Class SparseSpatialMapResult

Namespace

easyar

Gets the output of the sparse mapping and localization system, updated at the frequency of OutputFrame.

Inheritance

FrameFilterResult

SparseSpatialMapResult

Methods

getMotionTrackingStatus

Gets the current motion tracking status.

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• objective-c
• swift
• csharp

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

Type	Description
MotionTrackingStatus

getVioPose

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

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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

Type	Description
Optional<Matrix44F>

getMapPose

If localization in SparseSpatialMap succeeds, outputs the pose of the map origin in the camera coordinate system; otherwise outputs the pose of the VIO coordinate system origin in the camera coordinate system.

• c
• cpp
• java
• kotlin
• objective-c
• swift
• csharp

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

Type	Description
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, true will still be returned as long as motion tracking keeps working normally.

• c
• cpp
• java
• kotlin
• objective-c
• swift
• csharp

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

Type	Description
Boolean

getLocalizationMapID

Gets the ID of the map that is currently localized successfully.

• c
• cpp
• java
• kotlin
• objective-c
• swift
• csharp

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

Type	Description
String