MotionTrackerCameraDevice Class

Description

MotionTrackerCameraDevice实现了一个真实尺度6DOF运动追踪的camera设备,输出 InputFrame (包含图像、摄像机参数、时间戳、6DOF位置信息和跟踪状态)。

创建之后,可以调用start/stop来开始和停止数据流。

当不再需要该设备时,可以调用close对其进行关闭。close之后不应继续使用。

MotionTrackerCameraDevice通过inputFrameSource输出 InputFrame ,应将inputFrameSource连接到 InputFrameSink 上进行使用。参考 概览 _ 。

Constructor

创建MotionTrackerCameraDevice对象。

C

void easyar_MotionTrackerCameraDevice__ctor(easyar_MotionTrackerCameraDevice * * Return)

C++17

MotionTrackerCameraDevice()

Java

public MotionTrackerCameraDevice()

Kotlin

constructor()

Objective-C

+ (easyar_MotionTrackerCameraDevice *) create

Swift

public convenience init()

C#

public MotionTrackerCameraDevice()

isAvailable

检查设备是否支持Motion Tracking. 当设备支持运动追踪功能时返回True,否则返回False。

C

bool easyar_MotionTrackerCameraDevice_isAvailable(void)

C++17

static bool isAvailable()

Java

public static boolean isAvailable()

Kotlin

companion object fun isAvailable(): Boolean

Objective-C

+ (bool)isAvailable

Swift

public static func isAvailable() -> Bool

C#

public static bool isAvailable()

getQualityLevel

获取设备上Motion Tracking的质量,结合应用场景,可以通过此值判断是否启动Motion Tracking。

C

easyar_MotionTrackerCameraDeviceQualityLevel easyar_MotionTrackerCameraDevice_getQualityLevel(void)

C++17

static MotionTrackerCameraDeviceQualityLevel getQualityLevel()

Java

public static int getQualityLevel()

Kotlin

companion object fun getQualityLevel(): Int

Objective-C

+ (easyar_MotionTrackerCameraDeviceQualityLevel)getQualityLevel

Swift

public static func getQualityLevel() -> MotionTrackerCameraDeviceQualityLevel

C#

public static MotionTrackerCameraDeviceQualityLevel getQualityLevel()

setFrameRateType

设置当前设备的当前帧率。在start之前调用。如果该功能不被调用,默认是30fps

C

bool easyar_MotionTrackerCameraDevice_setFrameRateType(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceFPS fps)

C++17

bool setFrameRateType(MotionTrackerCameraDeviceFPS fps)

Java

public boolean setFrameRateType(int fps)

Kotlin

fun setFrameRateType(fps: Int): Boolean

Objective-C

- (bool)setFrameRateType:(easyar_MotionTrackerCameraDeviceFPS)fps

Swift

public func setFrameRateType(_ fps: MotionTrackerCameraDeviceFPS) -> Bool

C#

public virtual bool setFrameRateType(MotionTrackerCameraDeviceFPS fps)

setFocusMode

设置对焦模式为focusMode。在start之前调用。如果该功能不被调用,默认是连续自动对焦

C

bool easyar_MotionTrackerCameraDevice_setFocusMode(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceFocusMode focusMode)

C++17

bool setFocusMode(MotionTrackerCameraDeviceFocusMode focusMode)

Java

public boolean setFocusMode(int focusMode)

Kotlin

fun setFocusMode(focusMode: Int): Boolean

Objective-C

- (bool)setFocusMode:(easyar_MotionTrackerCameraDeviceFocusMode)focusMode

Swift

public func setFocusMode(_ focusMode: MotionTrackerCameraDeviceFocusMode) -> Bool

C#

public virtual bool setFocusMode(MotionTrackerCameraDeviceFocusMode focusMode)

setFrameResolutionType

设置帧分辨率。在start之前调用。如果该功能不被调用,默认是1280x960或者1280x720

C

bool easyar_MotionTrackerCameraDevice_setFrameResolutionType(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceResolution resolution)

C++17

bool setFrameResolutionType(MotionTrackerCameraDeviceResolution resolution)

Java

public boolean setFrameResolutionType(int resolution)

Kotlin

fun setFrameResolutionType(resolution: Int): Boolean

Objective-C

- (bool)setFrameResolutionType:(easyar_MotionTrackerCameraDeviceResolution)resolution

Swift

public func setFrameResolutionType(_ resolution: MotionTrackerCameraDeviceResolution) -> Bool

C#

public virtual bool setFrameResolutionType(MotionTrackerCameraDeviceResolution resolution)

setTrackingMode

设置跟踪模式。在start之前调用。如果该功能不被调用,默认是锚点模式

C

bool easyar_MotionTrackerCameraDevice_setTrackingMode(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceTrackingMode trackingMode)

C++17

bool setTrackingMode(MotionTrackerCameraDeviceTrackingMode trackingMode)

Java

public boolean setTrackingMode(int trackingMode)

Kotlin

fun setTrackingMode(trackingMode: Int): Boolean

Objective-C

- (bool)setTrackingMode:(easyar_MotionTrackerCameraDeviceTrackingMode)trackingMode

Swift

public func setTrackingMode(_ trackingMode: MotionTrackerCameraDeviceTrackingMode) -> Bool

C#

public virtual bool setTrackingMode(MotionTrackerCameraDeviceTrackingMode trackingMode)

setBufferCapacity

设置 InputFrame 缓冲的容量。

bufferCapacity表示 InputFrame 缓冲的容量,如果有超过此数量的 InputFrame 从该设备中输出并且没有被释放,该设备将不再输出新的 InputFrame ,直到之前的 InputFrame 被释放。这可能造成画面卡住等问题。参考 概览 _ 。

C

void easyar_MotionTrackerCameraDevice_setBufferCapacity(easyar_MotionTrackerCameraDevice * This, int capacity)

C++17

void setBufferCapacity(int capacity)

Java

public void setBufferCapacity(int capacity)

Kotlin

fun setBufferCapacity(capacity: Int): Unit

Objective-C

- (void)setBufferCapacity:(int)capacity

Swift

public func setBufferCapacity(_ capacity: Int32) -> Void

C#

public virtual void setBufferCapacity(int capacity)

bufferCapacity

获取 InputFrame 缓冲的容量,默认值为8。

C

int easyar_MotionTrackerCameraDevice_bufferCapacity(const easyar_MotionTrackerCameraDevice * This)

C++17

int bufferCapacity()

Java

public int bufferCapacity()

Kotlin

fun bufferCapacity(): Int

Objective-C

- (int)bufferCapacity

Swift

public func bufferCapacity() -> Int32

C#

public virtual int bufferCapacity()

inputFrameSource

InputFrame 输出端口。

C

void easyar_MotionTrackerCameraDevice_inputFrameSource(easyar_MotionTrackerCameraDevice * This, easyar_InputFrameSource * * Return)

C++17

std::shared_ptr<InputFrameSource> inputFrameSource()

Java

public @Nonnull InputFrameSource inputFrameSource()

Kotlin

fun inputFrameSource(): InputFrameSource

Objective-C

- (easyar_InputFrameSource *)inputFrameSource

Swift

public func inputFrameSource() -> InputFrameSource

C#

public virtual InputFrameSource inputFrameSource()

start

开始运动追踪,或者从暂停中触发重定位,成功后继续追踪。

注意:如果设备是调用stop暂停后再调用start追踪,会触发重定位,当重定位成功以后才会继续追踪。

C

bool easyar_MotionTrackerCameraDevice_start(easyar_MotionTrackerCameraDevice * This)

C++17

bool start()

Java

public boolean start()

Kotlin

fun start(): Boolean

Objective-C

- (bool)start

Swift

public func start() -> Bool

C#

public virtual bool start()

stop

暂停运动追踪。调用start触发重定位,重定位成功后继续运动追踪。

C

void easyar_MotionTrackerCameraDevice_stop(easyar_MotionTrackerCameraDevice * This)

C++17

void stop()

Java

public void stop()

Kotlin

fun stop(): Unit

Objective-C

- (void)stop

Swift

public func stop() -> Void

C#

public virtual void stop()

close

关闭运动追踪过程。close之后不应继续使用。

C

void easyar_MotionTrackerCameraDevice_close(easyar_MotionTrackerCameraDevice * This)

C++17

void close()

Java

public void close()

Kotlin

fun close(): Unit

Objective-C

- (void)close

Swift

public func close() -> Void

C#

public virtual void close()

hitTestAgainstPointCloud

在当前点云中进行Hit Test,得到距离相机从近到远一条射线上的最近的一个3D点位置坐标。该点由三个连续的值表示,分别代表X,Y,Z轴上的坐标值。

输入图像坐标系([0, 1]^2)的x朝右、y朝下,原点在左上角。可以使用 CameraParameters.imageCoordinatesFromScreenCoordinates 来从屏幕坐标转换为图像坐标。

C

void easyar_MotionTrackerCameraDevice_hitTestAgainstPointCloud(easyar_MotionTrackerCameraDevice * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)

C++17

std::vector<Vec3F> hitTestAgainstPointCloud(Vec2F cameraImagePoint)

Java

public java.util.@Nonnull ArrayList<@Nonnull Vec3F> hitTestAgainstPointCloud(@Nonnull Vec2F cameraImagePoint)

Kotlin

fun hitTestAgainstPointCloud(cameraImagePoint: Vec2F): ArrayList<Vec3F>

Objective-C

- (NSArray<easyar_Vec3F *> *)hitTestAgainstPointCloud:(easyar_Vec2F *)cameraImagePoint

Swift

public func hitTestAgainstPointCloud(_ cameraImagePoint: Vec2F) -> [Vec3F]

C#

public virtual List<Vec3F> hitTestAgainstPointCloud(Vec2F cameraImagePoint)

hitTestAgainstHorizontalPlane

在当前视野内实时检测到的水平面上进行Hit Test,点击到某个水平面后返回该平面上距离Hit Test射线最近的3D点的位置坐标。

输入图像坐标系([0, 1]^2)的x朝右、y朝下,原点在左上角。可以使用 CameraParameters.imageCoordinatesFromScreenCoordinates 来从屏幕坐标转换为图像坐标。

输出为平面上的点云在世界坐标系中的坐标。每一个点由三个连续的值表示,分别代表X,Y,Z轴上的坐标值。

C

void easyar_MotionTrackerCameraDevice_hitTestAgainstHorizontalPlane(easyar_MotionTrackerCameraDevice * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)

C++17

std::vector<Vec3F> hitTestAgainstHorizontalPlane(Vec2F cameraImagePoint)

Java

public java.util.@Nonnull ArrayList<@Nonnull Vec3F> hitTestAgainstHorizontalPlane(@Nonnull Vec2F cameraImagePoint)

Kotlin

fun hitTestAgainstHorizontalPlane(cameraImagePoint: Vec2F): ArrayList<Vec3F>

Objective-C

- (NSArray<easyar_Vec3F *> *)hitTestAgainstHorizontalPlane:(easyar_Vec2F *)cameraImagePoint

Swift

public func hitTestAgainstHorizontalPlane(_ cameraImagePoint: Vec2F) -> [Vec3F]

C#

public virtual List<Vec3F> hitTestAgainstHorizontalPlane(Vec2F cameraImagePoint)

getLocalPointsCloud

获取当前点云数据位置信息。其中点云位置为世界坐标系中的位置,每一个点由三个连续的值表示,分别代表X,Y,Z轴上的坐标值。

C

void easyar_MotionTrackerCameraDevice_getLocalPointsCloud(easyar_MotionTrackerCameraDevice * This, easyar_ListOfVec3F * * Return)

C++17

std::vector<Vec3F> getLocalPointsCloud()

Java

public java.util.@Nonnull ArrayList<@Nonnull Vec3F> getLocalPointsCloud()

Kotlin

fun getLocalPointsCloud(): ArrayList<Vec3F>

Objective-C

- (NSArray<easyar_Vec3F *> *)getLocalPointsCloud

Swift

public func getLocalPointsCloud() -> [Vec3F]

C#

public virtual List<Vec3F> getLocalPointsCloud()