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Google.XR.ARCoreExtensions.GeospatialPose

Describes a specific location, elevation, and compass heading relative to Earth.

Summary

It is comprised of:

  • Latitude and longitude are specified in degrees, with positive values being north of the equator and east of the prime meridian as defined by the WGS84 specification.
  • Altitude is specified in meters above the WGS84 ellipsoid, which is roughly equivalent to meters above sea level.
  • Orientation is defined in the east-up-north coordinate frame where X+ points east, Y+ points up away from gravity, and Z+ points north.
  • Accuracy of the latitude, longitude, altitude, and heading are available as numeric confidence intervals where a large value (large interval) means low confidence and small value (small interval) means high confidence.
A GeospatialPose can be retrieved from AREarthManager.CameraGeospatialPose and from converting a Pose using AREarthManager.Convert.

Public attributes

Altitude
double
Altitude of the pose in meters above the WGS 84 ellipsoid.
EunRotation
The rotation of the target with respect to the east-up-north coordinate frame where X+ points east, Y+ points up away from gravity, and Z+ points north.
Heading
double
Deprecated. This function has been deprecated in favor of EunRotation, which provides orientation values in 3D space.
Heading of the pose in degrees.
HeadingAccuracy
double
Deprecated. This function has deprecated in favor of OrientationYawAccuracy which provides the accuracy analogous to the heading accuracy when the device is held upright in the default orientation mode.
Estimated heading accuracy in degrees.
HorizontalAccuracy
double
Estimated horizontal accuracy in meters with respect to latitude and longitude.
Latitude
double
Latitude of the pose in degrees.
Longitude
double
Longitude of the pose in degrees.
OrientationYawAccuracy
double
Gets the pose's estimated orientation yaw angle accuracy.
VerticalAccuracy
double
Estimated horizontal accuracy in meters.

Public attributes

Altitude

double Google::XR::ARCoreExtensions::GeospatialPose::Altitude

Altitude of the pose in meters above the WGS 84 ellipsoid.

EunRotation

Quaternion Google::XR::ARCoreExtensions::GeospatialPose::EunRotation

The rotation of the target with respect to the east-up-north coordinate frame where X+ points east, Y+ points up away from gravity, and Z+ points north.

A rotation around the Y+ axis creates a rotation counterclockwise from north.

Heading

double Google::XR::ARCoreExtensions::GeospatialPose::Heading

Heading of the pose in degrees.

This is valid for a GeospatialPose retrieved from AREarthManager.CameraGeospatialPose. and return 0 for all other GeospatialPose objects. Heading is specified in degrees clockwise from true north and approximates the direction the device is facing. The value returned when facing north is 0°, when facing east is 90°, when facing south is +/-180°, and when facing west is -90°.

The heading approximation is based on the rotation of the device in its current orientation mode (i.e. portrait or landscape) and pitch. For example, when the device is held vertically or upright, the heading is based on the camera optical axis. If the device is held horizontally, looking downwards, the heading is based on the top of the device, with respect to the orientation mode.

Note: Heading is currently only supported in the device's default orientation mode, which is portrait mode for most supported devices. Deprecated. This function has been deprecated in favor of EunRotation, which provides orientation values in 3D space.To determine a value analogous to the heading value, calculate the yaw, pitch, and roll values from EunRotation. When the device is pointing downwards, i.e. perpendicular to the ground, heading is analoguous to roll, and when the device is upright in the device's default orientation mode, heading is analogous to yaw.

HeadingAccuracy

double Google::XR::ARCoreExtensions::GeospatialPose::HeadingAccuracy

Estimated heading accuracy in degrees.

This is valid for a GeospatialPose retrieved from AREarthManager.CameraGeospatialPose. and return 0 for all other GeospatialPose objects. We define heading accuracy as the radius of the 68th percentile confidence level around Heading. In other words, there is a 68% probability that the true heading is within HeadingAccuracy of Heading. Larger values indicate lower accuracy.

For example, if the estimated heading is 60°, and the heading accuracy is 10°, then there is a 68% probability of the true heading being between 50° and 70°. Deprecated. This function has deprecated in favor of OrientationYawAccuracy which provides the accuracy analogous to the heading accuracy when the device is held upright in the default orientation mode.

HorizontalAccuracy

double Google::XR::ARCoreExtensions::GeospatialPose::HorizontalAccuracy

Estimated horizontal accuracy in meters with respect to latitude and longitude.

We define horizontal accuracy as the radius of the 68th percentile confidence level around the estimated horizontal location. In other words, if you draw a circle centered at Latitude and Longitude, and with a radius equal to the horizontal accuracy, then there is a 68% probability that the true location is inside the circle. Larger numbers indicate lower accuracy.

For example, if the latitude is 10°, longitude is 10°, and the returned value is 15, then there is a 68% probability that the true location is within 15 meters of the (10°, 10°) latitude/longitude coordinate.

Latitude

double Google::XR::ARCoreExtensions::GeospatialPose::Latitude

Latitude of the pose in degrees.

Positive values are north of the equator as defined by the WGS84 specification.

Longitude

double Google::XR::ARCoreExtensions::GeospatialPose::Longitude

Longitude of the pose in degrees.

Positive values are east of the prime meridian as defined by the WGS84 specification.

OrientationYawAccuracy

double Google::XR::ARCoreExtensions::GeospatialPose::OrientationYawAccuracy

Gets the pose's estimated orientation yaw angle accuracy.

Yaw rotation is the angle between the pose's compass direction and north, and can be determined from EunRotation.

We define orientation yaw accuracy as the estimated radius of the 68th percentile confidence level around yaw angles from EunRotation. In other words, there is a 68% probability that the true yaw angle is within OrientationYawAccuracy degrees of this pose's rotation. Larger values indicate lower accuracy.

For example, if the estimated yaw angle is 60°, and the yaw accuracy is 10°, then there is a 68% probability of the true yaw angle being between 50° and 70°.

VerticalAccuracy

double Google::XR::ARCoreExtensions::GeospatialPose::VerticalAccuracy

Estimated horizontal accuracy in meters.

We define vertical accuracy as the radius of the 68th percentile confidence level around the estimated altitude. In other words, there is a 68% probability that the true altitude is within the output value (in meters) of this Altitude (above or below). Larger numbers indicate lower accuracy.

For example, if Altitude is 100 meters, and VerticalAccuracy is 20 meters, there is a 68% chance that the true altitude is within 20 meters of 100 meters.