Copyright 2014 Google Inc.
Project Tango will be deprecated on March 1st, 2018, and will be moved to the googlearchive Github organization. Access to the Tango API is unaffected (since it's an on-device APIs), but we will no longer support and update Tango.
SDK Download - https://developers.google.com/project-tango/downloads
Developer Website - https://developers.google.com/project-tango/apis/c
This contains the Project Tango C API examples.
These examples use the Gradle build system and were developed using Android Studio 2.1.
The cpp_basic_examples project includes basic examples showing how to compile and run an application using C/C++:
- hello_area_description - Use the Area Description API to create and manage Area Description Files.
- hello_depth_perception - Use the depth sensor.
- hello_motion_tracking - Use the Motion Tracking API to track the position of the Tango device in 3D space.
- hello_video - Render the RGB camera image using OpenGL.
Other examples in this repository show how to build an application for different use cases of Tango technology:
- cpp_augmented_reality_example - Achieve an augmented reality effect by rendering 3D objects overlaid on the camera image such that they appear to stay affixed in space.
- cpp_marker_detection_example - Build an augmented reality appliction to detect Alvar markers in real world, and to render 3D objects over the markers.
- cpp_mesh_builder_example - Use the depth sensor to build a mesh of the surrounding space.
- cpp_motion_tracking_example - Use Tango motion tracking to navigate in a virtual 3D world.
- cpp_plane_fitting_example - Build an AR application to detect planes in the real world to place objects in them.
- cpp_point_cloud_example - Acquire and render a cloud of 3D points using the depth sensor.
- cpp_point_to_point_example - Build a simple point-to-point measurement application using augmented reality and the depth sensor.
- cpp_rgb_depth_sync_example - Synchronize the depth sensor 3D information with the color camera information.
- cpp_video_stabilization_experiment - Stabilize the video by smoothing the pose and correcting for gravity.
The cpp_example_util project contains some common utility code that is used for many samples.
There are several apps to record images of the fisheye camera on Tango devices, notably, Tango ROS streamer, and Eyefish cam for Tango. In my experience, Tango ROS streamer publishes data from the depth camera, the color camera, and the fisheye camera, at a frequency ~15Hz which is also discussed at here, and publishes data from the IMU. Eyefish cam for Tango takes pictures with the fisheye camera. Both apps do not support accessing the fisheye camera with Android API >23, e.g., Asus Zenfone AR.
Our app developed from the Tango sample, hello_area_description, records data from the fisheye camera at a frequency ~30Hz, and from the IMU at ~200Hz with Android API >=23.
First of all, enable Developer option and USB debugging on the smartphone. From a computer with ADB, the command to install the apk to the smartphone is
adb install hello_area_description-release.apk
If failure "INSTALL_FAILED_UPDATE_INCOMPATIBLE or INSTALL_FAILED_ALREADY_EXISTS" crops up, you may need to uninstall an existing hello_area_description app from the phone.
To record data, open the app, C++ Hello Area Description Example, in the start screen, toggle Learning mode on, then Click Start button to start logging data in a new screen. For Lenovo Phab2, the new screen will display the captured fisheye images. But for Asus Zenfone, the new screen does not show the fisheye images because Android API24 does not support accessing the fisheye camera.
To finish logging, press Save ADF button in the new screen. A dialog comes up asking for a ADF name, click OK, as shown below.
You do not need to change the default name because existing data with the same ADF name will not be overwritten.
After a few seconds, you should be back to the start screen and you may record another session as you will.
But the recorded data are in a rosbag of arcane Tango messages, to access these data, you need to export them to ordinary files. To export them, press the Export ADF Bags button in the start screen, in the next screen, you should see the list of ADF bags that have not been exported on the left and the list of ADF bags that have been exported on the right. Press on one ADF bag you would like to export for about 2 seconds, then a dialog will come up showing options like Export bag data as shown below.
Press Export bag data, wait for some time which depends on the length of the ADF bag, you should be able to see the exported bag on the right panel.
To copy recorded and exported data from the phone to a computer, it is highly recommended to use the ADB tool. An example command line is
adb pull /sdcard/tango
where /sdcard/tango is dir in which the app's data are stored.
To create a rosbag from the exported data, you may use the python script kalibr_bagcreater.
python kalibr_bagcreater.py --folder="/data-dir/8cff2603-179e-22c9-8aba-66eb635cd2be/export" \
--imu="/data-dir/8cff2603-179e-22c9-8aba-66eb635cd2be/export/gyro_accel.csv" \
--output_bag="/data-dir/8cff2603-179e-22c9-8aba-66eb635cd2be/awesome.bag"
If you use the logger for your research, please consider citing the paper.
@INPROCEEDINGS{huai2019mars,
author={Jianzhu {Huai} and Yujia {Zhang} and Alper {Yilmaz}},
booktitle={2019 IEEE SENSORS},
title={The mobile AR sensor logger for Android and iOS devices},
year={2019},
volume={},
number={},
pages={},
ISSN={},
month={Oct},}
As a first step, view our FAQ page. You can find solutions to most issues there.
If you have general API questions related to Tango, we encourage you to post your question to our stack overflow page.
To learn more about general concepts and other information about the project, visit Project Tango Developer website.
Want to contribute? Great! First, read this page (including the small print at the end).
Before we can use your code, you must sign the Google Individual Contributor License Agreement (CLA), which you can do online. The CLA is necessary mainly because you own the copyright to your changes, even after your contribution becomes part of our codebase, so we need your permission to use and distribute your code. We also need to be sure of various other things—for instance, that you'll tell us if you know that your code infringes on other people's patents. You don't have to sign the CLA until after you've submitted your code for review and a member has approved it, but you must do it before we can put your code into our codebase. Before you start working on a larger contribution, you should get in touch with us first through the issue tracker with your idea so that we can help out and possibly guide you. Coordinating up front makes it much easier to avoid frustration later on.
All submissions, including submissions by project members, require review. We use Github pull requests for this purpose.
Contributions made by corporations are covered by a different agreement than the one above: the Software Grant and Corporate Contributor License Agreement.