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()
C++03: 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()
C++03: 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()

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)
C++03: 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)
C++03: 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¶

设置当前设备的当前帧分辨率率。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)
C++03: 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)

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)
C++03: 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()
C++03: 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()
C++03: void inputFrameSource(InputFrameSource * * Return)
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()
C++03: 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()
C++03: 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()
C++03: 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)
C++03: void hitTestAgainstPointCloud(Vec2F cameraImagePoint, ListOfVec3F * * Return)
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)
C++03: void hitTestAgainstHorizontalPlane(Vec2F cameraImagePoint, ListOfVec3F * * Return)
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()
C++03: void getLocalPointsCloud(ListOfVec3F * * Return)
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()