Table of Contents

Class SparseSpatialMapResult

Namespace
easyar

Get the output of the sparse mapping and localization system, which updates at the frequency of OutputFrame.

Inheritance
SparseSpatialMapResult

Methods

getMotionTrackingStatus

Get the current motion tracking status.

easyar_MotionTrackingStatus easyar_SparseSpatialMapResult_getMotionTrackingStatus(const easyar_SparseSpatialMapResult * This)
MotionTrackingStatus getMotionTrackingStatus()
public int getMotionTrackingStatus()
fun getMotionTrackingStatus(): Int
- (easyar_MotionTrackingStatus)getMotionTrackingStatus
public func getMotionTrackingStatus() -> MotionTrackingStatus
public virtual MotionTrackingStatus getMotionTrackingStatus()

Returns

MotionTrackingStatus

getVioPose

Get the current pose of the VIO coordinate system origin in the camera coordinate system.

easyar_OptionalOfMatrix44F easyar_SparseSpatialMapResult_getVioPose(const easyar_SparseSpatialMapResult * This)
std::optional<Matrix44F> getVioPose()
public @Nullable Matrix44F getVioPose()
fun getVioPose(): Matrix44F?
- (easyar_Matrix44F *)getVioPose
public func getVioPose() -> Matrix44F?
public virtual Optional<Matrix44F> getVioPose()

Returns

Optional<Matrix44F>

getMapPose

If localization is successful in SparseSpatialMap, output the pose of the map origin in the camera coordinate system; otherwise, output the pose of the VIO coordinate system origin in the camera coordinate system.

easyar_OptionalOfMatrix44F easyar_SparseSpatialMapResult_getMapPose(const easyar_SparseSpatialMapResult * This)
std::optional<Matrix44F> getMapPose()
public @Nullable Matrix44F getMapPose()
fun getMapPose(): Matrix44F?
- (easyar_Matrix44F *)getMapPose
public func getMapPose() -> Matrix44F?
public virtual Optional<Matrix44F> getMapPose()

Returns

Optional<Matrix44F>

getLocalizationStatus

Whether the localization system can determine the pose relationship of the device relative to the localization map. After a single successful localization, continuous tracking is performed through the motion tracking system, so even if the map area is removed, as long as motion tracking is working properly, it will still return true.

bool easyar_SparseSpatialMapResult_getLocalizationStatus(const easyar_SparseSpatialMapResult * This)
bool getLocalizationStatus()
public boolean getLocalizationStatus()
fun getLocalizationStatus(): Boolean
- (bool)getLocalizationStatus
public func getLocalizationStatus() -> Bool
public virtual bool getLocalizationStatus()

Returns

Boolean

getLocalizationMapID

Get the ID of the currently successfully localized map.

void easyar_SparseSpatialMapResult_getLocalizationMapID(const easyar_SparseSpatialMapResult * This, easyar_String * * Return)
std::string getLocalizationMapID()
public java.lang.@Nonnull String getLocalizationMapID()
fun getLocalizationMapID(): String
- (NSString *)getLocalizationMapID
public func getLocalizationMapID() -> String
public virtual string getLocalizationMapID()

Returns

String