ArPose

Represents an immutable rigid transformation from one coordinate space to another.

Summary

Typedefs

 ArPose

typedef

struct ArPose_

A structured rigid transformation ( value type ).

Functions

 ArPose_create 
(const ArSession 
*session, const float *pose_raw, ArPose 
**out_pose)

void

Allocates and initializes a new pose object.

 ArPose_destroy 
( ArPose 
*pose)

void

Releases memory used by a pose object.

 ArPose_getMatrix 
(const ArSession 
*session, const ArPose 
*pose, float *out_matrix_col_major_4x4)

void

Converts a pose into a 4x4 transformation matrix.

 ArPose_getPoseRaw 
(const ArSession 
*session, const ArPose 
*pose, float *out_pose_raw_7)

void

Extracts the quaternion rotation and translation from a pose object.

Typedefs

ArPose

struct ArPose_ ArPose

A structured rigid transformation ( value type ).

Allocate with: ArPose_create
Release with: ArPose_destroy

Functions

ArPose_create

 void 
  
 ArPose_create 
 ( 
  
 const 
  
  ArSession 
 
  
 * 
 session 
 , 
  
 const 
  
 float 
  
 * 
 pose_raw 
 , 
  
  ArPose 
 
  
 ** 
 out_pose 
 )

Allocates and initializes a new pose object.

pose_raw points to an array of 7 floats, describing the rotation (quaternion) and translation of the pose in the same order as the first 7 elements of the Android Sensor.TYPE_POSE_6DOF values documented on SensorEvent.values() .

The order of the values is: qx, qy, qz, qw, tx, ty, tz.

If pose_raw is NULL , initializes with the identity pose.

ArPose_destroy

void ArPose_destroy( ArPose 
*pose
)

Releases memory used by a pose object.

ArPose_getMatrix

 void 
  
 ArPose_getMatrix 
 ( 
  
 const 
  
  ArSession 
 
  
 * 
 session 
 , 
  
 const 
  
  ArPose 
 
  
 * 
 pose 
 , 
  
 float 
  
 * 
 out_matrix_col_major_4x4 
 )

Converts a pose into a 4x4 transformation matrix.

Details

Parameters

`session`	The ARCore session
`pose`	The pose to convert
`out_matrix_col_major_4x4`	Pointer to an array of 16 floats, to be filled with a column-major homogenous transformation matrix, as used by OpenGL.

ArPose_getPoseRaw

 void 
  
 ArPose_getPoseRaw 
 ( 
  
 const 
  
  ArSession 
 
  
 * 
 session 
 , 
  
 const 
  
  ArPose 
 
  
 * 
 pose 
 , 
  
 float 
  
 * 
 out_pose_raw_7 
 )

Extracts the quaternion rotation and translation from a pose object.

Details

Parameters

`session`	The ARCore session
`pose`	The pose to extract
`out_pose_raw_7`	Pointer to an array of 7 floats, to be filled with the quaternion rotation and translation as described in `ArPose_create` .