File containing Project Tango C API. More...

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Include dependency graph for tango_client_api.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	TangoCameraIntrinsics

struct	TangoCameraMetadata

struct	TangoCoordinateFrameId

struct	TangoCoordinateFramePair
	The TangoCoordinateFramePair struct contains a pair of coordinate frames of reference. More...

struct	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. More...

struct	TangoImage

struct	TangoImageBuffer

struct	TangoPointCloud
	TangoPointCloud contains information returned from the depth sensor. More...

struct	TangoPoseData

struct	TangoTransformation

struct	TangoXYZij

Macros
#define	TANGO_COORDINATE_FRAME_ID_LEN 37

#define	TANGO_LEVEL_ID_BYTE_MAX_LEN 19

#define	TANGO_LEVEL_SHORT_NAME_BYTE_MAX_LEN 16

#define	TANGO_MAX_IMAGE_PLANES (4)

#define	TANGO_UUID_LEN 37

Typedefs
typedef void *	TangoAreaDescriptionMetadata

typedef int64_t	TangoBufferId

typedef struct TangoCameraIntrinsics	TangoCameraIntrinsics

typedef struct TangoCameraMetadata	TangoCameraMetadata

typedef void *	TangoConfig

typedef struct TangoCoordinateFrameId	TangoCoordinateFrameId

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. More...

typedef struct TangoImage	TangoImage

typedef struct TangoImageBuffer	TangoImageBuffer

typedef struct TangoPointCloud	TangoPointCloud
	TangoPointCloud contains information returned from the depth sensor. More...

typedef struct TangoPoseData	TangoPoseData

typedef void(*	TangoService_OnTextureAvailable) (void *, TangoCameraId)
	Callback for when a new camera texture is available. More...

typedef struct TangoTransformation	TangoTransformation

typedef char	TangoUUID[TANGO_UUID_LEN]

typedef struct TangoXYZij	TangoXYZij

Enumerations
enum	TangoCalibrationType { TANGO_CALIBRATION_UNKNOWN, TANGO_CALIBRATION_EQUIDISTANT, TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS, TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS, TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS }

enum	TangoCameraId { TANGO_CAMERA_COLOR = 0, TANGO_CAMERA_RGBIR, TANGO_CAMERA_FISHEYE, TANGO_CAMERA_DEPTH, TANGO_MAX_CAMERA_ID }
	Tango Camera enumerations. More...

enum	TangoConfigType { TANGO_CONFIG_DEFAULT = 0, TANGO_CONFIG_CURRENT, TANGO_CONFIG_MOTION_TRACKING, TANGO_CONFIG_AREA_LEARNING, TANGO_CONFIG_RUNTIME, TANGO_MAX_CONFIG_TYPE }
	Tango runtime configuration enumerations. More...

enum	TangoCoordinateFrameType { TANGO_COORDINATE_FRAME_GLOBAL_WGS84 = 0, TANGO_COORDINATE_FRAME_AREA_DESCRIPTION, TANGO_COORDINATE_FRAME_START_OF_SERVICE, TANGO_COORDINATE_FRAME_PREVIOUS_DEVICE_POSE, TANGO_COORDINATE_FRAME_DEVICE, TANGO_COORDINATE_FRAME_IMU, TANGO_COORDINATE_FRAME_DISPLAY, TANGO_COORDINATE_FRAME_CAMERA_COLOR, TANGO_COORDINATE_FRAME_CAMERA_DEPTH, TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, TANGO_COORDINATE_FRAME_UUID, TANGO_COORDINATE_FRAME_INVALID, TANGO_MAX_COORDINATE_FRAME_TYPE }
	Tango coordinate frame enumerations. More...

enum	TangoDepthMode { TANGO_POINTCLOUD_XYZIJ = -1, TANGO_POINTCLOUD_XYZC = 0 }
	Tango depth data formats. More...

enum	TangoErrorType { TANGO_NO_LOCATION_PERMISSION = -8, TANGO_NO_DATASET_PERMISSION = -7, TANGO_NO_IMPORT_EXPORT_PERMISSION = -6, TANGO_NO_CAMERA_PERMISSION = -5, TANGO_NO_ADF_PERMISSION = -4, TANGO_NO_MOTION_TRACKING_PERMISSION = -3, TANGO_INVALID = -2, TANGO_ERROR = -1, TANGO_SUCCESS = 0 }
	Tango Error types. Errors less than 0 should be dealt with by the program. Success is denoted by `TANGO_SUCCESS = 0`. More...

enum	TangoEventType { TANGO_EVENT_UNKNOWN = 0, TANGO_EVENT_GENERAL, TANGO_EVENT_FISHEYE_CAMERA, TANGO_EVENT_COLOR_CAMERA, TANGO_EVENT_IMU, TANGO_EVENT_FEATURE_TRACKING, TANGO_EVENT_AREA_LEARNING, TANGO_EVENT_CLOUD_ADF }
	Tango Event types. More...

enum	TangoImageFormatType { TANGO_HAL_PIXEL_FORMAT_RGBA_8888 = 1, TANGO_HAL_PIXEL_FORMAT_YV12 = 0x32315659, TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP = 0x11 }

enum	TangoPoseStatusType { TANGO_POSE_INITIALIZING = 0, TANGO_POSE_VALID, TANGO_POSE_INVALID, TANGO_POSE_UNKNOWN }
	Tango pose status lifecycle enumerations. Every pose has a state denoted by this enum, which provides information about the internal status of the position estimate. The application may use the status to decide what actions or rendering should be taken. A change in the status between poses and subsequent timestamps can denote lifecycle state changes. The status affects the rotation and position estimates. Other fields are considered valid (i.e. version or timestamp). More...

enum	TangoRecordingMode_Experimental { TANGO_RECORDING_MODE_UNKNOWN = -1, TANGO_RECORDING_MODE_MOTION_TRACKING = 0, TANGO_RECORDING_MODE_SCENE_RECONSTRUCTION = 1, TANGO_RECORDING_MODE_MOTION_TRACKING_AND_FISHEYE = 2, TANGO_RECORDING_MODE_ALL = 3 }

enum	TangoRuntimeRecordingControl_Experimental { TANGO_RUNTIME_RECORDING_NO_CHANGE = 0, TANGO_RUNTIME_RECORDING_START = 1, TANGO_RUNTIME_RECORDING_STOP = 2 }

Functions
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)

void	TangoConfig_free (TangoConfig config)

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)

char *	TangoConfig_toString (TangoConfig config)

TangoErrorType	TangoService_connect (void *context, TangoConfig config)

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_connectOnPointCloudAvailable (void(TangoService_onPointCloudAvailable)(void context, const TangoPointCloud *cloud),...)

TangoErrorType	TangoService_connectOnPoseAvailable (uint32_t count, const TangoCoordinateFramePair frames, void(TangoService_onPoseAvailable)(void context, const TangoPoseData pose),...)

TangoErrorType	TangoService_connectOnTangoEvent (void(TangoService_onTangoEvent)(void context, const TangoEvent *event),...)

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

TangoErrorType	TangoService_connectOnXYZijAvailable (void(TangoService_onXYZijAvailable)(void context, const TangoXYZij *xyz_ij),...)

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

TangoErrorType	TangoService_deleteAreaDescription (const TangoUUID uuid)

void	TangoService_disconnect ()

TangoErrorType	TangoService_disconnectCamera (TangoCameraId id)

TangoErrorType	TangoService_Experimental_connectTextureIdUnity (TangoCameraId id, unsigned int texture_y, unsigned int texture_Cb, unsigned int texture_Cr, void context, void(callback)(void *, TangoCameraId))

TangoErrorType	TangoService_Experimental_deleteDataset (const TangoUUID dataset_uuid)

TangoErrorType	TangoService_Experimental_getCurrentDatasetUUID (TangoUUID *dataset_uuid)

TangoErrorType	TangoService_Experimental_getDatasetUUIDs (TangoUUID *dataset_uuids, int num_dataset_uuids)

TangoErrorType	TangoService_Experimental_releaseDatasetUUIDs (TangoUUID **dataset_uuids)

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_getCameraIntrinsics (TangoCameraId camera_id, TangoCameraIntrinsics *intrinsics)

TangoConfig	TangoService_getConfig (TangoConfigType config_type)

TangoErrorType	TangoService_getPoseAtTime (double timestamp, TangoCoordinateFramePair frame, TangoPoseData *pose)

TangoErrorType	TangoService_importAreaDescription (const char src_file_path, TangoUUID uuid)

TangoErrorType	TangoService_initialize (void jni_env, void activity)

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

void	TangoService_resetMotionTracking ()

TangoErrorType	TangoService_saveAreaDescription (TangoUUID *uuid)

TangoErrorType	TangoService_saveAreaDescriptionMetadata (const TangoUUID uuid, TangoAreaDescriptionMetadata metadata)

TangoErrorType	TangoService_setBinder (void jni_env, void iBinder)

TangoErrorType	TangoService_setRuntimeConfig (TangoConfig tconfig)

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

File containing Project Tango C API.

Definition in file tango_client_api.h.

Macro Definition 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:

1 x = X / Z * fx * rd / ru + cx

2 y = Y / Z * fy * rd / ru + cy

The normalized radial distance ru is given by:

1 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:

1 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:

1 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 TangoPointCloud instead.

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_INVALID if the camera ID is not valid, or TANGO_ERROR if 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_SUCCESS if the dataset was successfully deleted, TANGO_ERROR if communication failed or the datasets could not be found, or TANGO_NO_DATASET_PERMISSION if 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_SUCCESS if the id was successfully retrieved, or TANGO_ERROR if 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_SUCCESS if the dataset UUIDs were successfully retrieved, TANGO_ERROR if communication failed or the datasets could not be enumerated, TANGO_NO_DATASET_PERMISSION if user has not given permissions to read and write datasets, or TANGO_INVALID if any of the arguments passed were NULL.

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_INVALID if any of the arguments passed were NULL; TANGO_SUCCESS otherwise.

Variables
const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_AREA_DESCRIPTION

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_CAMERA_COLOR

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_CAMERA_DEPTH

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_CAMERA_FISHEYE

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_DEVICE

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_DISPLAY

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_GLOBAL_WGS84

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_IMU

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_NONE

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_PREVIOUS_DEVICE_POSE

const TangoCoordinateFrameId	TANGO_COORDINATE_FRAME_ID_START_OF_SERVICE

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation