←API Reference ←com.nianticspatial.nsdk

FrameData

Container for all frame data sent to ARDK for processing. FrameData encapsulates camera frames, sensor data, and metadata that ARDK uses for tracking, mapping, VPS localization, and other AR features. Create one FrameData instance per camera frame and populate it with available sensor data before calling [NSDKSession.sendFrame]. ## Required Data - [cameraTimestampMs] - Frame timestamp for synchronization - [frameId] - Unique identifier for this frame ## Optional Data - [cameraImagePlanes] - Camera image data (YUV420_888 format) - [cameraPose] - Camera pose in world coordinates - [cameraIntrinsics] - Camera calibration parameters - [location] - GPS location data - [compass] - Compass/magnetometer data - [screenOrientation] - Device orientation - [trackingState] - ARCore tracking state

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Declaration

class FrameData

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Properties

Name	Type	Summary
cameraImageFormat	Int	Format of the camera image data. Should be ImageFormat.YUV_420_888 for valid image data, or 0 if no image data is provided.
cameraImageHeight	Int	Height of the camera image in pixels. Should match the height of the image data in [cameraImagePlanes].
cameraImagePlanes	Array<Plane>?	Camera image data as YUV420_888 format planes. The raw camera image data used for computer vision processing. Should be in Android's YUV_420_888 format from the camera.
cameraImageWidth	Int	Width of the camera image in pixels. Should match the width of the image data in [cameraImagePlanes].
cameraIntrinsics	CameraIntrinsics?	Camera intrinsic calibration parameters. Contains focal length, principal point, and lens distortion parameters needed for accurate 3D reconstruction and computer vision processing.
cameraPose	Pose?	Camera pose in world coordinates. The 6-DOF pose (position and orientation) of the camera in world space. This is typically provided by ARCore's tracking system.
cameraTimestampMs	Long	-
compass	Compass?	Most recent compass/magnetometer data from the device. Provides magnetic heading information that can improve ARDK's localization accuracy, especially for VPS.
frameId	Long	-
location	Location?	Most recent GPS location data from the device. Provides coarse geographic location that helps ARDK with area-based features like VPS coverage queries.
screenOrientation	Orientation	Device orientation when this frame was captured. The physical orientation of the device (portrait, landscape, etc.) which affects how ARDK interprets camera data.
trackingState	TrackingState	ARCore tracking state when this frame was captured. Indicates the quality and reliability of the camera pose and tracking information for this frame.

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