Tango 3D Reconstruction API types. More...
Tango 3D Reconstruction API types.
| typedef struct _Tango3DR_AreaDescription* Tango3DR_AreaDescription |
This provides a handle to an area description, which further encodes the trajectory of the device.
Definition at line 138 of file tango_3d_reconstruction_api.h.
| typedef struct Tango3DR_CameraCalibration Tango3DR_CameraCalibration |
The Tango3DR_CameraCalibration struct contains intrinsic parameters for a camera.
The fields have the same meaning as in TangoCameraIntrinsics.
| typedef uint8_t Tango3DR_Color[4] |
An array of four 8-bit integers describing a color in RGBA order.
Definition at line 152 of file tango_3d_reconstruction_api.h.
| typedef struct _Tango3DR_Config* Tango3DR_Config |
This provides a handle to a Tango3DR_Config; key/value pairs can only be accessed through API calls.
Definition at line 130 of file tango_3d_reconstruction_api.h.
| typedef uint32_t Tango3DR_Face[3] |
An array of three 32-bit integers describing a single triangle in an index buffer.
Definition at line 149 of file tango_3d_reconstruction_api.h.
| typedef struct Tango3DR_FloorplanLevel Tango3DR_FloorplanLevel |
Struct representing a single building level.
| typedef struct Tango3DR_FloorplanLevelArray Tango3DR_FloorplanLevelArray |
Struct representing building levels.
| typedef int Tango3DR_GridIndex[3] |
An array of three integers describing a specific index in the 3D Reconstruction volume grid.
Definition at line 156 of file tango_3d_reconstruction_api.h.
| typedef int Tango3DR_GridIndex2D[2] |
An array of two integers describing a specific location in the 2D.
Definition at line 159 of file tango_3d_reconstruction_api.h.
| typedef struct Tango3DR_GridIndexArray Tango3DR_GridIndexArray |
The Tango3DR_GridIndexArray struct contains indices into a three-dimensional grid of cells. Each grid cell contains voxels arranged in a 16x16x16 cube.
| typedef struct Tango3DR_ImageBuffer Tango3DR_ImageBuffer |
The Tango3DR_ImageBuffer struct contains information about a byte buffer holding image data.
The image data is commonly copied from TangoImageBuffer.
| typedef struct Tango3DR_Matrix3x3 Tango3DR_Matrix3x3 |
The Tango3DR_Matrix3x3 struct contains a single 3x3 matrix.
| typedef struct Tango3DR_Mesh Tango3DR_Mesh |
A mesh, described by vertices and face indices, with optional per-vertex normals, colors, and textures.
| typedef struct Tango3DR_PointCloud Tango3DR_PointCloud |
The Tango3DR_PointCloud struct contains depth information.
The depth information is commonly copied from TangoXYZij.
| typedef struct Tango3DR_Polygon Tango3DR_Polygon |
Struct representing a single 2D polyline or polygon.
| typedef struct Tango3DR_PolygonArray Tango3DR_PolygonArray |
2D vector graphics object. The polygons are sorted by decreasing surface area, so that it is safe to render them directly using the provided ordering. Note that polygons with negative surface area indicate holes that need to be rendered in the background color.
| typedef struct Tango3DR_Pose Tango3DR_Pose |
The Tango3DR_Pose struct contains pose information.
The pose information is commonly copied from TangoPoseData.
| typedef struct _Tango3DR_ReconstructionContext* Tango3DR_ReconstructionContext |
This provides a handle to a Tango 3D reconstruction context.
Definition at line 123 of file tango_3d_reconstruction_api.h.
| typedef struct Tango3DR_SignedDistanceVoxel Tango3DR_SignedDistanceVoxel |
The Tango3DR_SignedDistanceVoxel struct contains a single voxel.
| typedef float Tango3DR_TexCoord[2] |
An array of two floats describing a texture coordinate in UV order.
Definition at line 162 of file tango_3d_reconstruction_api.h.
| typedef struct _Tango3DR_TexturingContext* Tango3DR_TexturingContext |
This provides a handle to a Tango 3D texturing context.
Definition at line 126 of file tango_3d_reconstruction_api.h.
| typedef struct _Tango3DR_Trajectory* Tango3DR_Trajectory |
This provides a handle to a trajectory, representing a path traveled over time.
Definition at line 134 of file tango_3d_reconstruction_api.h.
| typedef float Tango3DR_Vector2[2] |
An array of two floats, commonly a 2D position.
Definition at line 345 of file tango_3d_reconstruction_api.h.
| typedef float Tango3DR_Vector3[3] |
An array of three floats, commonly a 3D position or normal.
Definition at line 141 of file tango_3d_reconstruction_api.h.
| typedef float Tango3DR_Vector4[4] |
An array of four floats, commonly a point cloud point with confidence.
Definition at line 145 of file tango_3d_reconstruction_api.h.
Enumeration of floor plan layers.
| TANGO_3DR_LAYER_SPACE | |
| TANGO_3DR_LAYER_WALLS | |
| TANGO_3DR_LAYER_FURNITURE | |
| TANGO_3DR_LAYER_OBSTACLES |
Definition at line 348 of file tango_3d_reconstruction_api.h.
Initialize an empty calibration struct.
| calibration | Pointer to camera calibration. |
TANGO_3DR_SUCCESS on successfully initializing the struct. Returns TANGO_3DR_INVALID if calibration is NULL. | Tango3DR_Status Tango3DR_CameraCalibration_loadFromDataset | ( | Tango3DR_CameraId | camera_id, |
| const char *const | dataset_path, | ||
| Tango3DR_CameraCalibration * | calibration | ||
| ) |
Load a camera calibration from a Tango dataset.
| camera_id | The id of the camera. See Tango3DR_CameraId. |
| dataset_path | Path to the folder containing the Tango dataset. |
| calibration | The calibration to be initialized. |
TANGO_3DR_SUCCESS on successful load. Returns TANGO_3DR_INVALID if on of the arguments is NULL, or if the provided camera_id is invalid. Returns@ TANGO_3DR_ERROR if the dataset cannot be found, or the calibration files in contains cannot be loaded. | Tango3DR_Status Tango3DR_GridIndexArray_destroy | ( | Tango3DR_GridIndexArray * | grid_index_array | ) |
Destroy a previously created grid index array.
| grid_index_array | Pointer to a previously created grid index array. |
TANGO_3DR_SUCCESS on successfully destroying the grid index array. Returns TANGO_3DR_INVALID if grid_index_array is NULL. | Tango3DR_Status Tango3DR_GridIndexArray_init | ( | const uint32_t | num_indices, |
| Tango3DR_GridIndexArray * | grid_index_array | ||
| ) |
Initialize a grid index array of a given size and allocate memory. Call Tango3DR_GridIndexArray_destroy to free the memory.
| num_indices | How many grid indices the newly allocated grid index array should be able to hold. |
| grid_index_array | Grid index array to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the array. Return TANGO_3DR_INVALID if array is NULL. | Tango3DR_Status Tango3DR_GridIndexArray_initEmpty | ( | Tango3DR_GridIndexArray * | grid_index_array | ) |
Initialize an empty grid index array.
| grid_index_array | Grid index array to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the array. Return TANGO_3DR_INVALID if array is NULL. Destroy a previously created image buffer.
| image | Pointer to a previously created image buffer. |
TANGO_3DR_SUCCESS on successfully destroying the image buffer. Returns TANGO_3DR_INVALID if image is NULL. | Tango3DR_Status Tango3DR_ImageBuffer_init | ( | uint32_t | width, |
| uint32_t | height, | ||
| Tango3DR_ImageFormatType | format, | ||
| Tango3DR_ImageBuffer * | image | ||
| ) |
Initialize an image buffer of a given size and allocate memory. Call Tango3DR_ImageBuffer_destroy to free the memory.
| width | Image width, in pixels. |
| height | Image height, in pixels. |
| format | Image format (see Tango3DR_ImageFormatType). |
TANGO_3DR_SUCCESS on successfully initializing the image. Return TANGO_3DR_INVALID if image is NULL. Initialize an empty image buffer.
| image | Image to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the buffer. Returns TANGO_3DR_INVALID if image is NULL. | Tango3DR_Status Tango3DR_ImageBuffer_loadFromPng | ( | const char *const | path, |
| Tango3DR_ImageBuffer * | image | ||
| ) |
Load an image from a .png file and allocate memory. Call Tango3DR_ImageBuffer_destroy to free the memory.
| path | Path to the input PNG file. |
| cloud | On successful return, this will have memory allocated and filled out with the loaded image. The output image will be in either TANGO_3DR_HAL_PIXEL_FORMAT_RGBA_8888 or TANGO_3DR_HAL_PIXEL_FORMAT_RGB_888 format. After use, free this by calling Tango3DR_ImageBuffer_destroy. |
TANGO_3DR_SUCCESS on successfully loading the image, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if loading failed. | Tango3DR_Status Tango3DR_ImageBuffer_loadFromPnm | ( | const char *const | path, |
| Tango3DR_ImageBuffer * | image | ||
| ) |
Load an image from a .pnm file and allocate memory. Call Tango3DR_ImageBuffer_destroy to free the memory.
| path | Path to the input PNM file. |
| cloud | On successful return, this will have memory allocated and filled out with the loaded image. The output image will be in TANGO_3DR_HAL_PIXEL_FORMAT_DEPTH16 format. After use, free this by calling Tango3DR_ImageBuffer_destroy. |
TANGO_3DR_SUCCESS on successfully loading the image, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if loading failed. | Tango3DR_Status Tango3DR_ImageBuffer_saveToPng | ( | const Tango3DR_ImageBuffer * | image, |
| const char *const | path | ||
| ) |
Save an image to a .png file. Only supports color images (in format TANGO_3DR_HAL_PIXEL_FORMAT_RGBA_8888, TANGO_3DR_HAL_PIXEL_FORMAT_RGB_888, or TANGO_3DR_HAL_PIXEL_FORMAT_YCrCb_420_SP).
| image | Image to be written. |
| path | Path to output PNG image. |
TANGO_3DR_SUCCESS on successfully saving the image, TANGO_3DR_INVALID if the parameters are not valid or if the image format is invalid, TANGO_3DR_ERROR if saving failed. | Tango3DR_Status Tango3DR_ImageBuffer_saveToPnm | ( | const Tango3DR_ImageBuffer * | image, |
| const char *const | path | ||
| ) |
Save an image to a .pnm file. Only supports depth images (in format TANGO_3DR_HAL_PIXEL_FORMAT_DEPTH16).
| image | Image to be written. |
| path | Path to output PNM image. |
TANGO_3DR_SUCCESS on successfully saving the image, TANGO_3DR_INVALID if the parameters are not valid or if the image format is invalid, TANGO_3DR_ERROR if saving failed. Destroy a previously created mesh.
| mesh | Pointer to a previously created mesh. |
TANGO_3DR_SUCCESS on successfully destroying the mesh. Returns TANGO_3DR_INVALID if mesh is NULL. | Tango3DR_Status Tango3DR_Mesh_init | ( | const uint32_t | vertices_capacity, |
| const uint32_t | faces_capacity, | ||
| const bool | allocate_normals, | ||
| const bool | allocate_colors, | ||
| const bool | allocate_tex_coords, | ||
| const bool | allocate_tex_ids, | ||
| const uint32_t | textures_capacity, | ||
| const uint32_t | textures_width, | ||
| const uint32_t | textures_height, | ||
| Tango3DR_Mesh * | mesh | ||
| ) |
Initialize a mesh of a given size and allocate memory. Call Tango3DR_Mesh_destroy to free the memory.
| vertices_capacity | Maximum number of vertices this mesh can hold. |
| faces_capacity | Maximum number of faces this mesh can hold. |
| allocate_normals | If the normal buffer should be allocated. |
| allocate_colors | If the color buffer should be allocated. |
| allocate_tex_coords | If the texture coordinate buffer should be allocated. |
| textures_capacity | Maximum number of textures this mesh can hold. |
| textures_width | Width in pixels of the texture image buffers allocated. |
| textures_height | Height in pixels of the texture image buffers allocated. |
| mesh | Mesh to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the mesh. Return TANGO_3DR_INVALID if mesh is NULL. Initialize an empty mesh.
| mesh | Mesh to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the mesh. Return TANGO_3DR_INVALID if mesh is NULL. | Tango3DR_Status Tango3DR_Mesh_loadFromObj | ( | const char *const | path, |
| Tango3DR_Mesh * | mesh | ||
| ) |
Load a mesh from a .obj file and allocate memory. Call Tango3DR_Mesh_destroy to free the memory.
| path | Path to the .obj mesh. |
| mesh | On successful return, this will have memory allocated and filled out with the loaded mesh. After use, free this by calling Tango3DR_Mesh_destroy. |
TANGO_3DR_SUCCESS on successfully loading a mesh, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if loading failed. | Tango3DR_Status Tango3DR_Mesh_saveToObj | ( | const Tango3DR_Mesh * | mesh, |
| const char *const | path | ||
| ) |
Save a mesh to an .obj file.
| mesh | Mesh to be saved. |
| path | On successful return, this file will contain the mesh in OBJ format. |
TANGO_3DR_SUCCESS on successfully saving a mesh, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if saving failed. Destroy a previously created point cloud.
| cloud | Pointer to a previously created cloud. |
TANGO_3DR_SUCCESS on successfully destroying the point cloud. Returns TANGO_3DR_INVALID if cloud is NULL. | Tango3DR_Status Tango3DR_PointCloud_init | ( | const uint32_t | num_points, |
| Tango3DR_PointCloud * | cloud | ||
| ) |
Initialize a point cloud of a given size and allocate memory. Call Tango3DR_PointCloud_destroy to free the memory.
| num_points | How many points the newly allocated point cloud should have. |
| cloud | Point cloud to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the cloud. Returns TANGO_3DR_INVALID if cloud is NULL. Initialize an empty point cloud.
| cloud | Point cloud to be initialized. |
TANGO_3DR_SUCCESS on successfully initializing the cloud. Returns TANGO_3DR_INVALID if cloud is NULL. | Tango3DR_Status Tango3DR_PointCloud_loadFromPly | ( | const char *const | path, |
| Tango3DR_PointCloud * | cloud | ||
| ) |
Load a point cloud from a .ply file and allocate memory. Call Tango3DR_PointCloud_destroy to free the memory.
| path | Path to the .ply file. |
| cloud | On successful return, this will have memory allocated and filled out with the loaded point cloud. After use, free this by calling Tango3DR_PointCloud_destroy. |
TANGO_3DR_SUCCESS on successfully loading the point cloud, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if loading failed. | Tango3DR_Status Tango3DR_PointCloud_saveToPly | ( | const Tango3DR_PointCloud * | cloud, |
| const char *const | path | ||
| ) |
Save a point cloud to a .ply file.
| mesh | Point cloud to be written. |
| path | Path to output PLY file. |
TANGO_3DR_SUCCESS on successfully saving the point cloud, TANGO_3DR_INVALID if the parameters are not valid, TANGO_3DR_ERROR if saving failed. | Tango3DR_Status Tango3DR_PointCloudToRectifiedDepthImage | ( | const Tango3DR_PointCloud * | cloud, |
| const Tango3DR_CameraCalibration * | depth_camera_calibration, | ||
| Tango3DR_ImageBuffer * | image | ||
| ) |
Converts a point cloud into a depth image.
The input point cloud is assumed to be metrically correct. No additional image rectification is performed. The output depth image can thus be considered rectified. The output image must be pre-allocated before calling this function, with dimensions that match the width and height, and a format of TANGO_3DR_HAL_PIXEL_FORMAT_DEPTH16.
| cloud | the input point cloud |
| depth_camera_calibration | calibration containing camera parameters used for conversion. The distortion coefficients are not used. |
| image | Pointer to preallocated image. |