SparseSpatialMapResult Class¶
This type is an EasyAR Sense API in C#: SparseSpatialMapResult . Some descriptions may not apply to Unity environment on this page.
Some parts of the Sense API may have already been wrapped into Unity components, and directly usages may not be necessary.
Description¶
Describes the result of mapping and localization. Updated at the same frame rate with OutputFrame.
Methods¶
getMotionTrackingStatus¶
- C#
public virtual MotionTrackingStatus getMotionTrackingStatus()
Obtain motion tracking status.
getVioPose¶
- C#
public virtual Optional< Matrix44F > getVioPose()
Returns pose of the origin of VIO system in camera coordinate system.
getMapPose¶
- C#
public virtual Optional< Matrix44F > getMapPose()
Returns the pose of origin of the map in camera coordinate system, when localization is successful.
Otherwise, returns pose of the origin of VIO system in camera coordinate system.
getLocalizationStatus¶
- C#
public virtual bool getLocalizationStatus()
Returns true if the system can reliablly locate the pose of the device with regard to the map.
Once relocalization succeeds, relative pose can be updated by motion tracking module.
As long as the motion tracking module returns normal tracking status, the localization status is also true.
getLocalizationMapID¶
- C#
public virtual string getLocalizationMapID()
Returns current localized map ID.