Pose

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)
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
)

Extracts the quaternion rotation and translation from a pose object.

Details
Parameters
session
The ARCore session
pose
The pose to extract
out_pose_raw
Pointer to an array of 7 floats, to be filled with the quaternion rotation and translation as described in ArPose_create().

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