Class DenseSpatialMap

Namespace

easyar

DenseSpatialMap is used for accurate three-dimensional dense reconstruction of the environment. The reconstructed model is represented by a triangle mesh, called mesh. DenseSpatialMap occupies 1 camera buffer.

DenseSpatialMap

Methods

isAvailable

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

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• csharp

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

Type	Description
Boolean

inputFrameSink

Input frame input port. DenseSpatialMap input frames must contain an image and the corresponding camera parameters and spatial information (cameraTransform and trackingStatus). See InputFrameSink. Note: camera supports pinhole and fisheye camera models. Using a fisheye camera affects performance.

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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

Type	Description
InputFrameSink

bufferRequirement

The number of camera buffers currently occupied by this component.

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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

Type	Description
Int32

create

Creates a DenseSpatialMap object.

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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

Type	Description
DenseSpatialMap

start

Starts reconstruction or resumes from pause and continues reconstruction.

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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

Type	Description
Boolean

stop

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

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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

Type	Description
Void

close

Closes the reconstruction process. It should not be used after close.

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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

Type	Description
Void

getMesh

Gets the mesh management object of type SceneMesh. Its contents are automatically updated after calling the updateSceneMesh function.

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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

Type	Description
SceneMesh

updateSceneMesh

Gets the recently updated mesh and saves it into the SceneMesh object obtained from getMesh. The parameter updateMeshAll specifies whether to perform a full update or an incremental update. When updateMeshAll is True, a full update is performed and all meshes are saved into SceneMesh; when updateMeshAll is False, an incremental update is performed and only the recently updated mesh is saved into SceneMesh. Performing a full update consumes additional time and memory and causes performance degradation.

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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

Name	Type	Description
updateMeshAll	Boolean

Returns

Type	Description
Boolean