LocalizationResult

Overview

LocalizationResult is delivered to onLocalizationSuccess(result:) when a pose is returned and accepted. It carries the computed pose that the SDK applied, the raw server values behind it, and optional geographic data.

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Properties

Property	Type	Description
mapCode	String	The map code where localization succeeded
mapCodes	[String]	All map codes returned, which may be several for a MapSet
position	SIMD3<Float>	Computed position in AR world coordinates
rotation	simd_quatf	Computed rotation in AR world coordinates
confidence	Float?	Confidence score of the localization (0.0 to 1.0)
geoCoordinates	GeoCoordinates?	Geographic position, when geoCoordinatesInResponse is enabled
geoPose	GeoPose?	Full geographic pose, including orientation, when geoCoordinatesInResponse is enabled
estimatedPosition	SIMD3<Float>?	Raw camera position the server returned, in the map frame
estimatedRotation	simd_quatf?	Raw camera rotation the server returned, in the map frame
queryCameraPosition	SIMD3<Float>?	AR camera position that produced this fix, in the AR session frame
queryCameraRotation	simd_quatf?	AR camera rotation that produced this fix, in the AR session frame
timestamp	Date	When the result was produced
mode	LocalizationMode	The localization mode used

Computed pose versus raw pose

position and rotation are the computed pose: the transform between the AR session frame and the map frame, which is what the SDK applies to the scene. This is the pair almost every app wants.

estimatedPosition / estimatedRotation and queryCameraPosition / queryCameraRotation are the untransformed inputs the computed pose was derived from. They are exposed for diagnostics, for logging a fix faithfully, and for apps that need to recompute the transform themselves.

func onLocalizationSuccess(result: LocalizationResult) {
    print("Localized in \(result.mapCode) at \(result.position)")

    if let confidence = result.confidence {
        print("Confidence: \(confidence)")
    }

    if let geo = result.geoCoordinates {
        print("Lat \(geo.latitude), lon \(geo.longitude)")
    }
}

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GeoCoordinates

Geographic position of the localized pose. Populated only when geoCoordinatesInResponse is enabled and the map is georeferenced in the portal.

Property	Type	Description
latitude	Double	WGS-84 latitude
longitude	Double	WGS-84 longitude
altitude	Double	Altitude in metres

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GeoPose

The full geographic pose the server returns when geoCoordinatesInResponse is enabled. GeoCoordinates carries only the position and is kept for existing integrations. GeoPose additionally exposes the orientation quaternion and the frame specification, which is what you need to draw a heading or record a pose faithfully.

Every field is optional, because the server may omit the block or any part of it.

Property	Type	Description
frameModel	String?	The geodetic model, for example "WGS-84"
frameName	String?	The local tangent frame, for example "Y-Up-ENU". Needed to read quaternion as a compass heading
position	GeoPose.Position?	Geographic position in the frame named by frameName
quaternion	GeoPose.Quaternion?	Orientation within that frame

GeoPose.Position

Property	Type
latitude	Double
longitude	Double
altitude	Double

GeoPose.Quaternion

Property	Type
x	Float
y	Float
z	Float
w	Float

if let geoPose = result.geoPose,
   let position = geoPose.position,
   let quaternion = geoPose.quaternion {
    print("Frame: \(geoPose.frameName ?? "unknown")")
    print("Position: \(position.latitude), \(position.longitude)")
    print("Heading quaternion: \(quaternion.x), \(quaternion.y), \(quaternion.z), \(quaternion.w)")
}

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Supporting Enums

LocalizationMode

Value	Description
.singleFrame	Single frame capture, quick but lower accuracy
.multiFrame	Multi-frame capture, slower but higher accuracy

QueryMode

Applies to single-frame localization only. See Query Mode.

Value	Description
.vps1	Standard matching. Fastest response, best for well-mapped areas
.vps2	Deep search. Slower, but recovers a pose in harder or sparsely mapped areas

TrackingState

Value	Description
.tracking	AR tracking is working normally
.paused	AR tracking is temporarily paused
.stopped	AR tracking has stopped

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Related

• MultiSetCallback

• MultiSetConfig

• ARLocalizationView