IAARSession

Objective-C


@interface IAARSession : NSObject <IABeta, IARestricted>

Swift

class IAARSession : NSObject, IABeta, IARestricted

IndoorAtlas AR fusion API

NOTE! To enable AR features, please contact IndoorAtlas sales.

The AR API provides you with convenient means of converting between two important coordinate systems: * The global coordinates encoded in IALocation objects and their components. In practice, this means latitude, longitude, floor number and heading/orientation information. * An augmented reality (AR) coordinate system, which is assumed to be a right-handed 3D metric coordinate system, where the Y axis points up (towards the sky).

The local tracking of the device in the AR coordinate system is assumed to be handled by an external AR solution like ARCore, whose certain outputs are given to this class. The IndoorAtlas platform fuses this information with the IndoorAtlas position estimates and provides the relevant coordinate transforms in a stable and visually consistent manner, which allows you to easily place geographically referenced content in the AR world.

The methods of an instance of this class can be called from any thread.

  • Wayfinding arrow AR object.

    Declaration

    Objective-C

    @property (nonatomic, readonly, nonnull) IAARObject *wayfindingCompassArrow;

    Swift

    var wayfindingCompassArrow: IAARObject { get }

  • Wayfinding target (goal) AR object.

    Declaration

    Objective-C

    @property (nonatomic, readonly, nonnull) IAARObject *wayfindingTarget;

    Swift

    var wayfindingTarget: IAARObject { get }

  • Array of waypoint AR objects constructed from the wayfinding route.

    Declaration

    Objective-C

    @property (nonatomic, readonly, nullable) NSArray<IAARObject *> *wayfindingTurnArrows;

    Swift

    var wayfindingTurnArrows: [IAARObject]? { get }

  • Check if the positioning session has approximately converged. If false, it is recommended to advise the user to walk for a couple of meters to any direction so that they coordinate systems can be oriented correctly. This is optional, but the IAARObject instances may first appear in clearly incorrect directions on positions otherwise.

    Declaration

    Objective-C

    @property (nonatomic, readonly) _Bool converged;

    Swift

    var converged: Bool { get }

  • Create an AR Point-of-Interest in the given geographical coordinates. The coordinates of the object in the AR world update in a visually pleasing manner.

    Declaration

    Objective-C

    - (nonnull IAARObject *)createPoi:(CLLocationCoordinate2D)coords
                      floorNumber:(int)floorNumber;

    Swift

    func createPoi(_ coords: CLLocationCoordinate2D, floorNumber: Int32) -> IAARObject

    Parameters

    coords

    latitude in degrees
    floorNumber

    IndoorAtlas integer floor number

    Return Value

    IAARObject

  • Create an AR Point-of-Interest in the given geographical coordinates. The coordinates of the object in the AR world update in a visually pleasing manner.

    Declaration

    Objective-C

    - (nonnull IAARObject *)createPoi:(CLLocationCoordinate2D)coords
                      floorNumber:(int)floorNumber
                          heading:(double)heading
                          zOffset:(double)zOffset;

    Swift

    func createPoi(_ coords: CLLocationCoordinate2D, floorNumber: Int32, heading: Double, zOffset: Double) -> IAARObject

    Parameters

    coords

    latitude in degrees
    floorNumber

    IndoorAtlas integer floor number
    heading

    Heading in degrees 0=North, 90=East, 180=South, 270=West
    zOffset

    Vertical offset from the floor plane in meters

    Return Value

    IAARObject

  • Create an AR Point-of-Interest in the given geographical coordinates. The coordinates of the object in the AR world update in a visually pleasing manner.

    Declaration

    Objective-C

    - (nonnull IAARObject *)createPoi:(nonnull IALocation *)location;

    Swift

    func createPoi(_ location: IALocation) -> IAARObject

    Parameters

    location

    location of the POI

    Return Value

    IAARObject

  • Convert from geographical to AR coordinates.

    Declaration

    Objective-C

    - (simd_float4x4)geoToAr:(const CLLocationCoordinate2D)coords
             floorNumber:(int)floorNumber
                 heading:(double)heading
                 zOffset:(double)zOffset;

    Swift

    func geo(toAr coords: CLLocationCoordinate2D, floorNumber: Int32, heading: Double, zOffset: Double) -> simd_float4x4

    Parameters

    coords

    Geographical coordinates
    floorNumber

    IndoorAtlas integer floor number
    heading

    heading in degrees 0=North, 90=East, 180=South, 270=West
    zOffset

    Vertical offset from the floor plane in meters

    Return Value

    a 4x4 homogeneous model-to-world matrix. The matrix will be a identity matrix in case of conversion failure. The conversion fails unless both IndoorAtlas positioning and the AR input have been obtained (i.e., before the first fix or before setArCameraMatrix has been called for the first time).

  • Convert from AR to geographic coordinates.

    Declaration

    Objective-C

    - (nonnull IALocation *)arToGeo:(const simd_float4x4)matrix;

    Swift

    func ar(toGeo matrix: simd_float4x4) -> IALocation

    Parameters

    matrix

    4x4 homogeneous model-to-world matrix

    Return Value

    geographical coordinates. Nil if not available

  • Convert from AR to geographic coordinates.

    Declaration

    Objective-C

    - (nonnull IALocation *)arToGeo:(double)x Y:(double)y Z:(double)z;

    Swift

    func ar(toGeo x: Double, y: Double, z: Double) -> IALocation

    Parameters

    x

    AR coordinate system X-coordinate (horizontal)
    y

    AR coordinate system Y-coordinate (vertical)
    z

    AR coordinate system Z-coordinate (horizontal)

    Return Value

    geographical coordinates. Nil if not available

  • Input current pose from the external AR tracking. This method should be called on each successfully tracked AR camera frame.

    Declaration

    Objective-C

    - (void)setPoseMatrix:(const simd_float4x4)poseMatrix;

    Swift

    func setPoseMatrix(_ poseMatrix: simd_float4x4)

    Parameters

    poseMatrix

    Current “sensor pose” from AR tracking. a 4x4 homogeneous local-to-world matrix, equivalent to ARKit’s ARCamera.transform[1] This matrix does not change with UI orientation. 1: https://developer.apple.com/documentation/arkit/arcamera/2866108-transform.

  • Set the current camera-to-world matrix. Should be called regularly as long as one wishes to render objects. Calling on each AR frame is recommended.

    Declaration

    Objective-C

    - (void)setCameraToWorldMatrix:(const simd_float4x4)cameraToWorldMatrix;

    Swift

    func setCameraToWorldMatrix(_ cameraToWorldMatrix: simd_float4x4)

    Parameters

    cameraToWorldMatrix

    a 4x4 homogeneous camera-to-world matrix, where the the negative Z axis is points “into the screen” in camera coordinates. Unlike the poseMatrix method, this matrix may change with UI orientation. This matrix is equivalent to inverse of ARKit’s ARCamera.viewMatrix[1] 1: https://developer.apple.com/documentation/arkit/arcamera/2921672-viewmatrix

  • Input AR plane tracking information. This input is optional, but allows more accurate vertical tracking, e.g., placing geo-referenced AR objects so that they appear to be on the floor. If used, should be called on each AR frame for each tracked horizontal upward-facing planes as input.

    The planes will be applied on the next setPoseMatrix: call.

    Declaration

    Objective-C

    - (void)addPlaneWithCenterX:(float)centerX
                withCenterY:(float)centerY
                withCenterZ:(float)centerZ
                withExtentX:(float)extentX
                withExtentZ:(float)extentZ;

    Swift

    func addPlane(withCenterX centerX: Float, withCenterY centerY: Float, withCenterZ centerZ: Float, withExtentX extentX: Float, withExtentZ extentZ: Float)

    Parameters

    centerX

    Center X coordinate of the plane
    centerY

    Center Y coordinate of the plane
    centerZ

    Center Z coordinate of the plane
    extentX

    Extent X of the plane
    extentZ

    Extent Z of the plane