bool TangoData::SetConfig() {
// Allocate a TangoConfig object.
if ((config_ = TangoConfig_alloc()) == NULL) {
LOGE("TangoService_allocConfig(): Failed");
return false;
}
// Get the default TangoConfig.
if (TangoService_getConfig(TANGO_CONFIG_DEFAULT, config_) != TANGO_SUCCESS) {
LOGE("TangoService_getConfig(): Failed");
return false;
}
// Enable depth.
if (TangoConfig_setBool(config_, "config_enable_depth", true) != TANGO_SUCCESS) {
LOGI("config_enable_depth Failed");
return false;
}
// Disable motion tracking.
if (TangoConfig_setBool(config_, "config_enable_motion_tracking", false) != TANGO_SUCCESS) {
LOGI("config_disable_motion_tracking Failed");
return false;
}
// Attach the onXYZijAvailable callback.
if (TangoService_connectOnXYZijAvailable(onXYZijAvailable) != TANGO_SUCCESS) {
LOGI("TangoService_connectOnXYZijAvailable(): Failed");
return false;
}
return true;
}
// Set up Tango Configuration handle, and connecting all callbacks.
bool TangoData::SetConfig() {
// Get the default TangoConfig.
config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
if (config_ == NULL) {
LOGE("TangoService_getConfig(): Failed");
return false;
}
// Enable depth.
if (TangoConfig_setBool(config_, "config_enable_depth", true) !=
TANGO_SUCCESS) {
LOGE("config_enable_depth Failed");
return false;
}
// Enable color.
if (TangoConfig_setBool(config_, "config_enable_color_camera", true) !=
TANGO_SUCCESS) {
LOGE("config_enable_color_camera Failed");
return false;
}
// Get library version string from service.
if (TangoConfig_getString(
config_, "tango_service_library_version",
const_cast<char*>(
TangoData::GetInstance().lib_version_string.c_str()),
kVersionStringLength) != TANGO_SUCCESS) {
LOGE("Get tango_service_library_version Failed");
return false;
}
// Get max point cloud elements. The value is used for allocating
// the depth buffer.
int temp = 0;
if (TangoConfig_getInt32(config_, "max_point_cloud_elements", &temp) !=
TANGO_SUCCESS) {
LOGE("Get max_point_cloud_elements Failed");
return false;
}
max_vertex_count = static_cast<uint32_t>(temp);
// Forward allocate the maximum size of depth buffer.
// max_vertex_count is the vertices count, max_vertex_count*3 is
// the actual float buffer size.
depth_buffer = new float[3 * max_vertex_count];
return true;
}
bool TangoData::SetConfig(bool is_auto_recovery) {
// Get the default TangoConfig.
// We get the default config first and change the config
// flag as needed.
config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
if (config_ == NULL) {
LOGE("TangoService_getConfig(): Failed");
return false;
}
// Turn on auto recovery for motion tracking.
// Note that the auto-recovery is on by default.
if (TangoConfig_setBool(config_, "config_enable_auto_recovery",
is_auto_recovery) != TANGO_SUCCESS) {
LOGE("config_enable_auto_recovery(): Failed");
return false;
}
// Get library version string from service.
TangoConfig_getString(config_, "tango_service_library_version",
const_cast<char*>(lib_version_string.c_str()),
kVersionStringLength);
// Setting up the start of service to ADF frame for the onPoseAvailable
// callback,
// it will check the localization status.
TangoCoordinateFramePair pair;
pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.target = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
// Attach onPoseAvailable callback.
// The callback will be called after the service is connected.
if (TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailable) !=
TANGO_SUCCESS) {
LOGE("TangoService_connectOnPoseAvailable(): Failed");
return false;
}
// Attach onEventAvailable callback.
// The callback will be called after the service is connected.
if (TangoService_connectOnTangoEvent(onTangoEvent) != TANGO_SUCCESS) {
LOGE("TangoService_connectOnTangoEvent(): Failed");
return false;
}
// Load the most recent ADF.
char* uuid_list;
// uuid_list will contain a comma separated list of UUIDs.
if (TangoService_getAreaDescriptionUUIDList(&uuid_list) != TANGO_SUCCESS) {
LOGI("TangoService_getAreaDescriptionUUIDList");
}
// Parse the uuid_list to get the individual uuids.
if (uuid_list != NULL && uuid_list[0] != '\0') {
vector<string> adf_list;
char* parsing_char;
parsing_char = strtok(uuid_list, ",");
while (parsing_char != NULL) {
string s = string(parsing_char);
adf_list.push_back(s);
parsing_char = strtok(NULL, ",");
}
int list_size = adf_list.size();
if (list_size == 0) {
LOGE("List size is 0");
return false;
}
cur_uuid = adf_list[list_size - 1];
if (TangoConfig_setString(config_, "config_load_area_description_UUID",
adf_list[list_size - 1].c_str()) !=
TANGO_SUCCESS) {
LOGE("config_load_area_description_uuid Failed");
return false;
} else {
LOGI("Load ADF: %s", adf_list[list_size - 1].c_str());
}
} else {
LOGE("No area description file available, no file loaded.");
}
is_localized = false;
return true;
}