ArCamera
Provides information about the camera that is used to capture images.
Summary
Typedefs
Functions
ArCamera_getDisplayOrientedPose
(const ArSession
*session, const ArCamera
*camera, ArPose
*out_pose)
void
out_pose
to the virtual camera pose in world space for rendering AR content onto the latest frame. ArCamera_getImageIntrinsics
(const ArSession
*session, const ArCamera
*camera, ArCameraIntrinsics
*out_camera_intrinsics)
void
ArCamera_getPose
(const ArSession
*session, const ArCamera
*camera, ArPose
*out_pose)
void
out_pose
to the pose of the physical camera in world space for the latest frame. ArCamera_getProjectionMatrix
(const ArSession
*session, const ArCamera
*camera, float near, float far, float *dest_col_major_4x4)
void
ArCamera_getTextureIntrinsics
(const ArSession
*session, const ArCamera
*camera, ArCameraIntrinsics
*out_camera_intrinsics)
void
ArCamera_getTrackingFailureReason
(const ArSession
*session, const ArCamera
*camera, ArTrackingFailureReason
*out_tracking_failure_reason)
void
ArCamera_getTrackingState
(const ArSession
*session, const ArCamera
*camera, ArTrackingState
*out_tracking_state)
void
ArCamera_getViewMatrix
(const ArSession
*session, const ArCamera
*camera, float *out_col_major_4x4)
void
ArCamera_release
( ArCamera
*camera)
void
Typedefs
ArCamera
struct ArCamera_ ArCamera
The virtual and physical camera ( reference type, long-lived ).
- Acquire with:
ArFrame_acquireCamera - Release with:
ArCamera_release
Functions
ArCamera_getDisplayOrientedPose
void ArCamera_getDisplayOrientedPose ( const ArSession * session , const ArCamera * camera , ArPose * out_pose )
Sets out_pose
to the virtual camera pose in world space for rendering AR content onto the latest frame.
This is an OpenGL camera pose with +X pointing right, +Y pointing up, and -Z pointing in the direction the camera is looking, with "right" and "up" being relative to current logical display orientation.
See Also:
-
ArCamera_getViewMatrixto conveniently compute the OpenGL view matrix. -
ArCamera_getPosefor the physical pose of the camera. It will differ by a local rotation about the Z axis by a multiple of 90 degrees. -
ArFrame_getAndroidSensorPosefor the pose of the android sensor frame. It will differ in both orientation and location. -
ArSession_setDisplayGeometryto update the display rotation.
Note: This pose is only useful when ArCamera_getTrackingState
returns AR_TRACKING_STATE_TRACKING
and otherwise should not be used.
session
|
The ARCore session
|
camera
|
The session's camera (retrieved from any frame).
|
out_pose
|
ArCamera_getImageIntrinsics
void ArCamera_getImageIntrinsics ( const ArSession * session , const ArCamera * camera , ArCameraIntrinsics * out_camera_intrinsics )
Retrieves the unrotated and uncropped intrinsics for the image (CPU) stream.
The intrinsics may change per frame, so this should be called on each frame to get the intrinsics for the current frame.
session
|
The ARCore session
|
camera
|
The session's camera.
|
out_camera_intrinsics
|
ArCamera_getPose
void ArCamera_getPose ( const ArSession * session , const ArCamera * camera , ArPose * out_pose )
Sets out_pose
to the pose of the physical camera in world space for the latest frame.
This is an OpenGL camera pose with +X pointing right, +Y pointing right up, -Z pointing in the direction the camera is looking, with "right" and "up" being relative to the image readout in the usual left-to-right top-to-bottom order. Specifically, this is the camera pose at the center of exposure of the center row of the image.
For applications using the SDK for ARCore 1.5.0 and earlier , the returned pose is rotated around the Z axis by a multiple of 90 degrees so that the axes correspond approximately to those of the Android Sensor Coordinate System .
See Also:
-
ArCamera_getDisplayOrientedPosefor the pose of the virtual camera. It will differ by a local rotation about the Z axis by a multiple of 90 degrees. -
ArFrame_getAndroidSensorPosefor the pose of the Android sensor frame. It will differ in both orientation and location. -
ArFrame_transformCoordinates2dto convert viewport coordinates to texture coordinates.
Note: This pose is only useful when ArCamera_getTrackingState
returns AR_TRACKING_STATE_TRACKING
and otherwise should not be used.
session
|
The ARCore session
|
camera
|
The session's camera (retrieved from any frame).
|
out_pose
|
ArCamera_getProjectionMatrix
void ArCamera_getProjectionMatrix ( const ArSession * session , const ArCamera * camera , float near , float far , float * dest_col_major_4x4 )
Computes a projection matrix for rendering virtual content on top of the camera image.
Note that the projection matrix reflects the current display geometry and display rotation.
Note: When using the front-facing (selfie) camera, the returned projection matrix will incorporate a horizontal flip.
session
|
The ARCore session
|
camera
|
The session's camera.
|
near
|
Specifies the near clip plane, in meters
|
far
|
Specifies the far clip plane, in meters
|
dest_col_major_4x4
|
Pointer to an array of 16 floats, to be filled with a column-major homogenous transformation matrix, as used by OpenGL.
|
ArCamera_getTextureIntrinsics
void ArCamera_getTextureIntrinsics ( const ArSession * session , const ArCamera * camera , ArCameraIntrinsics * out_camera_intrinsics )
Retrieves the unrotated and uncropped intrinsics for the GPU texture stream.
The intrinsics may change per frame, so this should be called on each frame to get the intrinsics for the current frame.
session
|
The ARCore session
|
camera
|
The session's camera.
|
out_camera_intrinsics
|
ArCamera_getTrackingFailureReason
void ArCamera_getTrackingFailureReason ( const ArSession * session , const ArCamera * camera , ArTrackingFailureReason * out_tracking_failure_reason )
Gets the reason that ArCamera_getTrackingState
is AR_TRACKING_STATE_PAUSED
.
Note: This function returns AR_TRACKING_FAILURE_REASON_NONE
briefly after ArSession_resume
while the motion tracking is initializing. This function always returns AR_TRACKING_FAILURE_REASON_NONE
when ArCamera_getTrackingState
is AR_TRACKING_STATE_TRACKING
.
If multiple potential causes for motion tracking failure are detected, this reports the most actionable failure reason.
ArCamera_getTrackingState
void ArCamera_getTrackingState ( const ArSession * session , const ArCamera * camera , ArTrackingState * out_tracking_state )
Gets the current motion tracking state of this camera.
If this state is anything other than AR_TRACKING_STATE_TRACKING
the pose should not be considered useful. Use ArCamera_getTrackingFailureReason
to determine the best recommendation to provide to the user to restore motion tracking.
Note: Starting in ARCore 1.12, changing the active camera config using ArSession_setCameraConfig
may cause the tracking state on certain devices to become permanently AR_TRACKING_STATE_PAUSED
. For consistent behavior across all supported devices, release any previously created anchors and trackables when setting a new camera config.
ArCamera_getViewMatrix
void ArCamera_getViewMatrix ( const ArSession * session , const ArCamera * camera , float * out_col_major_4x4 )
Returns the view matrix for the camera for this frame.
This matrix performs the inverse transform as the pose provided by ArCamera_getDisplayOrientedPose
.
session
|
The ARCore session
|
camera
|
The session's camera.
|
out_col_major_4x4
|
Pointer to an array of 16 floats, to be filled with a column-major homogenous transformation matrix, as used by OpenGL.
|
ArCamera_release
void ArCamera_release ( ArCamera * camera )
Releases a reference to the camera.
This must match a call to ArFrame_acquireCamera
.
This function may safely be called with NULL
- it will do nothing.
