SparseSpatialMapResult Class

Inherits: FrameFilterResult

Description

获取稀疏建图与定位系统的输出，会以 OutputFrame 的频率更新。

getMotionTrackingStatus

获取当前运动跟踪状态。

C: easyar_MotionTrackingStatus easyar_SparseSpatialMapResult_getMotionTrackingStatus(const easyar_SparseSpatialMapResult * This)

C++17: MotionTrackingStatus getMotionTrackingStatus()

Traditional C++: MotionTrackingStatus getMotionTrackingStatus()

Java: public int getMotionTrackingStatus()

Kotlin: fun getMotionTrackingStatus(): Int

Objective-C: - (easyar_MotionTrackingStatus)getMotionTrackingStatus

Swift: public func getMotionTrackingStatus() -> MotionTrackingStatus

C#: public virtual MotionTrackingStatus getMotionTrackingStatus()

getVioPose

获取当前VIO坐标系原点在相机坐标系中的位姿。

C: easyar_OptionalOfMatrix44F easyar_SparseSpatialMapResult_getVioPose(const easyar_SparseSpatialMapResult * This)

C++17: std::optional<Matrix44F> getVioPose()

Traditional C++: OptionalOfMatrix44F getVioPose()

Java: public @Nullable Matrix44F getVioPose()

Kotlin: fun getVioPose(): Matrix44F?

Objective-C: - (easyar_Matrix44F *)getVioPose

Swift: public func getVioPose() -> Matrix44F?

C#: public virtual Optional<Matrix44F> getVioPose()

getMapPose

若在 SparseSpatialMap 中定位成功，则输出地图原点在相机坐标系中的位姿，否则，输出VIO坐标系原点在相机坐标系中的位姿。

C: easyar_OptionalOfMatrix44F easyar_SparseSpatialMapResult_getMapPose(const easyar_SparseSpatialMapResult * This)

C++17: std::optional<Matrix44F> getMapPose()

Traditional C++: OptionalOfMatrix44F getMapPose()

Java: public @Nullable Matrix44F getMapPose()

Kotlin: fun getMapPose(): Matrix44F?

Objective-C: - (easyar_Matrix44F *)getMapPose

Swift: public func getMapPose() -> Matrix44F?

C#: public virtual Optional<Matrix44F> getMapPose()

getLocalizationStatus

定位系统能否确定设备相对于定位地图的位姿关系。

单次定位成功后，会通过运动跟踪系统进行持续追踪，因此即使移除地图区域，但是运动跟踪一直正常工作，仍然会返回true。

C: bool easyar_SparseSpatialMapResult_getLocalizationStatus(const easyar_SparseSpatialMapResult * This)

C++17: bool getLocalizationStatus()

Traditional C++: bool getLocalizationStatus()

Java: public boolean getLocalizationStatus()

Kotlin: fun getLocalizationStatus(): Boolean

Objective-C: - (bool)getLocalizationStatus

Swift: public func getLocalizationStatus() -> Bool

C#: public virtual bool getLocalizationStatus()

getLocalizationMapID

获取当前定位成功的地图的ID，

C: void easyar_SparseSpatialMapResult_getLocalizationMapID(const easyar_SparseSpatialMapResult * This, easyar_String * * Return)

C++17: std::string getLocalizationMapID()

Traditional C++: void getLocalizationMapID(String * * Return)

Java: public java.lang.@Nonnull String getLocalizationMapID()

Kotlin: fun getLocalizationMapID(): String

Objective-C: - (NSString *)getLocalizationMapID

Swift: public func getLocalizationMapID() -> String

C#: public virtual string getLocalizationMapID()