Project Tango Enumerated Types

Enums for camera, configuration, coordinate frame, and error types.

Summary

Enumerations

TangoCalibrationType{
  TANGO_CALIBRATION_EQUIDISTANT,
  TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS,
  TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS,
  TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS
}
enum
Tango Camera Calibration types.
TangoCameraId{
  TANGO_CAMERA_COLOR = 0,
  TANGO_CAMERA_RGBIR,
  TANGO_CAMERA_FISHEYE,
  TANGO_CAMERA_DEPTH,
  TANGO_MAX_CAMERA_ID
}
enum
Tango Camera enumerations.
TangoConfigType{
  TANGO_CONFIG_DEFAULT = 0,
  TANGO_CONFIG_CURRENT,
  TANGO_CONFIG_MOTION_TRACKING,
  TANGO_CONFIG_AREA_LEARNING,
  TANGO_CONFIG_RUNTIME,
  TANGO_MAX_CONFIG_TYPE
}
enum
Tango runtime configuration enumerations.
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_MAX_COORDINATE_FRAME_TYPE
}
enum
Tango coordinate frame enumerations.
TangoDepthMode{
  TANGO_POINTCLOUD_XYZC = 0
}
enum
Tango depth data formats.
TangoErrorType{
  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
}
enum
Tango Error types.
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
}
enum
Tango Event types.
TangoImageFormatType{
  TANGO_HAL_PIXEL_FORMAT_RGBA_8888 = 1,
  TANGO_HAL_PIXEL_FORMAT_YV12 = 0x32315659,
  TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP = 0x11
}
enum
Tango Image Formats.
TangoPoseStatusType{
  TANGO_POSE_INITIALIZING = 0,
  TANGO_POSE_VALID,
  TANGO_POSE_INVALID,
  TANGO_POSE_UNKNOWN
}
enum
Tango pose status lifecycle enumerations.
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
Experimental API only, subject to change.
TangoRuntimeRecordingControl_Experimental{
  TANGO_RUNTIME_RECORDING_NO_CHANGE = 0,
  TANGO_RUNTIME_RECORDING_START = 1,
  TANGO_RUNTIME_RECORDING_STOP = 2
}
enum
Experimental API only, subject to change.

Enumerations

TangoCalibrationType

 TangoCalibrationType

Tango Camera Calibration types.

See TangoCameraIntrinsics for a detailed description.

Properties
TANGO_CALIBRATION_EQUIDISTANT

The FOV camera model described in Parallel tracking and mapping for small AR workspaces.

TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS

Brown's distortion model, with the parameter vector representing the distortion as [k1, k2].

TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS

Brown's distortion model, with the parameter vector representing the distortion as [k1, k2, k3].

TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS

Brown's distortion model, with the parameter vector representing the distortion as [k1, k2, p1, p2, k3].

TangoCameraId

 TangoCameraId

Tango Camera enumerations.

Properties
TANGO_CAMERA_COLOR

Back-facing color camera.

TANGO_CAMERA_DEPTH

Depth camera.

TANGO_CAMERA_FISHEYE

Back-facing fisheye wide-angle camera.

TANGO_CAMERA_RGBIR

Back-facing camera producing IR-sensitive images.

TANGO_MAX_CAMERA_ID

Maximum camera allowable.

TangoConfigType

 TangoConfigType

Tango runtime configuration enumerations.

Properties
TANGO_CONFIG_AREA_LEARNING

Area learning.

TANGO_CONFIG_CURRENT

Current.

TANGO_CONFIG_DEFAULT

Default, motion tracking only.

TANGO_CONFIG_MOTION_TRACKING

Motion tracking.

TANGO_CONFIG_RUNTIME

Runtime settable configuration.

TANGO_MAX_CONFIG_TYPE

Maximum number allowable.

TangoCoordinateFrameType

 TangoCoordinateFrameType

Tango coordinate frame enumerations.

Properties
TANGO_COORDINATE_FRAME_AREA_DESCRIPTION

Origin within a saved area description.

TANGO_COORDINATE_FRAME_CAMERA_COLOR

Color camera.

TANGO_COORDINATE_FRAME_CAMERA_DEPTH

Depth camera.

TANGO_COORDINATE_FRAME_CAMERA_FISHEYE

Fisheye camera.

TANGO_COORDINATE_FRAME_DEVICE

Device coordinate frame.

TANGO_COORDINATE_FRAME_DISPLAY

Display.

TANGO_COORDINATE_FRAME_GLOBAL_WGS84

Coordinate system for the entire Earth.

See WGS84: World Geodetic System

TANGO_COORDINATE_FRAME_IMU

Inertial Measurement Unit.

TANGO_COORDINATE_FRAME_PREVIOUS_DEVICE_POSE

Immediately previous device pose.

TANGO_COORDINATE_FRAME_START_OF_SERVICE

Origin when the device started tracking.

TANGO_COORDINATE_FRAME_UUID

Tango unique id.

TANGO_MAX_COORDINATE_FRAME_TYPE

Maximum allowed.

TangoDepthMode

 TangoDepthMode

Tango depth data formats.

Properties
TANGO_POINTCLOUD_XYZC

See TangoPointCloud.

TangoErrorType

 TangoErrorType

Tango Error types.

Errors less than 0 should be dealt with by the program. Success is denoted by TANGO_SUCCESS = 0.

Properties
TANGO_ERROR

This error code denotes some sort of hard error occurred.

TANGO_INVALID

The input argument is invalid.

TANGO_NO_ADF_PERMISSION

The user has not given permission to save or change ADF files.

TANGO_NO_CAMERA_PERMISSION

The user has not given permission to access the device's camera.

TANGO_NO_DATASET_PERMISSION

The user has not given permissions to read and write datasets.

TANGO_NO_IMPORT_EXPORT_PERMISSION

The user has not given permission to export or import ADF files.

TANGO_NO_MOTION_TRACKING_PERMISSION

The user has not given permission to use Motion Tracking functionality.

Note: Motion Tracking permission is deprecated, apps are always permitted.

TANGO_SUCCESS

This code indicates success.

TangoEventType

 TangoEventType

Tango Event types.

Properties
TANGO_EVENT_AREA_LEARNING

Area Learning Event.

TANGO_EVENT_CLOUD_ADF

Event related to cloud ADFs.

TANGO_EVENT_COLOR_CAMERA

Color Camera Event.

TANGO_EVENT_FEATURE_TRACKING

Feature Tracking Event.

TANGO_EVENT_FISHEYE_CAMERA

Fisheye Camera Event.

TANGO_EVENT_GENERAL

General uncategorized callbacks.

TANGO_EVENT_IMU

IMU Event.

TANGO_EVENT_UNKNOWN

Unclassified Event Type.

TangoImageFormatType

 TangoImageFormatType

Tango Image Formats.

Equivalent to those found in Android core/system/include/system/graphics.h. See TangoImageBuffer for a format description.

Properties
TANGO_HAL_PIXEL_FORMAT_RGBA_8888

RGBA 8888.

TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP

NV21.

TANGO_HAL_PIXEL_FORMAT_YV12

YV12.

TangoPoseStatusType

 TangoPoseStatusType

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).

Properties
TANGO_POSE_INITIALIZING

Motion estimation is being initialized.

TANGO_POSE_INVALID

The pose of this estimate is not valid.

TANGO_POSE_UNKNOWN

Could not estimate pose at this time.

TANGO_POSE_VALID

The pose of this estimate is valid.

TangoRecordingMode_Experimental

 TangoRecordingMode_Experimental

Experimental API only, subject to change.

Dataset recording mode.

Properties
TANGO_RECORDING_MODE_ALL

Contains motion data, depth, and fisheye and RGB images.

TANGO_RECORDING_MODE_MOTION_TRACKING

Contains only data required for motion tracking.

TANGO_RECORDING_MODE_MOTION_TRACKING_AND_FISHEYE

Contains data required for motion tracking, as well as fisheye images.

TANGO_RECORDING_MODE_SCENE_RECONSTRUCTION

Contains data required for motion tracking and scene reconstruction.

TANGO_RECORDING_MODE_UNKNOWN

Unknown dataset recording mode.

TangoRuntimeRecordingControl_Experimental

 TangoRuntimeRecordingControl_Experimental

Experimental API only, subject to change.

Runtime control of recording.

Properties
TANGO_RUNTIME_RECORDING_NO_CHANGE

Specifies that the recording should not change in this call to runtime config.

TANGO_RUNTIME_RECORDING_START

Start recording. Has no effect if recording has already been started.

TANGO_RUNTIME_RECORDING_STOP

Stop recording. Has no effect if recording is not currently started.

Send feedback about...

Tango C API
Tango C API