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`.