Table of Contents

Class DenseSpatialMap

Namespace
easyar

DenseSpatialMap is used for accurate 3D dense reconstruction of the environment. The reconstructed model is represented by a triangular mesh, called mesh. DenseSpatialMap occupies 1 camera buffer.

DenseSpatialMap

Methods

isAvailable

Returns True when the device supports the dense reconstruction feature, otherwise returns False.

bool easyar_DenseSpatialMap_isAvailable(void)
static bool isAvailable()
public static boolean isAvailable()
companion object fun isAvailable(): Boolean
+ (bool)isAvailable
public static func isAvailable() -> Bool
public static bool isAvailable()

Returns

Boolean

inputFrameSink

Input frame input port. DenseSpatialMap input frames must contain the image and corresponding camera parameters, spatial information (cameraTransform and trackingStatus). Refer to InputFrameSink. Note: The camera supports pinhole and fisheye camera models; performance will be affected when using a fisheye camera.

void easyar_DenseSpatialMap_inputFrameSink(easyar_DenseSpatialMap * This, easyar_InputFrameSink * * Return)
std::shared_ptr<InputFrameSink> inputFrameSink()
public @Nonnull InputFrameSink inputFrameSink()
fun inputFrameSink(): InputFrameSink
- (easyar_InputFrameSink *)inputFrameSink
public func inputFrameSink() -> InputFrameSink
public virtual InputFrameSink inputFrameSink()

Returns

InputFrameSink

bufferRequirement

The number of camera buffers occupied by the current component.

int easyar_DenseSpatialMap_bufferRequirement(easyar_DenseSpatialMap * This)
int bufferRequirement()
public int bufferRequirement()
fun bufferRequirement(): Int
- (int)bufferRequirement
public func bufferRequirement() -> Int32
public virtual int bufferRequirement()

Returns

Int32

create

Create a DenseSpatialMap object.

void easyar_DenseSpatialMap_create(easyar_DenseSpatialMap * * Return)
static std::shared_ptr<DenseSpatialMap> create()
public static @Nonnull DenseSpatialMap create()
companion object fun create(): DenseSpatialMap
+ (easyar_DenseSpatialMap *)create
public static func create() -> DenseSpatialMap
public static DenseSpatialMap create()

Returns

DenseSpatialMap

start

Start reconstruction or resume from pause to continue reconstruction.

bool easyar_DenseSpatialMap_start(easyar_DenseSpatialMap * This)
bool start()
public boolean start()
fun start(): Boolean
- (bool)start
public func start() -> Bool
public virtual bool start()

Returns

Boolean

stop

Pause the reconstruction process. Call start to continue the reconstruction process.

void easyar_DenseSpatialMap_stop(easyar_DenseSpatialMap * This)
void stop()
public void stop()
fun stop(): Unit
- (void)stop
public func stop() -> Void
public virtual void stop()

Returns

Void

close

Close the reconstruction process. Should not be used after close.

void easyar_DenseSpatialMap_close(easyar_DenseSpatialMap * This)
void close()
public void close()
fun close(): Unit
- (void)close
public func close() -> Void
public virtual void close()

Returns

Void

getMesh

Retrieve the mesh management object of type SceneMesh. The content will be automatically updated after calling the updateSceneMesh function.

void easyar_DenseSpatialMap_getMesh(easyar_DenseSpatialMap * This, easyar_SceneMesh * * Return)
std::shared_ptr<SceneMesh> getMesh()
public @Nonnull SceneMesh getMesh()
fun getMesh(): SceneMesh
- (easyar_SceneMesh *)getMesh
public func getMesh() -> SceneMesh
public virtual SceneMesh getMesh()

Returns

SceneMesh

updateSceneMesh

Retrieve the most recently updated mesh and save it to the SceneMesh object obtained from getMesh. The parameter updateMeshAll indicates whether to perform a full update or an incremental update. When updateMeshAll is True, a full update is performed, and all meshes will be saved to SceneMesh; when updateMeshAll is False, an incremental update is performed, and only the most recently updated mesh is saved to SceneMesh. Performing a full update will take additional time and memory space, leading to performance degradation.

bool easyar_DenseSpatialMap_updateSceneMesh(easyar_DenseSpatialMap * This, bool updateMeshAll)
bool updateSceneMesh(bool updateMeshAll)
public boolean updateSceneMesh(boolean updateMeshAll)
fun updateSceneMesh(updateMeshAll: Boolean): Boolean
- (bool)updateSceneMesh:(bool)updateMeshAll
public func updateSceneMesh(_ updateMeshAll: Bool) -> Bool
public virtual bool updateSceneMesh(bool updateMeshAll)

Parameters

updateMeshAll Boolean

Returns

Boolean