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ArPose
Represents an immutable rigid transformation from one coordinate space to another.
Summary
Typedefs
|
ArPose
|
typedef
struct ArPose_
|
Typedefs
ArPose
struct ArPose_ ArPose
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. |
|
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Last updated 2025-07-14 UTC.
[null,null,["Last updated 2025-07-14 UTC."],[[["\u003cp\u003e\u003ccode\u003eArPose\u003c/code\u003e represents an immutable rigid transformation from one coordinate space to another, acting as a value type.\u003c/p\u003e\n"],["\u003cp\u003eYou can create and destroy \u003ccode\u003eArPose\u003c/code\u003e objects using \u003ccode\u003eArPose_create\u003c/code\u003e and \u003ccode\u003eArPose_destroy\u003c/code\u003e respectively.\u003c/p\u003e\n"],["\u003cp\u003e\u003ccode\u003eArPose\u003c/code\u003e provides functionalities to convert a pose into a 4x4 transformation matrix (\u003ccode\u003eArPose_getMatrix\u003c/code\u003e) and extract its raw rotation and translation components (\u003ccode\u003eArPose_getPoseRaw\u003c/code\u003e).\u003c/p\u003e\n"],["\u003cp\u003eInitialization of an \u003ccode\u003eArPose\u003c/code\u003e can be done with raw pose data (quaternion and translation) or as an identity pose.\u003c/p\u003e\n"]]],[],null,["# ArPose\n======\n\nRepresents an immutable rigid transformation from one coordinate space to another.\n\nSummary\n-------\n\n| ### Typedefs ||\n|-------------------|-----------------------------------------------------------------------------------------------------------------------------|\n| [ArPose](#arpose) | typedef `struct ArPose_` A structured rigid transformation ([value type](/ar/reference/c/group/concepts#object-ownership)). |\n\n| ### Functions ||\n|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------|\n| [ArPose_create](#arpose_create)`(const `[ArSession](/ar/reference/c/group/ar-session#arsession)` *session, const float *pose_raw, `[ArPose](/ar/reference/c/group/ar-pose#arpose)` **out_pose)` | `void` Allocates and initializes a new pose object. |\n| [ArPose_destroy](#arpose_destroy)`(`[ArPose](/ar/reference/c/group/ar-pose#arpose)` *pose)` | `void` Releases memory used by a pose object. |\n| [ArPose_getMatrix](#arpose_getmatrix)`(const `[ArSession](/ar/reference/c/group/ar-session#arsession)` *session, const `[ArPose](/ar/reference/c/group/ar-pose#arpose)` *pose, float *out_matrix_col_major_4x4)` | `void` Converts a pose into a 4x4 transformation matrix. |\n| [ArPose_getPoseRaw](#arpose_getposeraw)`(const `[ArSession](/ar/reference/c/group/ar-session#arsession)` *session, const `[ArPose](/ar/reference/c/group/ar-pose#arpose)` *pose, float *out_pose_raw_7)` | `void` Extracts the quaternion rotation and translation from a pose object. |\n\nTypedefs\n--------\n\n### ArPose\n\n```scdoc\nstruct ArPose_ ArPose\n``` \nA structured rigid transformation ([value type](/ar/reference/c/group/concepts#object-ownership)).\n\n\n- Allocate with: [ArPose_create](/ar/reference/c/group/ar-pose#arpose_create)\n- Release with: [ArPose_destroy](/ar/reference/c/group/ar-pose#arpose_destroy)\n\n\u003cbr /\u003e\n\nFunctions\n---------\n\n### ArPose_create\n\n```gdscript\nvoid ArPose_create(\n const ArSession *session,\n const float *pose_raw,\n ArPose **out_pose\n)\n``` \nAllocates and initializes a new pose object.\n\n`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()`](https://developer.android.com/reference/android/hardware/SensorEvent#values).\n\nThe order of the values is: qx, qy, qz, qw, tx, ty, tz.\n\nIf `pose_raw` is `NULL`, initializes with the identity pose. \n\n### ArPose_destroy\n\n```scdoc\nvoid ArPose_destroy(\n ArPose *pose\n)\n``` \nReleases memory used by a pose object. \n\n### ArPose_getMatrix\n\n```gdscript\nvoid ArPose_getMatrix(\n const ArSession *session,\n const ArPose *pose,\n float *out_matrix_col_major_4x4\n)\n``` \nConverts a pose into a 4x4 transformation matrix.\n\n\n| Details ||\n|------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| 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. | |\n\n### ArPose_getPoseRaw\n\n```gdscript\nvoid ArPose_getPoseRaw(\n const ArSession *session,\n const ArPose *pose,\n float *out_pose_raw_7\n)\n``` \nExtracts the quaternion rotation and translation from a pose object.\n\n\n| Details ||\n|------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| 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](/ar/reference/c/group/ar-pose#arpose_create). | |"]]
