| 调用方法 | 使用说明 | 示例代码 |
| 开启Slam 6dofAlgorithm.EnableSlamHeadTracker() | 参数与返回值细节：函数无参数和返回
异常场景说明：无
调用时机建议：在进入Slam 6dof 前 及时 调用 | Algorithm.EnableSlamHeadTracker();
|
获取当前Slam的状态Algorithm.GetSlamStatus()
| 参数与返回值细节：调用无入参，返回 SlamState 枚举值，可根据值判断 SLAM 运行阶段异常场景说明：使能Slam 6dof。调用时机建议：在使能Slam 6dof，可以根据需要实时监听状态，然后进行对应处理。
| Algorithm.GetSlamStatus()
public enum SlamState
{
//正在初始化
FFVINS\_INITIALIZING = 0,
//初始化成功
FFVINS\_TRACKING\_SUCCESS = 1,
//失败
FFVINS\_TRACKING\_FAIL = 2,
}
/// \
/// 获取 Slam 状态
/// \
private void JudgeSlamStateUpdate() {
Algorithm.SlamState slamState = Algorithm.GetSlamStatus();
Debug.Log(TAG + "JudgeSlamState() slamState = " + slamState);
if (mSlamState != slamState && slamState == Algorithm.SlamState.FFVINS\_TRACKING\_FAIL) {
Debug.Log(TAG + "JudgeSlamState() FFVINS\_TRACKING\_FAIL");
mSlamState = slamState;
```
OnSlamFailed();
} else if (mSlamState != slamState && slamState == Algorithm.SlamState.FFVINS_TRACKING_SUCCESS) {
Debug.Log(TAG + "JudgeSlamState() FFVINS_TRACKING_FAIL");
mSlamState = slamState;
OnSlamSuccess();
}
```
}
|
| 姿态更新HeadTrackedPoseDriver.OnPostUpdate | 参数与返回值细节：回调函数 Pose，Pose.rotation 可以获取旋转, Pose.position 获取位置
异常场景说明：无
调用时机建议：需要时候获取 | HeadTrackedPoseDriver.OnPostUpdate += OnPostUpdate;
HeadTrackedPoseDriver.OnPostUpdate -= OnPostUpdate;
// 事件回调示例
private void OnPostUpdate(Pose pose)
{
Debug.Log($"\[SlamDemoCtrl] OnPostUpdate() position = {pose.position}, rotation = {pose.rotation}");
}
|
| 关闭 Slam 6dofAlgorithm.DisableSlamHeadTracker(); | 参数与返回值细节：函数无参数和返回
异常场景说明：无
调用时机建议：在退出入Slam 6dof 前 及时 调用 | Algorithm.DisableSlamHeadTracker();
|