Configuration Parameters Get and Set Functions. More...
Functions | |
| TangoErrorType | TangoConfig_getBool (TangoConfig config, const char *key, bool *value) |
| TangoErrorType | TangoConfig_getDouble (TangoConfig config, const char *key, double *value) |
| TangoErrorType | TangoConfig_getInt32 (TangoConfig config, const char *key, int32_t *value) |
| TangoErrorType | TangoConfig_getInt64 (TangoConfig config, const char *key, int64_t *value) |
| TangoErrorType | TangoConfig_getString (TangoConfig config, const char *key, char *value, size_t size) |
| TangoErrorType | TangoConfig_setBool (TangoConfig config, const char *key, bool value) |
| TangoErrorType | TangoConfig_setDouble (TangoConfig config, const char *key, double value) |
| TangoErrorType | TangoConfig_setInt32 (TangoConfig config, const char *key, int32_t value) |
| TangoErrorType | TangoConfig_setInt64 (TangoConfig config, const char *key, int64_t value) |
| TangoErrorType | TangoConfig_setString (TangoConfig config, const char *key, const char *value) |
Configuration Parameters Get and Set Functions.
For an allocated TangoConfig handle, these functions get and set parameters of that TangoConfig handle. You can use the handle to query the current state, or you can create a new handle and alter its contents to set the service settings on TangoService_connect(). For each type of configuration parameter (bool, double, string, etc) you call the corresponding get/set function, such as TangoConfig_getBool() for a boolean.
The supported configuration parameters that can be set are:
| int32 config_depth_mode | Determines the depth data format provided from the API. See TangoDepthMode for supported formats. |
| boolean config_enable_auto_recovery | Automatically recovers when motion tracking becomes invalid, by returning immediately to the initializing state in the pose lifecycle. This will use the last valid pose as the starting pose after recovery. If an area description is loaded, or if learning mode is enabled, this will also automatically try to localize. Defaults to true. |
| boolean config_enable_color_camera | Enables the color camera if true. Defaults to false. Must be set to true if connecting color camera or texture callbacks after TangoService_connect() is called. When connecting a callback before calling TangoService_connect() is called, config_enable_color_camera is set to true internally. Due to potential lifecycle race conditions it is recommended to always set to true if the color camera is to be used. |
| boolean config_enable_depth | Enables depth output if true. Defaults to false. |
| boolean config_enable_low_latency_imu_integration | When the latest pose is requested or returned via callback, this enables aggressive integration of the latest inertial measurements to provide lower latency pose estimates, leaving the update frequency unaffected. The accuracy may be slightly lower because the inertial data is not yet integrated with a new visual feature update. |
| boolean config_enable_learning_mode | Enables learning mode if true. Defaults to false. |
| boolean config_enable_motion_tracking | Enables motion tracking if true. Defaults to true. |
| boolean config_high_rate_pose | This flag enables 100Hz pose updates in callback mode. If disabled, pose updates are provided at 33Hz in callback mode. Default value is true. |
| boolean config_smooth_pose | This flag enables pose smoothing using a spatial smoothing method. Small pose corrections are hidden while moving, large pose corrections are applied instantly. Default value is true. |
| string config_load_area_description_UUID | Loads the given Area Description with given UUID and attempts to localize against that Area Description. Empty string will disable localization. Defaults to empty. |
| boolean config_enable_dataset_recording | Enables recording of a dataset to disk. |
| boolean config_enable_drift_correction | Enables drift-corrected mode. When drift-corrected mode is enabled, the drift-corrected pose is available through the frame pair with base frame START_OF_SERVICE and target frame DEVICE. The config flags for learning_mode and load_area_description_UUID cannot be used if drift correction is enabled. |
The supported configuration parameters that can be queried are:
| char* tango_service_library_version | The version of the Tango Service Library that implements the Tango functionality. The version is returned as YYMMDD-{git hash}-{ARCHITECTURE}. |
| double depth_period_in_seconds | Nominal time between successive frames of depth data. Use the depth data structure fields to get more accurate depth frame times. |
| int32 max_point_cloud_elements | Maximum number of points returned in depth point clouds. For a tablet device, this is 60000. Typically no more than to 15000 are returned. |
The supported configuration parameters that can be queried and set at runtime are:
| int32 config_runtime_depth_framerate | Sets the framerate, in frames per second, at which depth is acquired and returned via the depth callback. Setting this parameter to 0 disables acquisition of depth data and the callback will not be called and will resume if set to greater than 0. config_enable_depth must have been set to true, or the depth callback must be connected before TangoService_connect() in order for depth to be active so that this flag has effect. The Project Tango Tablet Development Kit supports depth framerates of 0, 1, 2, 3 and 5. |
| TangoErrorType TangoConfig_getBool | ( | TangoConfig | config, |
| const char * | key, | ||
| bool * | value | ||
| ) |
Get a boolean configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_SUCCESS on success; or TANGO_INVALID if the any of the arguments is NULL, or if the key could not be found. | TangoErrorType TangoConfig_getDouble | ( | TangoConfig | config, |
| const char * | key, | ||
| double * | value | ||
| ) |
Get a double configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with TangoConfig, |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_SUCCESS on success; or TANGO_INVALID if the any of the arguments is NULL, or if the key could not be found. | TangoErrorType TangoConfig_getInt32 | ( | TangoConfig | config, |
| const char * | key, | ||
| int32_t * | value | ||
| ) |
Get a uint32_t configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with TangoConfig. |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_SUCCESS on success; or TANGO_INVALID if the any of the arguments is NULL, or if the key could not be found. | TangoErrorType TangoConfig_getInt64 | ( | TangoConfig | config, |
| const char * | key, | ||
| int64_t * | value | ||
| ) |
Get an uint64_t configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with TangoConfig. |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. |
TANGO_SUCCESS on success; or TANGO_INVALID if the any of the arguments is NULL, or if the key could not be found. | TangoErrorType TangoConfig_getString | ( | TangoConfig | config, |
| const char * | key, | ||
| char * | value, | ||
| size_t | size | ||
| ) |
Get a character string configuration parameter.
| config | The configuration object to get the parameter from. config must have been created with TangoConfig. |
| key | The string key value of the configuration parameter to get. |
| value | Upon success, set to the value for the configuration key. This array must be allocated by the caller. |
| size | The size in bytes of value, as allocated by the caller. value will be written only up to this size in bytes. |
TANGO_SUCCESS on success; or TANGO_INVALID if the any of the arguments is NULL, or if the key could not be found. | TangoErrorType TangoConfig_setBool | ( | TangoConfig | config, |
| const char * | key, | ||
| bool | value | ||
| ) |
Set a boolean configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_SUCCESS on success; or TANGO_INVALID if config or key is NULL, or key is not found or could not be set. | TangoErrorType TangoConfig_setDouble | ( | TangoConfig | config, |
| const char * | key, | ||
| double | value | ||
| ) |
Set a double configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_SUCCESS on success; or TANGO_INVALID if config or key is NULL, or if key is not found or could not be set. | TangoErrorType TangoConfig_setInt32 | ( | TangoConfig | config, |
| const char * | key, | ||
| int32_t | value | ||
| ) |
Set an int32 configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_SUCCESS on success; or TANGO_INVALID if config or key is NULL, or if key is not found or could not be set. | TangoErrorType TangoConfig_setInt64 | ( | TangoConfig | config, |
| const char * | key, | ||
| int64_t | value | ||
| ) |
Set an int64 configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_SUCCESS on success; or TANGO_INVALID if config or key is NULL, or if key is not found or could not be set. | TangoErrorType TangoConfig_setString | ( | TangoConfig | config, |
| const char * | key, | ||
| const char * | value | ||
| ) |
Set a character string configuration parameter.
| config | The configuration object to set the parameter on. config must have been created with TangoConfig_getConfig(). |
| key | The string key value of the configuration parameter to set. |
| value | The value to set the configuration key to. |
TANGO_SUCCESS on success; or TANGO_INVALID if config or key is NULL, or if key is not found or could not be set.