Will be deallocated by this call.
- Returns:
TANGO_INVALIDif any of the arguments passed were NULL;TANGO_SUCCESSotherwise.