Area description (ADF) and trajectories

APIs for generating and using area description files (ADF) and trajectories. More...

Functions
Tango3DR_Status	Tango3DR_AreaDescription_destroy (Tango3DR_AreaDescription area_description)
Tango3DR_Status	Tango3DR_AreaDescription_loadFromAdf (const char *const path, Tango3DR_AreaDescription *area_description)
Tango3DR_Status	Tango3DR_AreaDescription_saveToAdf (Tango3DR_AreaDescription area_description, const char *const path)
Tango3DR_Status	Tango3DR_getPoseAtTime (const Tango3DR_Trajectory trajectory, const double timestamp, Tango3DR_Pose *tango_pose)
Tango3DR_Status	Tango3DR_Trajectory_createFromAreaDescription (const Tango3DR_AreaDescription area_description, Tango3DR_Trajectory *trajectory)
Tango3DR_Status	Tango3DR_Trajectory_destroy (Tango3DR_Trajectory trajectory)
Tango3DR_Status	Tango3DR_Trajectory_getEarliestTime (const Tango3DR_Trajectory trajectory, double *timestamp)
Tango3DR_Status	Tango3DR_Trajectory_getLatestTime (const Tango3DR_Trajectory trajectory, double *timestamp)
TangoErrorType	TangoAreaDescriptionMetadata_free (TangoAreaDescriptionMetadata metadata)
TangoErrorType	TangoAreaDescriptionMetadata_get (TangoAreaDescriptionMetadata metadata, const char *key, size_t *value_size, char **value)
TangoErrorType	TangoAreaDescriptionMetadata_listKeys (TangoAreaDescriptionMetadata metadata, char **key_list)
TangoErrorType	TangoAreaDescriptionMetadata_set (TangoAreaDescriptionMetadata metadata, const char *key, size_t value_size, const char *value)
TangoErrorType	TangoService_deleteAreaDescription (const TangoUUID uuid)
TangoErrorType	TangoService_exportAreaDescription (const TangoUUID uuid, const char *dst_file_dir)
TangoErrorType	TangoService_getAreaDescriptionMetadata (const TangoUUID uuid, TangoAreaDescriptionMetadata *metadata)
TangoErrorType	TangoService_getAreaDescriptionUUIDList (char **uuid_list)
TangoErrorType	TangoService_importAreaDescription (const char *src_file_path, TangoUUID *uuid)
TangoErrorType	TangoService_saveAreaDescription (TangoUUID *uuid)
TangoErrorType	TangoService_saveAreaDescriptionMetadata (const TangoUUID uuid, TangoAreaDescriptionMetadata metadata)

Detailed Description

APIs for generating and using area description files (ADF) and trajectories.

Area description can be created by recording a Tango dataset and running Tango3DR_AreaDescription_createFromDataset. From there, users can extract an accurate device trajectory for the dataset session, which can be used for building more accurate meshes and textures in post-process.

Function Documentation

Tango3DR_Status Tango3DR_AreaDescription_destroy

(

Tango3DR_AreaDescription

area_description

)

Destroy a previously created area description

Parameters

area_description

Handle to a previously-created area description.

Returns

TANGO_3DR_SUCCESS on successfully destroying the area description. Returns TANGO_3DR_INVALID if area description is NULL.

Tango3DR_Status Tango3DR_AreaDescription_loadFromAdf	(	const char *const	path,
		Tango3DR_AreaDescription *	area_description
	)

Load an area description from an ADF (area description file).

Parameters

path	Path to the ADF.
area_description	On successful return, this will be filled with a freshly allocated Tango3DR_AreaDescription. After use, free this by calling Tango3DR_AreaDescription_destroy().

Returns

TANGO_3DR_SUCCESS on successfully loading an area descruption, TANGO_3DR_INVALID if the parameters are not valid, and TANGO_3DR_ERROR if loading failed.

Tango3DR_Status Tango3DR_AreaDescription_saveToAdf	(	Tango3DR_AreaDescription	area_description,
		const char *const	path
	)

Save an area description to an ADF (area description file).

Parameters

area_description	Area description to be saved.
path	Output path.

Returns

TANGO_3DR_SUCCESS on successfully saving the area description, TANGO_3DR_INVALID if any of the arguments are NULL, and TANGO_3DR_ERROR if some other error occurred.

Tango3DR_Status Tango3DR_getPoseAtTime	(	const Tango3DR_Trajectory	trajectory,
		const double	timestamp,
		Tango3DR_Pose *	tango_pose
	)

Retrieves the pose at a given time from a trajectory.

Parameters

trajectory	The handle to a Tango trajectory.
timestamp	The timestamp, in seconds, at which to query the pose.
tango_pose	A pointer to the output pose. Must be within the start and end time of the trajectory.

Returns

TANGO_3DR_SUCCESS on success, TANGO_3DR_INVALID if the parameters are not valid, and TANGO_3DR_ERROR if the timestamp queried is not in the range of the trajectory.

Tango3DR_Status Tango3DR_Trajectory_createFromAreaDescription	(	const Tango3DR_AreaDescription	area_description,
		Tango3DR_Trajectory *	trajectory
	)

Create a trajectory from a an area description.

Parameters

area_description	a handle to an area description.
area_description	On successful return, this will be filled with a freshly allocated Tango3DR_Trajectory. After use, free this by calling Tango3DR_Trajectory_destroy().

Tango3DR_Status Tango3DR_Trajectory_destroy

(

Tango3DR_Trajectory

trajectory

)

Destroy a previously created trajectory.

Parameters

trajectory

Handle to a previously created trajectory.

Returns

TANGO_3DR_SUCCESS on successfully destroying the trajectory. Returns TANGO_3DR_INVALID if trajectory is NULL.

Tango3DR_Status Tango3DR_Trajectory_getEarliestTime	(	const Tango3DR_Trajectory	trajectory,
		double *	timestamp
	)

Retrieves the earliest time available in a trajectory.

Parameters

trajectory	The handle to a Tango trajectory.
timestamp	A pointer to the output timestamp. Timestamp is in seconds.

Returns

TANGO_3DR_SUCCESS on success, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if the trajectory is empty.

Tango3DR_Status Tango3DR_Trajectory_getLatestTime	(	const Tango3DR_Trajectory	trajectory,
		double *	timestamp
	)

Retrieves the latest time available in a trajectory.

Parameters

trajectory	The handle to a Tango trajectory.
timestamp	A pointer to the output timestamp. Timestamp is in seconds.

Returns

TANGO_3DR_SUCCESS on success, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if the trajectory is empty.