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.