# Algorithm

> 算法模块主要封装了slam,平面检测等能力.

<br>

#### SLAM

* 需要开启SLAM/6dof能力,只需要调用一行代码

<table data-header-hidden><thead><tr><th width="625"></th><th></th></tr></thead><tbody><tr><td><strong>EnableSlamHeadTracker</strong></td><td><br></td></tr><tr><td>void EnableSlamHeadTracker()</td><td></td></tr><tr><td><p>开启6dof能力</p><p>注意:</p><p>1.开启时眼镜需要静止1秒左右时间才能计算空间位置</p><p>2.开启后,眼镜相机不可用.</p></td><td></td></tr></tbody></table>

&#x20; 相机上只要挂载了HeadTrackedPoseDriver类,并绑定了通用input事件,即可从原有的3DoF转为6DoF.

<figure><img src="/files/F5KvJgxF6UfUMkQD9VGL" alt=""><figcaption></figcaption></figure>

* 如果不再使用slam,可调用如下接口关闭

  | **DisableSlamHeadTracker**   | <p><br></p> |
  | ---------------------------- | ----------- |
  | void EnableSlamHeadTracker() |             |
  | 关闭6dof能力                     |             |
* 可调用如下接口获取接口状态(可以在Update中每一帧查询)

  <table data-header-hidden><thead><tr><th width="568"></th><th></th></tr></thead><tbody><tr><td><strong>GetSlamStatus</strong></td><td><br></td></tr><tr><td>SlamState GetSlamStatus()</td><td></td></tr><tr><td><p>获取当前Slam的状态:</p><pre class="language-c#"><code class="lang-c#">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,
  }
  </code></pre></td><td></td></tr></tbody></table>

<br>

***

#### 平面检测

> 运行Sample中的PlaneDetection即可查看平面检测sample code. 在编辑器中,使用宏编写了测试数据.

<figure><img src="/files/Fo84SemrMJ1n4HUeGZ0Z" alt=""><figcaption></figcaption></figure>

* 打开平面检测,需要调用如下接口

  <table data-header-hidden><thead><tr><th></th><th></th></tr></thead><tbody><tr><td><strong>EnablePlaneDetection</strong></td><td><br></td></tr><tr><td>void EnablePlaneDetection()</td><td></td></tr><tr><td><p>开启平面检测能力.注意:调用该代码前,需要先调用EnableSlamHeadTracker()示例:</p><pre class="language-c#"><code class="lang-c#">AlgorithmApi.EnableSlamHeadTracker();
  AlgorithmApi.EnablePlaneDetection();
  </code></pre></td><td></td></tr></tbody></table>
* 使用如下接口获取平面检测结果,如果返回值>0,则检测到平面

  <table data-header-hidden><thead><tr><th width="501"></th><th></th></tr></thead><tbody><tr><td><strong>GetPlaneInfo</strong></td><td><br></td></tr><tr><td>int GetPlaneInfo(XRPlaneInfo[] info)</td><td></td></tr><tr><td><p>获取平面检测结果.</p><p>info:传入的数据长度取决于需要最多获知多少个平面,例如XRPlaneInfo[] info= new XRPlaneInfo[3]</p></td><td></td></tr></tbody></table>
* 对平面检测结果的数据进行简单的处理

  | **ConvertPlanePosition**                       | <p><br></p> |
  | ---------------------------------------------- | ----------- |
  | Vector3 ConvertPlanePosition(XRPlaneInfo info) |             |
  | 将检测到的平面数据传入,获取平面位置信息                           |             |

  | **ConvertPlaneRotation**                          | <p><br></p> |
  | ------------------------------------------------- | ----------- |
  | Quaternion ConvertPlaneRotation(XRPlaneInfo info) |             |
  | 将检测到的平面数据传入,获取平面旋转信息                              |             |
* 关闭平面检测

  | **DisablePlaneDetection**     | <p><br></p> |
  | ----------------------------- | ----------- |
  | void DisablePlaneDetection(); |             |
  | 关闭平面检测能力.                     |             |
* 在sample code中,内置了一套可以渲染出平面的接口.以便debug使用.

  <table data-header-hidden><thead><tr><th width="542"></th><th></th></tr></thead><tbody><tr><td><strong>CreatePlaneMesh</strong></td><td><br></td></tr><tr><td>GameObject CreatePlaneMesh(XRPlaneInfo onePlaneMeshInfo, GameObject obj, bool includeMaterial = false, bool invertYZ = false)</td><td></td></tr><tr><td>平面模型重建,将检测到的平面数据传入,该方法就会创建一个GameObject并且添加对应的Mesh</td><td></td></tr></tbody></table>

<table data-header-hidden><thead><tr><th width="571"></th><th></th></tr></thead><tbody><tr><td><strong>SetUnityCameraToPhysicalCameraFOV</strong></td><td><br></td></tr><tr><td>Void SetUnityCameraToPhysicalCameraFOV(Camera camera)</td><td></td></tr><tr><td>将unity的渲染相机参数设置成眼镜的实体相机参数</td><td></td></tr></tbody></table>

<table data-header-hidden><thead><tr><th width="576"></th><th></th></tr></thead><tbody><tr><td><strong>GetAzimuth</strong></td><td><br></td></tr><tr><td>float GetAzimuth()</td><td></td></tr><tr><td>获取带磁力计的偏航角</td><td></td></tr></tbody></table>

<br>


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