bool TangoData::ConnectCallbacks() {
// Attach the onXYZijAvailable callback.
if (TangoService_connectOnXYZijAvailable(onXYZijAvailable) != TANGO_SUCCESS) {
LOGI("TangoService_connectOnXYZijAvailable(): Failed");
return false;
}
// Set the reference frame pair after connect to service.
// Currently the API will set this set below as default.
TangoCoordinateFramePair pairs;
pairs.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pairs.target = TANGO_COORDINATE_FRAME_DEVICE;
// Attach onPoseAvailable callback.
if (TangoService_connectOnPoseAvailable(1, &pairs, onPoseAvailable) !=
TANGO_SUCCESS) {
LOGI("TangoService_connectOnPoseAvailable(): Failed");
return false;
}
// Attach onFrameAvailable callback.
if (TangoService_connectOnFrameAvailable(TANGO_CAMERA_COLOR, NULL, onFrameAvailable) !=
TANGO_SUCCESS) {
LOGI("TangoService_connectOnFrameAvailable(): Failed");
return false;
}
// Set the event callback listener.
if (TangoService_connectOnTangoEvent(onTangoEvent) != TANGO_SUCCESS) {
LOGI("TangoService_connectOnTangoEvent(): Failed");
return false;
}
return true;
}
void FrameBuffer::setup() {
int ret = TangoService_connectOnFrameAvailable(TANGO_CAMERA_COLOR, NULL, onFrameAvailable);
if (ret == TANGO_SUCCESS) {
LOGD("onFrameAvailable connected");
if (FrameBuffer::latestBuffer == NULL) {
FrameBuffer::latestBuffer = new uint8_t[BUFFER_SIZE];
} else {
LOGE("frameBuffer is already initialized");
}
} else {
LOGE("Error connecting color frame %d", ret);
}
}
