Class

ARFrame

A video image, with position-tracking information, captured as part of an AR session.

Declaration

@interface ARFrame : NSObject

Overview

A running AR session continuously captures video frames from the device camera. For each frame, ARKit analyzes the image together with data from the device's motion sensing hardware to estimate the device's real-world position. ARKit delivers this tracking information and imaging parameters in the form of an ARFrame object.

Your app has two ways to recieve ARFrame objects:

Topics

Accessing Captured Video Frames

capturedImage

A pixel buffer containing the image captured by the camera.

timestamp

The time at which the frame was captured.

capturedDepthData

The depth map, if any, captured along with the video frame.

capturedDepthDataTimestamp

The time at which depth data for the frame (if any) was captured.

Checking World Mapping Status

worldMappingStatus

The feasibility of generating or relocalizing a world map for this frame.

ARWorldMappingStatus

Possible values describing how thoroughly ARKit has mapped the the area visible in a given frame.

Examining Scene Parameters

camera

Information about the camera position, orientation, and imaging parameters used to capture the frame.

lightEstimate

An estimate of lighting conditions based on the camera image.

- displayTransformForOrientation:viewportSize:

Returns an affine transform for converting between normalized image coordinates and a coordinate space appropriate for rendering the camera image onscreen.

Tracking and Finding Objects

anchors

The list of anchors representing positions tracked or objects detected in the scene.

- hitTest:types:

Searches for real-world objects or AR anchors in the captured camera image.

Debugging Scene Detection

rawFeaturePoints

The current intermediate results of the scene analysis ARKit uses to perform world tracking.

ARPointCloud

A collection of points in the world coordinate space of the AR session.

Relationships

Inherits From

Conforms To

See Also

Camera and Scene Details

ARCamera

Information about the camera position and imaging characteristics for a captured video frame in an AR session.

ARLightEstimate

Estimated scene lighting information associated with a captured video frame in an AR session.