Typedefs
typedef struct ArPose_	ArPose

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

void	ArPose_destroy (ArPose *pose)
	Releases memory used by a pose object. More...

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

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

Detailed Description

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

Typedef Documentation

◆ ArPose

typedef struct ArPose_ ArPose

A structured rigid transformation (value type).

Allocate with ArPose_create()
Release with ArPose_destroy()

Definition at line 175 of file arcore_c_api.h.

Function Documentation

◆ 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.

Parameters

[in]	session	The ARCore session
[in]	pose	The pose to convert
[out]	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.