Boleo is an unofficial C++ utility library, for use with the C interface of Google's Project Tango. It was written with the objective of making the C interface easier and safer to use, especially in conjunction with useful C++ standard library facilities and select 3rd party libraries (OpenCV and PCL).

Features

Function templates are provided for accessing TangoConfig entries, featuring:

• Compile-time type safety
• Exception-based error handling

Error handling utilities:

• TangoException is derived from std::system_error, in order to facilitate propagation of API errors via exceptions.
• TangoErrorCategory facilitates error message lookup, within the context of exception handling.
• ThrowError() and ThrowIfError() wrap TangoErrorType error codes in TangoExceptions and throw.
• BOLEO_THROW_IF_ERROR() wraps ThrowIfError(), using the parameter as the error description (similar to assert()).
• SafeCall() trampoline functions provide convenient last-resort exception handling.

Point Cloud Library interoperability:

• Conversion from TangoPointCloud to pcl::PointCloud< T >.

Documentation

API documentation is provided via doxygen. If you have it installed, build the 'doc' target. You'll find the results in doc/html/ of the build area. During installation, these are copied to ${CMAKE_INSTALL_PREFIX}/share/doc/boleo/html/.

Otherwise, you can download the docs package from the releases section of the Github page.

Header Files

Details are distributed among the respective header files, with usage examples often appearing in the file descriptions, themselves. The public header files are:

• exceptions.hpp - exception class & utilities for TangoErrors.
• safe_call.hpp - exception-handling support for JNI methods.
• config.hpp - utilities for working with TangoConfig.
• pcl.hpp - interoperability with Point Cloud Library.

License

Distributed under the Boost Software License, Version 1.0. See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt

API Stability

Everything prior to v1.0 is subject to change. After that, only a recompile should be needed to upgrade user code to new releases with the same major revision.

Since this is intended to be distributed with your app, no guarantees are made about binary compatibility, between any two releases.

More Information

The current home of this library is https://github.com/mattgruenke/boleo

For more on Google's Project Tango, see https://developers.google.com/tango/