RealTimeCoordinateTransform Class¶

Constructor¶

创建RealTimeCoordinateTransform对象。

C: void easyar_RealTimeCoordinateTransform__ctor(easyar_RealTimeCoordinateTransform * * Return)
C++17: RealTimeCoordinateTransform()
C++03(Deprecated): RealTimeCoordinateTransform()
Java: public RealTimeCoordinateTransform()
Kotlin: constructor()
Objective-C: + (easyar_RealTimeCoordinateTransform *) create
Swift: public convenience init()
C#: public RealTimeCoordinateTransform()

设置缓冲的容量，'capacity'单位是秒，表示缓存里保存距离当前时刻最近的'capacity'秒的数据。

BufferSize表示缓冲的容量，如果有超过'capacity'秒的数据输入，该设备将输入一帧最新的数据到缓存，然后将旧的一帧数据缓存释放。

C: void easyar_RealTimeCoordinateTransform_setBufferSize(easyar_RealTimeCoordinateTransform * This, int capacity)
C++17: void setBufferSize(int capacity)
C++03(Deprecated): void setBufferSize(int capacity)
Java: public void setBufferSize(int capacity)
Kotlin: fun setBufferSize(capacity: Int): Unit
Objective-C: - (void)setBufferSize:(int)capacity
Swift: public func setBufferSize(_ capacity: Int32) -> Void
C#: public virtual void setBufferSize(int capacity)

获取缓存数据的时长，默认值为15秒，表示缓存里保存距离当前时刻最近的15秒的数据。

C: int easyar_RealTimeCoordinateTransform_getBufferSize(const easyar_RealTimeCoordinateTransform * This)
C++17: int getBufferSize()
C++03(Deprecated): int getBufferSize()
Java: public int getBufferSize()
Kotlin: fun getBufferSize(): Int
Objective-C: - (int)getBufferSize
Swift: public func getBufferSize() -> Int32
C#: public virtual int getBufferSize()

输入数据到缓存，输入的数据包括timestamp时刻的本地坐标系定位的相机位姿localTcw和地图坐标系定位的相机位姿mapTcw。

C: bool easyar_RealTimeCoordinateTransform_insertData(easyar_RealTimeCoordinateTransform * This, double timestamp, easyar_Matrix44F localTwc, easyar_Matrix44F mapTcw)
C++17: bool insertData(double timestamp, Matrix44F localTwc, Matrix44F mapTcw)
C++03(Deprecated): bool insertData(double timestamp, Matrix44F localTwc, Matrix44F mapTcw)
Java: public boolean insertData(double timestamp, @Nonnull Matrix44F localTwc, @Nonnull Matrix44F mapTcw)
Kotlin: fun insertData(timestamp: Double, localTwc: Matrix44F, mapTcw: Matrix44F): Boolean
Objective-C: - (bool)insertData:(double)timestamp localTwc:(easyar_Matrix44F *)localTwc mapTcw:(easyar_Matrix44F *)mapTcw
Swift: public func insertData(_ timestamp: Double, _ localTwc: Matrix44F, _ mapTcw: Matrix44F) -> Bool
C#: public virtual bool insertData(double timestamp, Matrix44F localTwc, Matrix44F mapTcw)

输入timestamp时刻的VIO跟踪状态status，本地坐标系定位的相机位姿localTcw，获得相机在地图坐标系中的姿态。

C: easyar_Matrix44F easyar_RealTimeCoordinateTransform_getPoseInMap(easyar_RealTimeCoordinateTransform * This, double timestamp, easyar_MotionTrackingStatus status, easyar_Matrix44F localTwc)
C++17: Matrix44F getPoseInMap(double timestamp, MotionTrackingStatus status, Matrix44F localTwc)
C++03(Deprecated): Matrix44F getPoseInMap(double timestamp, MotionTrackingStatus status, Matrix44F localTwc)
Java: public @Nonnull Matrix44F getPoseInMap(double timestamp, int status, @Nonnull Matrix44F localTwc)
Kotlin: fun getPoseInMap(timestamp: Double, status: Int, localTwc: Matrix44F): Matrix44F
Objective-C: - (easyar_Matrix44F *)getPoseInMap:(double)timestamp status:(easyar_MotionTrackingStatus)status localTwc:(easyar_Matrix44F *)localTwc
Swift: public func getPoseInMap(_ timestamp: Double, _ status: MotionTrackingStatus, _ localTwc: Matrix44F) -> Matrix44F
C#: public virtual Matrix44F getPoseInMap(double timestamp, MotionTrackingStatus status, Matrix44F localTwc)