Table of Contents

Class SparseSpatialMap

Namespace
easyar

SparseSpatialMap provides core functionalities: map generation and storage, map loading and localization, while also enabling access to environmental information like point clouds and planes, and performing hitTest. SparseSpatialMap occupies 2 camera buffers. Use camera.setBufferCapacity to set a capacity not less than the total number of camera buffers used by all components.

SparseSpatialMap

Methods

isAvailable

Checks if SparseSpatialMap is available. Always returns true.

bool easyar_SparseSpatialMap_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. Input frames for SparseSpatialMap must contain camera parameters, timestamp information, and spatial information (cameraTransform and trackingStatus). Refer to InputFrameSink. Note: Supports pinhole and fisheye camera models; performance may be affected when using fisheye cameras.

void easyar_SparseSpatialMap_inputFrameSink(easyar_SparseSpatialMap * 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 currently occupied by this component.

int easyar_SparseSpatialMap_bufferRequirement(easyar_SparseSpatialMap * This)
int bufferRequirement()
public int bufferRequirement()
fun bufferRequirement(): Int
- (int)bufferRequirement
public func bufferRequirement() -> Int32
public virtual int bufferRequirement()

Returns

Int32

outputFrameSource

Output frame output port. Refer to OutputFrameSource.

void easyar_SparseSpatialMap_outputFrameSource(easyar_SparseSpatialMap * This, easyar_OutputFrameSource * * Return)
std::shared_ptr<OutputFrameSource> outputFrameSource()
public @Nonnull OutputFrameSource outputFrameSource()
fun outputFrameSource(): OutputFrameSource
- (easyar_OutputFrameSource *)outputFrameSource
public func outputFrameSource() -> OutputFrameSource
public virtual OutputFrameSource outputFrameSource()

Returns

OutputFrameSource

create

Constructs a SparseSpatialMap object.

void easyar_SparseSpatialMap_create(easyar_SparseSpatialMap * * Return)
static std::shared_ptr<SparseSpatialMap> create()
public static @Nonnull SparseSpatialMap create()
companion object fun create(): SparseSpatialMap
+ (easyar_SparseSpatialMap *)create
public static func create() -> SparseSpatialMap
public static SparseSpatialMap create()

Returns

SparseSpatialMap

setResultPoseType

Sets the result pose type. enableStabilization is false by default. Only effective if InputFrame contains spatial information.

void easyar_SparseSpatialMap_setResultPoseType(easyar_SparseSpatialMap * This, bool enableStabilization)
void setResultPoseType(bool enableStabilization)
public void setResultPoseType(boolean enableStabilization)
fun setResultPoseType(enableStabilization: Boolean): Unit
- (void)setResultPoseType:(bool)enableStabilization
public func setResultPoseType(_ enableStabilization: Bool) -> Void
public virtual void setResultPoseType(bool enableStabilization)

Parameters

enableStabilization Boolean

Returns

Void

setResultAsyncMode

Sets the result asynchronous mode. Should be set to true if results are output via outputFrameSource, or false if results are obtained via getSyncResult. enableAsync is true by default. Synchronous mode only works when the input frame contains spatial information and an XR License is used.

bool easyar_SparseSpatialMap_setResultAsyncMode(easyar_SparseSpatialMap * This, bool enableAsync)
bool setResultAsyncMode(bool enableAsync)
public boolean setResultAsyncMode(boolean enableAsync)
fun setResultAsyncMode(enableAsync: Boolean): Boolean
- (bool)setResultAsyncMode:(bool)enableAsync
public func setResultAsyncMode(_ enableAsync: Bool) -> Bool
public virtual bool setResultAsyncMode(bool enableAsync)

Parameters

enableAsync Boolean

Returns

Boolean

start

Starts the SparseSpatialMap algorithm.

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

Returns

Boolean

stop

Stops the SparseSpatialMap algorithm. Call start to run it again.

void easyar_SparseSpatialMap_stop(easyar_SparseSpatialMap * This)
void stop()
public void stop()
fun stop(): Unit
- (void)stop
public func stop() -> Void
public virtual void stop()

Returns

Void

close

Closes SparseSpatialMap. It should not continue to be used after close.

void easyar_SparseSpatialMap_close(easyar_SparseSpatialMap * This)
void close()
public void close()
fun close(): Unit
- (void)close
public func close() -> Void
public virtual void close()

Returns

Void

getPointCloudBuffer

Gets the position data of the current point cloud. Point cloud positions are in the world coordinate system. Each point in the buffer is represented by three consecutive values (X, Y, Z coordinates), with each value occupying 4 bytes.

void easyar_SparseSpatialMap_getPointCloudBuffer(easyar_SparseSpatialMap * This, easyar_Buffer * * Return)
std::shared_ptr<Buffer> getPointCloudBuffer()
public @Nonnull Buffer getPointCloudBuffer()
fun getPointCloudBuffer(): Buffer
- (easyar_Buffer *)getPointCloudBuffer
public func getPointCloudBuffer() -> Buffer
public virtual Buffer getPointCloudBuffer()

Returns

Buffer

getMapPlanes

Gets the detected planes, of type PlaneType.

void easyar_SparseSpatialMap_getMapPlanes(easyar_SparseSpatialMap * This, easyar_ListOfPlaneData * * Return)
std::vector<std::shared_ptr<PlaneData>> getMapPlanes()
public java.util.@Nonnull ArrayList<@Nonnull PlaneData> getMapPlanes()
fun getMapPlanes(): ArrayList<PlaneData>
- (NSArray<easyar_PlaneData *> *)getMapPlanes
public func getMapPlanes() -> [PlaneData]
public virtual List<PlaneData> getMapPlanes()

Returns

List<PlaneData>

hitTestAgainstPointCloud

Performs hitTest within the current point cloud, returning the positions (n>=0) along a ray from the camera, ordered from near to far.

void easyar_SparseSpatialMap_hitTestAgainstPointCloud(easyar_SparseSpatialMap * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)
std::vector<Vec3F> hitTestAgainstPointCloud(Vec2F cameraImagePoint)
public java.util.@Nonnull ArrayList<@Nonnull Vec3F> hitTestAgainstPointCloud(@Nonnull Vec2F cameraImagePoint)
fun hitTestAgainstPointCloud(cameraImagePoint: Vec2F): ArrayList<Vec3F>
- (NSArray<easyar_Vec3F *> *)hitTestAgainstPointCloud:(easyar_Vec2F *)cameraImagePoint
public func hitTestAgainstPointCloud(_ cameraImagePoint: Vec2F) -> [Vec3F]
public virtual List<Vec3F> hitTestAgainstPointCloud(Vec2F cameraImagePoint)

Parameters

cameraImagePoint Vec2F

Returns

List<Vec3F>

hitTestAgainstPlanes

Performs hitTest on the currently detected planes, returning the positions (n>=0) along a ray from the camera, ordered from near to far. Input uses the normalized image coordinate system ([0,1]^2), with x right, y down, origin at top-left. Use imageCoordinatesFromScreenCoordinates to convert screen coordinates to image coordinates. Output positions are in the world coordinate system.

void easyar_SparseSpatialMap_hitTestAgainstPlanes(easyar_SparseSpatialMap * This, easyar_Vec2F cameraImagePoint, easyar_ListOfVec3F * * Return)
std::vector<Vec3F> hitTestAgainstPlanes(Vec2F cameraImagePoint)
public java.util.@Nonnull ArrayList<@Nonnull Vec3F> hitTestAgainstPlanes(@Nonnull Vec2F cameraImagePoint)
fun hitTestAgainstPlanes(cameraImagePoint: Vec2F): ArrayList<Vec3F>
- (NSArray<easyar_Vec3F *> *)hitTestAgainstPlanes:(easyar_Vec2F *)cameraImagePoint
public func hitTestAgainstPlanes(_ cameraImagePoint: Vec2F) -> [Vec3F]
public virtual List<Vec3F> hitTestAgainstPlanes(Vec2F cameraImagePoint)

Parameters

cameraImagePoint Vec2F

Returns

List<Vec3F>

getMapVersion

Gets the map version of the current SparseSpatialMap.

void easyar_SparseSpatialMap_getMapVersion(easyar_String * * Return)
static std::string getMapVersion()
public static java.lang.@Nonnull String getMapVersion()
companion object fun getMapVersion(): String
+ (NSString *)getMapVersion
public static func getMapVersion() -> String
public static string getMapVersion()

Returns

String

unloadMap

Unloads specified SparseSpatialMap map data via callback. Check the callback return value to determine success (true) or failure (false).

void easyar_SparseSpatialMap_unloadMap(easyar_SparseSpatialMap * This, easyar_String * mapID, easyar_CallbackScheduler * callbackScheduler, easyar_OptionalOfFunctorOfVoidFromBool resultCallBack)
void unloadMap(std::string mapID, std::shared_ptr<CallbackScheduler> callbackScheduler, std::optional<std::function<void(bool)>> resultCallBack)
public void unloadMap(java.lang.@Nonnull String mapID, @Nonnull CallbackScheduler callbackScheduler, @Nullable FunctorOfVoidFromBool resultCallBack)
fun unloadMap(mapID: String, callbackScheduler: CallbackScheduler, resultCallBack: FunctorOfVoidFromBool?): Unit
- (void)unloadMap:(NSString *)mapID callbackScheduler:(easyar_CallbackScheduler *)callbackScheduler resultCallBack:(void (^)(bool))resultCallBack
public func unloadMap(_ mapID: String, _ callbackScheduler: CallbackScheduler, _ resultCallBack: ((Bool) -> Void)?) -> Void
public virtual void unloadMap(string mapID, CallbackScheduler callbackScheduler, Optional<Action<bool>> resultCallBack)

Parameters

mapID String
callbackScheduler CallbackScheduler
resultCallBack Optional<Action<>>

Returns

Void

setConfig

Sets configurations related to SparseSpatialMap. Refer to SparseSpatialMapConfig.

void easyar_SparseSpatialMap_setConfig(easyar_SparseSpatialMap * This, easyar_SparseSpatialMapConfig * config)
void setConfig(std::shared_ptr<SparseSpatialMapConfig> config)
public void setConfig(@Nonnull SparseSpatialMapConfig config)
fun setConfig(config: SparseSpatialMapConfig): Unit
- (void)setConfig:(easyar_SparseSpatialMapConfig *)config
public func setConfig(_ config: SparseSpatialMapConfig) -> Void
public virtual void setConfig(SparseSpatialMapConfig config)

Parameters

config SparseSpatialMapConfig

Returns

Void

getConfig

Gets configurations related to SparseSpatialMap. Refer to SparseSpatialMapConfig.

void easyar_SparseSpatialMap_getConfig(easyar_SparseSpatialMap * This, easyar_SparseSpatialMapConfig * * Return)
std::shared_ptr<SparseSpatialMapConfig> getConfig()
public @Nonnull SparseSpatialMapConfig getConfig()
fun getConfig(): SparseSpatialMapConfig
- (easyar_SparseSpatialMapConfig *)getConfig
public func getConfig() -> SparseSpatialMapConfig
public virtual SparseSpatialMapConfig getConfig()

Returns

SparseSpatialMapConfig

startLocalization

Starts attempting localization within the loaded map. Required configuration parameters must be set beforehand. Refer to LocalizationMode.

bool easyar_SparseSpatialMap_startLocalization(easyar_SparseSpatialMap * This)
bool startLocalization()
public boolean startLocalization()
fun startLocalization(): Boolean
- (bool)startLocalization
public func startLocalization() -> Bool
public virtual bool startLocalization()

Returns

Boolean

stopLocalization

Stops the current localization process.

void easyar_SparseSpatialMap_stopLocalization(easyar_SparseSpatialMap * This)
void stopLocalization()
public void stopLocalization()
fun stopLocalization(): Unit
- (void)stopLocalization
public func stopLocalization() -> Void
public virtual void stopLocalization()

Returns

Void

getSyncResult

Gets the synchronous output result. Returns null if SparseSpatialMap is stopped or if result async mode was not set to false via setResultAsyncMode.

void easyar_SparseSpatialMap_getSyncResult(easyar_SparseSpatialMap * This, easyar_MotionInputData * motionInputData, easyar_OptionalOfSparseSpatialMapResult * Return)
std::optional<std::shared_ptr<SparseSpatialMapResult>> getSyncResult(std::shared_ptr<MotionInputData> motionInputData)
public @Nullable SparseSpatialMapResult getSyncResult(@Nonnull MotionInputData motionInputData)
fun getSyncResult(motionInputData: MotionInputData): SparseSpatialMapResult?
- (easyar_SparseSpatialMapResult *)getSyncResult:(easyar_MotionInputData *)motionInputData
public func getSyncResult(_ motionInputData: MotionInputData) -> SparseSpatialMapResult?
public virtual Optional<SparseSpatialMapResult> getSyncResult(MotionInputData motionInputData)

Parameters

motionInputData MotionInputData

Returns

Optional<SparseSpatialMapResult>