Android Tango depth camera capture support.

media/capture/video/android/tango_api.h

+// Copyright 2017 The Chromium Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+#ifndef MEDIA_CAPTURE_VIDEO_ANDROID_TANGO_API_H_
+#define MEDIA_CAPTURE_VIDEO_ANDROID_TANGO_API_H_
+
+#include <stdint.h>
+
+#include <memory>
+
+namespace media {
+
+// A helper class for dynamic loading of symbols from libtango_client_api.so and
+// invoking them. We load only a set of symbols required for capture.
+// libtango_client_api.so is present only on Android Tango devices.
+class TangoApi {
+ public:
+  using TangoConfig = void*;
+  enum TangoCameraId {
+    TANGO_CAMERA_COLOR = 0,  ///< Back-facing color camera
+    TANGO_CAMERA_RGBIR,    ///< Back-facing camera producing IR-sensitive images
+    TANGO_CAMERA_FISHEYE,  ///< Back-facing fisheye wide-angle camera
+    TANGO_CAMERA_DEPTH,    ///< Depth camera
+    TANGO_MAX_CAMERA_ID    ///< Maximum camera allowable
+  };
+
+  enum TangoConfigType {
+    TANGO_CONFIG_DEFAULT = 0,      ///< Default, motion tracking only.
+    TANGO_CONFIG_CURRENT,          ///< Current
+    TANGO_CONFIG_MOTION_TRACKING,  ///< Motion tracking
+    TANGO_CONFIG_AREA_LEARNING,    ///< Area learning
+    TANGO_CONFIG_RUNTIME,          ///< Runtime settable configuration
+    TANGO_MAX_CONFIG_TYPE          ///< Maximum number allowable
+  };
+
+  enum TangoErrorType {
+    TANGO_METHOD_NOT_FOUND = -8,
+    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,
+  };
+
+  struct TangoCameraIntrinsics {
+    TangoCameraId camera_id;
+    enum {
+      UNUSED,
+    } calibration_type;
+    uint32_t width;
+    uint32_t height;
+    double fx;
+    double fy;
+    double cx;
+    double cy;
+    double distortion[5];
+  };
+
+  struct TangoPointCloud {
+    uint32_t version;
+    double timestamp;
+    uint32_t num_points;
+    float (*points)[4];
+  };
+
+  // Returns nullptr if there is no library.
+  static std::unique_ptr<TangoApi> loadAndCreate();
+
+  TangoErrorType TangoService_setBinder(void* jni_env, void* iBinder);
+  TangoConfig TangoService_getConfig(TangoConfigType config_type);
+  TangoErrorType TangoService_connect(void* context, TangoConfig config);
+  void TangoService_disconnect();
+  TangoErrorType TangoService_connectOnPointCloudAvailable(
+      void (*TangoService_onPointCloudAvailable)(void* context,
+                                                 const TangoPointCloud* cloud),
+      ...);
+  TangoErrorType TangoService_getCameraIntrinsics(
+      TangoCameraId camera_id,
+      TangoCameraIntrinsics* intrinsics);
+  TangoErrorType TangoConfig_setBool(TangoConfig config,
+                                     const char* key,
+                                     bool value);
+  TangoErrorType TangoConfig_setInt32(TangoConfig config,
+                                      const char* key,
+                                      int32_t value);
+
+ private:
+  friend class VideoCaptureDeviceTangoAndroidTest;
+  explicit TangoApi(void* lib_client_api);
+  void* lib_ = nullptr;
+};
+
+}  // namespace media
+
+#endif /* MEDIA_CAPTURE_VIDEO_ANDROID_TANGO_API_H_ */