Miscellaneous Utility Functions

Functions that do not fit into any other group. More...

Typedefs
typedef TangoErrorType(*	TangoSupport_GetCameraIntrinsicsFn )(TangoCameraId camera_id, TangoCameraIntrinsics *intrinsics)
	Typedef for getCameraIntrinsics function signature; required by the TangoSupport_initialize method.
typedef TangoErrorType(*	TangoSupport_GetPoseAtTimeFn )(double timestamp, TangoCoordinateFramePair frame, TangoPoseData *pose)
	Typedef for getPostAtTime function signature; required by the TangoSupport_initialize method.
Enumerations
enum	TangoSupport_Rotation {   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 }
Functions
TangoSupport_Rotation	TangoSupport_getAndroidColorCameraRotation ()
	Returns the depth camera rotation in TangoSupport_Rotation format.
TangoSupport_Rotation	TangoSupport_getAndroidDepthCameraRotation ()
	Returns the depth camera rotation in TangoSupport_Rotation format.
TangoErrorType	TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation (TangoCameraId camera_id, TangoSupport_Rotation display_rotation, TangoCameraIntrinsics *intrinsics)
	Get the camera intrinsics based on the display rotation. This function will query the camera intrinsics and rotate them according to the display rotation.
TangoErrorType	TangoSupport_getTangoVersion (void *jni_env, void *activity, int *version)
	Get the version code of the installed TangoCore package.
TangoErrorType	TangoSupport_getVideoOverlayUVBasedOnDisplayRotation (const float uv_coordinates[8], TangoSupport_Rotation display_rotation, float output_uv_coordinates[8])
	Get the video overlay UV coordinates based on the display rotation. Given the UV coordinates belonging to a display rotation that matches the camera rotation, this function will return the UV coordinates for any display rotation.
void	TangoSupport_initialize (TangoSupport_GetPoseAtTimeFn getPoseAtTime, TangoSupport_GetCameraIntrinsicsFn getCameraIntrinsics)
	Initialize the support library with function pointers required by the library. NOTE: This function must be called after the Android service has been bound.
bool	TangoSupport_isValidRotation (TangoSupport_Rotation rotation, bool allowIgnored)
	Indicates whether a given rotation is valid or not.

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Detailed Description

Functions that do not fit into any other group.

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Typedef Documentation

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

Typedef for getCameraIntrinsics function signature; required by the TangoSupport_initialize method.

Definition at line 80 of file tango_support.h.

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

Typedef for getPostAtTime function signature; required by the TangoSupport_initialize method.

Definition at line 75 of file tango_support.h.

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Enumeration Type Documentation

enum TangoSupport_Rotation

Display orientation. This is a relative orientation between default (natural) screen orientation and current screen orientation. The orientation is calculated based on a clockwise rotation.

The index number mirrors Android display rotation constant. This allows the developer to directly pass in the index value returned from Android.

Enumerator:

TANGO_SUPPORT_ROTATION_IGNORED	Not apply any rotation.
TANGO_SUPPORT_ROTATION_0	0 degree rotation (natural orientation)
TANGO_SUPPORT_ROTATION_90	90 degree rotation.
TANGO_SUPPORT_ROTATION_180	180 degree rotation.
TANGO_SUPPORT_ROTATION_270	270 degree rotation.

Definition at line 42 of file tango_support.h.

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Function Documentation

TangoSupport_Rotation TangoSupport_getAndroidColorCameraRotation

(

)

Returns the depth camera rotation in TangoSupport_Rotation format.

Returns:

Color camera rotation.

TangoSupport_Rotation TangoSupport_getAndroidDepthCameraRotation

(

)

Returns the depth camera rotation in TangoSupport_Rotation format.

Returns:

Depth camera rotation.

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

Get the camera intrinsics based on the display rotation. This function will query the camera intrinsics and rotate them according to the display rotation.

Parameters:

camera_id	The camera ID to retrieve the calibration intrinsics for.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
intrinsics	A TangoCameraIntrinsics struct that must be allocated before calling, and is filled with camera intrinsics for the rotated camera camera_id upon successful return.

Returns:

TANGO_SUCCESS on success, TANGO_ERROR if the support library was not previously initialized, or TANGO_INVALID on invalid input.

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

Get the version code of the installed TangoCore package.

Parameters:

jni_env	A pointer to the JNI Context of the native activity. This must be of type JNIEnv*, and implicit type conversion should do the right thing without requiring a cast.
activity	The native activity object handle of the calling native activity. This should be of type jobject, and implicit type conversion should do the right thing without requiring a cast.
version	Filled out with the version of the installed TangoCore package or 0 if it is not installed.

Returns:

TANGO_SUCCESS if the version was able to be successfully found. TANGO_ERROR if some other error happened.

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

Get the video overlay UV coordinates based on the display rotation. Given the UV coordinates belonging to a display rotation that matches the camera rotation, this function will return the UV coordinates for any display rotation.

Parameters:

uv_coordinates	The UV coordinates corresponding to a display rotation that matches the camera rotation. Cannot be NULL.
display_rotation	The index of the display rotation between display's default (natural) orientation and current orientation.
output_uv_coordinates	The UV coordinates for this rotation.

Returns:

TANGO_SUCCESS on success, TANGO_ERROR if the support library was not previously initialized, or TANGO_INVALID on invalid input.

void TangoSupport_initialize	(	TangoSupport_GetPoseAtTimeFn	getPoseAtTime,
		TangoSupport_GetCameraIntrinsicsFn	getCameraIntrinsics
	)

Initialize the support library with function pointers required by the library. NOTE: This function must be called after the Android service has been bound.

Parameters:

getPoseAtTime	The function to call to retrieve device pose information. In practice this is TangoService_getPoseAtTime, except for testing.
getCameraIntrinsics	The function to call to retrieve camera intrinsics information. In practice this is TangoService_getCameraIntrinsics, except for testing.

bool TangoSupport_isValidRotation	(	TangoSupport_Rotation	rotation,
		bool	allowIgnored
	)

Indicates whether a given rotation is valid or not.

Parameters:

rotation	The input rotation to be verified.
allowIgnored	Allow TANGO_SUPPORT_ROTATION_IGNORED.

Returns:

True if the given rotation is valid, false if it is not.