RealTimeCoordinateTransform Class

Constructor

创建RealTimeCoordinateTransform对象。

C

void easyar_RealTimeCoordinateTransform__ctor(easyar_RealTimeCoordinateTransform * * Return)

C++

RealTimeCoordinateTransform()

Java

public RealTimeCoordinateTransform()

Kotlin

constructor()

Objective-C

+ (easyar_RealTimeCoordinateTransform *) create

Swift

public convenience init()

C#

public RealTimeCoordinateTransform()

setBufferSize

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++

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)

getBufferSize

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++

int getBufferSize()

Java

public int getBufferSize()

Kotlin

fun getBufferSize(): Int

Objective-C

- (int)getBufferSize

Swift

public func getBufferSize() -> Int32

C#

public virtual int getBufferSize()

insertData

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localTwc和相机坐标系定位的地图位姿mapTcw。

C

bool easyar_RealTimeCoordinateTransform_insertData(easyar_RealTimeCoordinateTransform * This, double timestamp, easyar_Matrix44F localTwc, easyar_Matrix44F mapTcw)

C++

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)

getPoseInMap

输入timestamp时刻的VIO跟踪状态status，本地坐标系定位的相机位姿localTwc，获得地图在相机坐标系中的姿态。

C

easyar_Matrix44F easyar_RealTimeCoordinateTransform_getPoseInMap(easyar_RealTimeCoordinateTransform * This, double timestamp, easyar_MotionTrackingStatus status, easyar_Matrix44F localTwc)

C++

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)