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Plane


          public     class
          Plane

Describes the current best knowledge of a real-world planar surface.

Merging / Subsumption

Two or more planes may be automatically merged into a single parent plane, resulting in each child plane's getSubsumedBy() returning the parent plane. A subsumed plane becomes identical to the parent plane, and will continue behaving as if it were independently tracked, for example being included in the output of Frame.getUpdatedTrackables(Class).

Planes are hashable and may for example be used as keys in HashMaps. Subsumed planes are distinct from their parents and siblings.

Change from Developer Preview 1: Two Plane objects may refer to the same logical plane detected by the system. Be sure to always use equals(Object) when comparing them.

Nested Classes

enum Plane.Type Simple summary of the normal vector of a plane, for filtering purposes.

Public Methods

`Anchor`	`createAnchor(Pose pose)` Creates an anchor that is attached to this trackable, using the given initial pose in the world coordinate space.
`boolean`	`equals(Object obj)` Indicates whether some other object is a `Trackable` referencing the same logical trackable as this one.
`Collection<Anchor>`	`getAnchors()` Gets the Anchors attached to this trackable.
`Pose`	`getCenterPose()` Returns the pose of the center of the detected plane.
`float`	`getExtentX()` Returns the length of this plane's bounding rectangle measured along the local X-axis of the coordinate space centered on the plane.
`float`	`getExtentZ()` Returns the length of this plane's bounding rectangle measured along the local Z-axis of the coordinate frame centered on the plane.
`FloatBuffer`	`getPolygon()` Returns the 2D vertices of a convex polygon approximating the detected plane, in the form `[x1, z1, x2, z2, ...]`.
`Plane`	`getSubsumedBy()` If this plane has been subsumed, returns the plane this plane was merged into.
`TrackingState`	`getTrackingState()` Gets this trackable's `TrackingState`.
`Plane.Type`	`getType()` Returns the type of this plane.
`int`	`hashCode()` Returns a hash code value for the object.
`boolean`	`isPoseInExtents(Pose pose)` Returns true if the given pose (usually obtained from a HitResult) is in the plane's rectangular extents.
`boolean`	`isPoseInPolygon(Pose pose)` Returns true if the given pose (usually obtained from a HitResult) is in the plane's polygon.

Inherited Methods

From

class
            java.lang.Object

`Object`	`clone()`
`boolean`	`equals(Object arg0)`
`void`	`finalize()`
`final Class<?>`	`getClass()`
`int`	`hashCode()`
`final void`	`notify()`
`final void`	`notifyAll()`
`String`	`toString()`
`final void`	`wait(long arg0, int arg1)`
`final void`	`wait(long arg0)`
`final void`	`wait()`

From

interface
            com.google.ar.core.Trackable

`abstract Anchor`	`createAnchor(Pose pose)` Creates an anchor that is attached to this trackable, using the given initial pose in the world coordinate space.
`abstract Collection<Anchor>`	`getAnchors()` Gets the Anchors attached to this trackable.
`abstract TrackingState`	`getTrackingState()` Gets the TrackingState of this Trackable.

Public Methods

public Anchor createAnchor (Pose pose)

createAnchor

public Anchor createAnchor(
  Pose pose
)

Creates an anchor that is attached to this trackable, using the given initial pose in the world coordinate space. The type of trackable will determine the semantics of attachment and how the anchor's pose will be updated to maintain this relationship. Note that the relative offset between the pose of multiple anchors attached to a trackable may adjust slightly over time as ARCore updates its model of the world.

Details

Parameters

pose

public boolean equals (Object obj)

equals

public boolean equals(
  Object obj
)

Indicates whether some other object is a Trackable referencing the same logical trackable as this one.

Details

Parameters

obj the reference object with which to compare.

Returns true if this object is the same as the obj argument; false otherwise.

getAnchors

public Collection<Anchor> getAnchors()

Gets the Anchors attached to this trackable.

public Pose getCenterPose ()

getCenterPose

public Pose getCenterPose()

Returns the pose of the center of the detected plane. The pose's transformed +Y axis will be point normal out of the plane, with the +X and +Z axes orienting the extents of the bounding rectangle.

public float getExtentX ()

getExtentX

public float getExtentX()

Returns the length of this plane's bounding rectangle measured along the local X-axis of the coordinate space centered on the plane.

public float getExtentZ ()

getExtentZ

public float getExtentZ()

Returns the length of this plane's bounding rectangle measured along the local Z-axis of the coordinate frame centered on the plane.

public FloatBuffer getPolygon ()

getPolygon

public FloatBuffer getPolygon()

Returns the 2D vertices of a convex polygon approximating the detected plane, in the form [x1, z1, x2, z2, ...]. These X-Z values are in the plane's local x-z plane (y=0) and must be transformed by the pose (getCenterPose()) to get the boundary in world coordinates.

public Plane getSubsumedBy ()

getSubsumedBy

public Plane getSubsumedBy()

If this plane has been subsumed, returns the plane this plane was merged into. In cases where a subsuming plane is itself subsumed, this function will always return the topmost non-subsumed plane.

See the Merging / Subsumption section above for details of the subsumption process.

Details
Returns	the non-subsumed plane that this one has been merged into, or `null` if the plane has not been subsumed.

public TrackingState getTrackingState ()

getTrackingState

public TrackingState getTrackingState()

Gets this trackable's TrackingState.

public Plane.Type getType ()

getType

public Plane.Type getType()

Returns the type of this plane.

public int hashCode ()

hashCode

public int hashCode()

Returns a hash code value for the object. This method is supported for the benefit of hash tables such as those provided by HashMap.

Details
Returns	a hash code value for this object.
See Also	`equals(Object)`

public boolean isPoseInExtents (Pose pose)

isPoseInExtents

public boolean isPoseInExtents(
  Pose pose
)

Returns true if the given pose (usually obtained from a HitResult) is in the plane's rectangular extents.

Details

Parameters

pose

public boolean isPoseInPolygon (Pose pose)

isPoseInPolygon

public boolean isPoseInPolygon(
  Pose pose
)

Returns true if the given pose (usually obtained from a HitResult) is in the plane's polygon.

Details

Parameters

pose