public class
Frame
Captures the state and changes to the AR system from a call to Session.update()
.
Public Methods
Image
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acquireCameraImage()
Attempts to acquire an image from the camera that corresponds to the current frame.
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Image
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acquireDepthImage()
This method is deprecated.
Please use
acquireDepthImage16Bits() instead, which expands the depth range
from 8191mm to 65535mm. This deprecated version may be slower than acquireDepthImage16Bits() due to the clearing of the top 3 bits per pixel.
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Image
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acquireDepthImage16Bits()
Attempts to acquire a depth Android Image object
that corresponds to the current frame.
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PointCloud
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acquirePointCloud()
Acquires the current set of estimated 3d points attached to real-world geometry.
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Image
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acquireRawDepthConfidenceImage()
Attempts to acquire the confidence Android Image object
corresponding to the raw depth image of the current frame.
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Image
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acquireRawDepthImage()
This method is deprecated.
Please use
acquireRawDepthImage16Bits() instead, which expands the depth
range from 8191mm to 65535mm. This deprecated version may be slower than acquireRawDepthImage16Bits() due to the clearing of the top 3 bits per pixel.
|
Image
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acquireRawDepthImage16Bits()
Attempts to acquire a "raw", mostly unfiltered, depth Android Image object
that corresponds to the current frame.
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Image
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acquireSemanticConfidenceImage()
Attempts to acquire the semantic confidence image corresponding to the current frame.
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Image
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acquireSemanticImage()
Attempts to acquire the semantic image corresponding to the current frame.
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long
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getAndroidCameraTimestamp()
Returns the (Android
Camera timestamp) of the image.
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Pose
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getAndroidSensorPose()
Returns the pose of the Android
Sensor Coordinate System in the world coordinate space for this frame.
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Camera
|
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int
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getCameraTextureName()
Returns the OpenGL ES camera texture name (id) associated with this frame.
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HardwareBuffer
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getHardwareBuffer()
Gets the HardwareBuffer
for this frame.
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ImageMetadata
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getImageMetadata()
Returns the camera metadata for the current camera image, if available.
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LightEstimate
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getLightEstimate()
Returns the current ambient light estimate, if light estimation was enabled.
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float
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getSemanticLabelFraction(SemanticLabel queryLabel)
Retrieves the percentage of pixels in the most recent semantics image that are
queryLabel . |
long
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getTimestamp()
Returns the timestamp in nanoseconds when this image was captured.
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Collection<Anchor>
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getUpdatedAnchors()
Returns the anchors that were changed by the
Session.update() that returned this Frame. |
Collection<TrackData>
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getUpdatedTrackData(UUID trackUuid)
Retrieve all track data that was written to the specified track during the current frame.
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<T extends Trackable>
Collection<T>
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getUpdatedTrackables(Class<T> filterType)
Returns the trackables of a particular type that were changed by the
Session.update()
that returned this Frame. |
boolean
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hasDisplayGeometryChanged()
Checks if the display rotation or viewport geometry changed since the previous
Frame . |
List<HitResult>
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hitTest(MotionEvent motionEvent)
Similar to
hitTest(float, float) , but will take values from Android MotionEvent . |
List<HitResult>
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hitTest(float[] origin3, int originOffset, float[] direction3, int directionOffset)
Similar to
hitTest(float, float) , but takes an arbitrary ray in world space
coordinates instead of a screen-space point. |
List<HitResult>
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hitTest(float xPx, float yPx)
Performs a ray cast from the user's device in the direction of the given location in the camera
view.
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List<HitResult>
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hitTestInstantPlacement(float xPx, float yPx, float approximateDistanceMeters)
Performs a ray cast that can return a result before ARCore establishes full tracking.
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void
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recordTrackData(UUID trackId, ByteBuffer sample)
Writes a data sample in the specified track.
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void
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transformCoordinates2d(Coordinates2d inputCoordinates, FloatBuffer inputVertices2d, Coordinates2d outputCoordinates, FloatBuffer outputVertices2d)
Transforms a list of 2D coordinates from one 2D coordinate system to another 2D coordinate
system.
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void
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transformCoordinates2d(Coordinates2d inputCoordinates, float[] inputVertices2d, Coordinates2d outputCoordinates, float[] outputVertices2d)
Transforms a list of 2D coordinates from one 2D coordinate system to another 2D coordinate
system.
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void
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transformCoordinates3d(Coordinates2d inputCoordinates, FloatBuffer inputVertices2d, Coordinates3d outputCoordinates, FloatBuffer outputVertices3d)
Transforms a list of 2D coordinates from one 2D coordinate system to 3D coordinate space.
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void
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transformCoordinates3d(Coordinates2d inputCoordinates, float[] inputVertices2d, Coordinates3d outputCoordinates, float[] outputVertices3d)
Transforms a list of 2D coordinates from one 2D coordinate system to another 3D coordinate
system.
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void
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transformDisplayUvCoords(FloatBuffer uvCoords, FloatBuffer outUvCoords)
This method is deprecated.
Replaced by
frame.transformCoordinates2d(Coordinates2d.VIEW_NORMALIZED, ..,
Coordinates2d.TEXTURE_NORMALIZED, ..) .
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