MotionTrackerCameraDevice Class¶

Description¶

MotionTrackerCameraDevice implements a camera device with metric-scale six degree-of-freedom motion tracking, which outputs InputFrame (including image, camera parameters, timestamp, 6DOF pose and tracking status).

After creation, start/stop can be invoked to start or stop data flow.

When the component is not needed anymore, call close function to close it. It shall not be used after calling close.

MotionTrackerCameraDevice outputs InputFrame from inputFrameSource. inputFrameSource shall be connected to InputFrameSink for further use. Refer to Overview .

Constructor¶

Create MotionTrackerCameraDevice object.

C: void easyar_MotionTrackerCameraDevice__ctor(easyar_MotionTrackerCameraDevice * * Return)
C++: MotionTrackerCameraDevice()
Java: public MotionTrackerCameraDevice()
Kotlin: constructor()
Objective-C: + (easyar_MotionTrackerCameraDevice *) create
Swift: public convenience init()
C#: public MotionTrackerCameraDevice()

isAvailable¶

Check if the devices supports motion tracking. It returns True if the device supports Motion Tracking, otherwise it returns False.

C: bool easyar_MotionTrackerCameraDevice_isAvailable(void)
C++: 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¶

Get the quality of Motion Tracking on the device. You can decide whether to start Motion Tracking.

C: easyar_MotionTrackerCameraDeviceQualityLevel easyar_MotionTrackerCameraDevice_getQualityLevel(void)
C++: 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¶

Sets current frame rate. Call before start. If this function is not called, the default is 30 fps.

C: bool easyar_MotionTrackerCameraDevice_setFrameRateType(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceFPS fps)
C++: 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¶

Sets focus mode. Call before start. If this function is not called, the default is Continousauto.

C: bool easyar_MotionTrackerCameraDevice_setFocusMode(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceFocusMode focusMode)
C++: 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¶

Sets frame resolution. Call before start. If this function is not called, the default is 1280 x 960 or 1280 x 720.

C: bool easyar_MotionTrackerCameraDevice_setFrameResolutionType(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceResolution resolution)
C++: 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¶

Sets tracking mode. Call before start. If this function is not called, the default is Anchor.

C: bool easyar_MotionTrackerCameraDevice_setTrackingMode(easyar_MotionTrackerCameraDevice * This, easyar_MotionTrackerCameraDeviceTrackingMode trackingMode)
C++: 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¶

Set InputFrame buffer capacity.

bufferCapacity is the capacity of InputFrame buffer. If the count of InputFrame which has been output from the device and have not been released is higher than this number, the device will not output new InputFrame until previous InputFrame has been released. This may cause screen stuck. Refer to Overview .

C: void easyar_MotionTrackerCameraDevice_setBufferCapacity(easyar_MotionTrackerCameraDevice * This, int capacity)
C++: 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¶

Get InputFrame buffer capacity. The default is 8.

C: int easyar_MotionTrackerCameraDevice_bufferCapacity(const easyar_MotionTrackerCameraDevice * This)
C++: 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 output port.

C: void easyar_MotionTrackerCameraDevice_inputFrameSource(easyar_MotionTrackerCameraDevice * This, easyar_InputFrameSource * * Return)
C++: 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¶

Start motion tracking or resume motion tracking after pause.

Notice: Calling start after pausing will trigger device relocalization. Tracking will resume when the relocalization process succeeds.

C: bool easyar_MotionTrackerCameraDevice_start(easyar_MotionTrackerCameraDevice * This)
C++: 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¶

Pause motion tracking. Call start to trigger relocation, resume motion tracking if the relocation succeeds.

C: void easyar_MotionTrackerCameraDevice_stop(easyar_MotionTrackerCameraDevice * This)
C++: 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¶

Close motion tracking. The component shall not be used after calling close.

C: void easyar_MotionTrackerCameraDevice_close(easyar_MotionTrackerCameraDevice * This)
C++: 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¶

Perform hit test against the point cloud and return the nearest 3D point. The 3D point is represented by three consecutive values, representing X, Y, Z position coordinates in the world coordinate space.

For the camera image coordinate system ([0, 1]^2), x-right, y-down, and origin is at left-top corner. CameraParameters.imageCoordinatesFromScreenCoordinates can be used to convert points from screen coordinate system to camera image coordinate system.

C: void easyar_MotionTrackerCameraDevice_hitTestAgainstPointCloud(easyar_MotionTrackerCameraDevice * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)
C++: 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¶

Performs ray cast from the user’s device in the direction of given screen point.

Intersections with horizontal plane is detected in real time in the current field of view,and return the 3D point nearest to ray on horizontal plane.

For the camera image coordinate system ([0, 1]^2), x-right, y-down, and origin is at left-top corner. CameraParameters.imageCoordinatesFromScreenCoordinates can be used to convert points from screen coordinate system to camera image coordinate system.

The output point cloud coordinate on Horizontal plane is in the world coordinate system. The 3D point is represented by three consecutive values, representing X, Y, Z position coordinates in the world coordinate space.

C: void easyar_MotionTrackerCameraDevice_hitTestAgainstHorizontalPlane(easyar_MotionTrackerCameraDevice * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)
C++: 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¶

Returns the vector of point cloud coordinate. Each 3D point is represented by three consecutive values, representing X, Y, Z position coordinates in the world coordinate space.

C: void easyar_MotionTrackerCameraDevice_getLocalPointsCloud(easyar_MotionTrackerCameraDevice * This, easyar_ListOfVec3F * * Return)
C++: 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()