Structure containing positional tracking data giving the position and orientation of the camera in 3D space. More...
Data Fields | |
| bool | valid |
| Whether the tracking is activated or not. More... | |
| unsigned long long | timestamp |
| Timestamp of the SL_PoseData. More... | |
| struct SL_Quaternion | rotation |
| Quaternion/orientation component of the SL_PoseData. | |
| struct SL_Vector3 | translation |
| Translation component of the SL_PoseData. | |
| int | pose_confidence |
| Confidence/quality of the pose estimation for the target frame. More... | |
| float | pose_covariance [36] |
| 6x6 pose covariance matrix of translation (the first 3 values) and rotation in so3 (the last 3 values). | |
| float | twist [6] |
| Twist of the camera available in reference camera. More... | |
| float | twist_covariance [36] |
| Row-major representation of the 6x6 twist covariance matrix of the camera. More... | |
Structure containing positional tracking data giving the position and orientation of the camera in 3D space.
Different representations of position and orientation can be retrieved, along with timestamp and pose confidence.
| bool SL_PoseData::valid |
Whether the tracking is activated or not.
| unsigned long long SL_PoseData::timestamp |
Timestamp of the SL_PoseData.
This timestamp should be compared with the camera timestamp for synchronization.
| int SL_PoseData::pose_confidence |
Confidence/quality of the pose estimation for the target frame.
A confidence metric of the tracking [0-100] with:
| float SL_PoseData::twist[6] |
Twist of the camera available in reference camera.
This expresses velocity in free space, broken into its linear and angular parts.
| float SL_PoseData::twist_covariance[36] |
Row-major representation of the 6x6 twist covariance matrix of the camera.
This expresses the uncertainty of the twist.