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()

C++03

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()

C++03

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()

C++03

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()

C++03

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()

C++03

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()