> For the complete documentation index, see [llms.txt](https://multiset.gitbook.io/multiset/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://multiset.gitbook.io/multiset/native-sdk/ios-swift-native/api-reference/localizationresult.md).

# LocalizationResult

## Overview

`LocalizationResult` is delivered to [`onLocalizationSuccess(result:)`](/multiset/native-sdk/ios-swift-native/api-reference/multisetcallback.md) 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.

***

## 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.

```swift
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)")
    }
}
```

***

## 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 |

***

## 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` |

```swift
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)")
}
```

***

## 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](/multiset/native-sdk/ios-swift-native/api-reference/multisetconfig.md#query-mode-single-frame-only).

| 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           |

***

## Related

* [MultiSetCallback](/multiset/native-sdk/ios-swift-native/api-reference/multisetcallback.md)
* [MultiSetConfig](/multiset/native-sdk/ios-swift-native/api-reference/multisetconfig.md)
* [ARLocalizationView](/multiset/native-sdk/ios-swift-native/sample-views/arlocalizationview.md)


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