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これぐらいなら頑張れそう
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--- tango_client_api_opaque.h 2016-06-04 14:41:51.000000000 +0900 | |
+++ tango_client_api_mira.h 2016-06-04 14:41:56.000000000 +0900 | |
@@ -16,6 +16,7 @@ | |
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 | |
} TangoCoordinateFrameType; | |
@@ -50,11 +51,28 @@ | |
typedef enum { | |
TANGO_RECORDING_MODE_UNKNOWN = -1, | |
TANGO_RECORDING_MODE_MOTION_TRACKING = 0, | |
- TANGO_RECORDING_MODE_SCENE_RECONSTRUTCION = 1, | |
+ TANGO_RECORDING_MODE_SCENE_RECONSTRUCTION = 1, | |
+ TANGO_RECORDING_MODE_MOTION_TRACKING_AND_FISHEYE = 2, | |
+ TANGO_RECORDING_MODE_ALL = 3 | |
} TangoRecordingMode_Experimental; | |
typedef void *TangoConfig; | |
#define TANGO_UUID_LEN 37 | |
+#define TANGO_COORDINATE_FRAME_ID_BYTE_LEN 16 | |
+#define TANGO_LEVEL_SHORT_NAME_BYTE_MAX_LEN 16 | |
+#define TANGO_LEVEL_ID_BYTE_MAX_LEN 19 | |
typedef char TangoUUID[TANGO_UUID_LEN]; | |
+typedef struct TangoCoordinateFrameId { uint8_t data[TANGO_COORDINATE_FRAME_ID_BYTE_LEN]; } TangoCoordinateFrameId; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_NONE = {{0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_GLOBAL_WGS84 = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_AREA_DESCRIPTION = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_START_OF_SERVICE = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_PREVIOUS_DEVICE_POSE = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_DEVICE = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_IMU = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_DISPLAY = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_CAMERA_COLOR = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_CAMERA_DEPTH = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08}}; | |
+const TangoCoordinateFrameId TANGO_COORDINATE_FRAME_ID_CAMERA_FISHEYE = {{0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09}}; | |
typedef void *TangoAreaDescriptionMetadata; | |
typedef struct { | |
TangoCoordinateFrameType base; | |
@@ -70,6 +88,10 @@ | |
uint32_t confidence; | |
float accuracy; | |
} TangoPoseData; | |
+typedef struct TangoTransformation { | |
+ double orientation[4]; | |
+ double translation[3]; | |
+} TangoTransformation; | |
typedef struct TangoImageBuffer { | |
uint32_t width; | |
uint32_t height; | |
@@ -106,19 +128,31 @@ | |
const char *event_key; | |
const char *event_value; | |
} TangoEvent; | |
+typedef struct LevelData { | |
+ uint32_t version; | |
+ char short_name[TANGO_LEVEL_SHORT_NAME_BYTE_MAX_LEN]; | |
+ int32_t level_number_E3; | |
+ char level_id[TANGO_LEVEL_ID_BYTE_MAX_LEN]; | |
+} LevelData; | |
#ifdef __cplusplus | |
extern "C" { | |
#endif | |
void TangoConfig_free(TangoConfig config); | |
char *TangoConfig_toString(TangoConfig config); | |
TangoErrorType TangoService_initialize(JNIEnv *env, jobject activity); | |
+TangoErrorType TangoService_setBinder(JNIEnv *env, jobject iBinder); | |
TangoConfig TangoService_getConfig(TangoConfigType config_type); | |
TangoErrorType TangoService_connect(void *context, TangoConfig config); | |
TangoErrorType TangoService_setRuntimeConfig(TangoConfig tconfig); | |
void TangoService_disconnect(); | |
void TangoService_resetMotionTracking(); | |
TangoErrorType TangoService_connectOnPoseAvailable(uint32_t count, const TangoCoordinateFramePair *frames, void (*TangoService_onPoseAvailable)(void *context, const TangoPoseData *pose), ...); | |
+TangoErrorType TangoService_connectOnLevelDataChanged(void (*TangoService_onLevelDataChanged)(void *context, const LevelData *level_data), ...); | |
TangoErrorType TangoService_getPoseAtTime(double timestamp, TangoCoordinateFramePair frame, TangoPoseData *pose); | |
+TangoErrorType TangoService_Experimental_getPoseAtTime2(double timestamp, TangoCoordinateFrameId base_frame_id, TangoCoordinateFrameId target_frame_id, TangoPoseData *return_pose); | |
+TangoErrorType TangoService_Experimental_createFrameOfInterest(double timestamp, TangoCoordinateFrameId base_frame_id, TangoTransformation tango_transformation, TangoCoordinateFrameId *foi_id); | |
+TangoErrorType TangoService_Experimental_updateFrameOfInterest(double timestamp, TangoCoordinateFrameId base_frame_id, TangoTransformation tango_transformation, TangoCoordinateFrameId foi_id); | |
+TangoErrorType TangoService_Experimental_deleteFrameOfInterest(TangoCoordinateFrameId foi_id); | |
TangoErrorType TangoService_connectOnXYZijAvailable(void (*TangoService_onXYZijAvailable)(void *context, const TangoXYZij *xyz_ij), ...); | |
TangoErrorType TangoService_connectOnTangoEvent(void (*TangoService_onTangoEvent)(void *context, const TangoEvent *event), ...); | |
TangoErrorType TangoService_connectTextureId(TangoCameraId id, unsigned int tex, void *context, void (*callback)(void *, TangoCameraId)); | |
@@ -190,10 +224,13 @@ | |
TangoErrorType TangoService_Experimental_freeTrajectory(TangoPositionData_Experimental **trajectory); | |
TangoErrorType TangoService_Experimental_loadAreaDescription(const TangoUUID uuid); | |
TangoErrorType TangoService_Experimental_loadAreaDescriptionFromFile(const char *file_path); | |
+TangoErrorType TangoService_Experimental_unloadAreaDescriptionFromFile(const char *file_path); | |
+TangoErrorType TangoService_Experimental_loadNavigationGraphFromFile(const char *file_path); | |
TangoErrorType TangoService_Experimental_getDatasetUUIDs(TangoUUID **dataset_uuids, int *num_dataset_uuids); | |
TangoErrorType TangoService_Experimental_releaseDatasetUUIDs(TangoUUID **dataset_uuids); | |
TangoErrorType TangoService_Experimental_deleteDataset(const TangoUUID dataset_uuid); | |
TangoErrorType TangoService_Experimental_getCurrentDatasetUUID(TangoUUID *dataset_uuid); | |
+TangoErrorType TangoService_Experimental_getLastIndoorLevel(LevelData *level_data); | |
#ifdef __cplusplus | |
} | |
#endif |
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License
Of course, this diff is a derived work of Google licensed under Apache 2.0 (ref: https://github.com/muojp/ProjectTangoPlugin/blob/master/ThirdParty/Public/tango_client_api.h#L1-L13 ).
How to get this diff:
cloc --strip-comments=o ./ThirdParty/Public/tango_client_api.h
cloc --strip-comments=o ~/path/to/tango/sdk/tango_client_api.h
.. strip one-line comments and trailing whitespaces using regexp in vim ..
clang-format -i -style="{ColumnLimit: 200}" tango_client_api_mira.h
clang-format -i -style="{ColumnLimit: 200}" tango_client_api_opaque.h
diff -u tango_client_api_opaque.h tango_client_api_mira.h > tango_client_api_opaque_mira.diff