SpatialEntity.TryGetMarker

bool TryGetMarker(MarkerType& type, UInt32& markerId)

Marker information, for entities discovered by a marker tracking capability like QR codes or ArUco markers. The marker’s pose and physical size come from TryGetBounds2D.


MarkerType& type	What kind of marker this is.
UInt32& markerId	The marker’s numeric id, for marker dictionaries like ArUco and AprilTag. 0 for QR codes.
RETURNS: bool	False if this entity has no marker component.

Examples

Finding an ArUco marker by id

The dictionary must match the markers you printed, or they won’t be detected. AprilTags work the same way, via AprilTagDictionary.

public void StartAruco()
{
	Spatial.ArucoDictionary = ArucoDict.Dict4x4_50;
	// A 10cm printed marker, used by runtimes that support known sizes
	Spatial.SetMarkerSize(MarkerType.Aruco, 0.1f);
	// Markers taped to a wall can have their pose refined over time
	Spatial.SetMarkerStationary(MarkerType.Aruco, true);
	Spatial.Request(SpatialCapability.Aruco);
}

static bool FindMarker(uint id, out Pose pose)
{
	foreach (SpatialEntity marker in SpatialEntity.With(SpatialComponent.Marker))
	{
		if (marker.TryGetMarker(out MarkerType type, out uint markerId) && type == MarkerType.Aruco && markerId == id)
			return marker.TryGetBounds2D(out pose, out _);
	}
	pose = Pose.Identity;
	return false;
}

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