DenseSpatialMap Class¶

Description¶

DenseSpatialMap用来对环境进行精确的三维稠密重建，其重建的模型用三角网格表示，称为mesh。

DenseSpatialMap占用1个camera的buffer。

isAvailable¶

当设备支持稠密重建功能时返回True，否则返回False。

C: bool easyar_DenseSpatialMap_isAvailable(void)
C++17: static bool isAvailable()
C++03(Deprecated): static bool isAvailable()
Java: public static boolean isAvailable()
Kotlin: companion object fun isAvailable(): Boolean
Objective-C: + (bool)isAvailable
Swift: public static func isAvailable() -> Bool
C#: public static bool isAvailable()

inputFrameSink¶

输入帧输入端口。DenseSpatialMap输入帧必须包含图像和对应的camera参数、空间信息（cameraTransform和trackingStatus）。参考 InputFrameSink 。

C: void easyar_DenseSpatialMap_inputFrameSink(easyar_DenseSpatialMap * This, easyar_InputFrameSink * * Return)
C++17: std::shared_ptr<InputFrameSink> inputFrameSink()
C++03(Deprecated): void inputFrameSink(InputFrameSink * * Return)
Java: public @Nonnull InputFrameSink inputFrameSink()
Kotlin: fun inputFrameSink(): InputFrameSink
Objective-C: - (easyar_InputFrameSink *)inputFrameSink
Swift: public func inputFrameSink() -> InputFrameSink
C#: public virtual InputFrameSink inputFrameSink()

bufferRequirement¶

当前组件占用camera buffer的数量。

C: int easyar_DenseSpatialMap_bufferRequirement(easyar_DenseSpatialMap * This)
C++17: int bufferRequirement()
C++03(Deprecated): int bufferRequirement()
Java: public int bufferRequirement()
Kotlin: fun bufferRequirement(): Int
Objective-C: - (int)bufferRequirement
Swift: public func bufferRequirement() -> Int32
C#: public virtual int bufferRequirement()

create¶

创建DenseSpatialMap对象。

C: void easyar_DenseSpatialMap_create(easyar_DenseSpatialMap * * Return)
C++17: static std::shared_ptr<DenseSpatialMap> create()
C++03(Deprecated): static void create(DenseSpatialMap * * Return)
Java: public static @Nonnull DenseSpatialMap create()
Kotlin: companion object fun create(): DenseSpatialMap
Objective-C: + (easyar_DenseSpatialMap *)create
Swift: public static func create() -> DenseSpatialMap
C#: public static DenseSpatialMap create()

start¶

开始重建或从暂停中恢复，继续重建。

C: bool easyar_DenseSpatialMap_start(easyar_DenseSpatialMap * This)
C++17: bool start()
C++03(Deprecated): bool start()
Java: public boolean start()
Kotlin: fun start(): Boolean
Objective-C: - (bool)start
Swift: public func start() -> Bool
C#: public virtual bool start()

stop¶

暂停重建过程。调用start来继续重建过程。

C: void easyar_DenseSpatialMap_stop(easyar_DenseSpatialMap * This)
C++17: void stop()
C++03(Deprecated): void stop()
Java: public void stop()
Kotlin: fun stop(): Unit
Objective-C: - (void)stop
Swift: public func stop() -> Void
C#: public virtual void stop()

close¶

关闭重建过程。close之后不应继续使用。

C: void easyar_DenseSpatialMap_close(easyar_DenseSpatialMap * This)
C++17: void close()
C++03(Deprecated): void close()
Java: public void close()
Kotlin: fun close(): Unit
Objective-C: - (void)close
Swift: public func close() -> Void
C#: public virtual void close()

getMesh¶

获取 SceneMesh 类型的mesh管理对象。其中的内容会在调用 DenseSpatialMap.updateSceneMesh 函数之后自动更新。

C: void easyar_DenseSpatialMap_getMesh(easyar_DenseSpatialMap * This, easyar_SceneMesh * * Return)
C++17: std::shared_ptr<SceneMesh> getMesh()
C++03(Deprecated): void getMesh(SceneMesh * * Return)
Java: public @Nonnull SceneMesh getMesh()
Kotlin: fun getMesh(): SceneMesh
Objective-C: - (easyar_SceneMesh *)getMesh
Swift: public func getMesh() -> SceneMesh
C#: public virtual SceneMesh getMesh()

updateSceneMesh¶

获取最近更新的mesh，保存到由 DenseSpatialMap.getMesh 得到的 SceneMesh 对象中。

参数updateMeshAll指明是进行full update还是incremental update。当updateMeshAll为True时进行full update，所有的mesh都会保存到 SceneMesh 中；当updateMeshAll为False时进行incremental update，只保存最近更新的mesh到 SceneMesh 中。

进行full update将占用额外的时间和内存空间，导致性能下降。

C: bool easyar_DenseSpatialMap_updateSceneMesh(easyar_DenseSpatialMap * This, bool updateMeshAll)
C++17: bool updateSceneMesh(bool updateMeshAll)
C++03(Deprecated): bool updateSceneMesh(bool updateMeshAll)
Java: public boolean updateSceneMesh(boolean updateMeshAll)
Kotlin: fun updateSceneMesh(updateMeshAll: Boolean): Boolean
Objective-C: - (bool)updateSceneMesh:(bool)updateMeshAll
Swift: public func updateSceneMesh(_ updateMeshAll: Bool) -> Bool
C#: public virtual bool updateSceneMesh(bool updateMeshAll)