Class containing positional tracking data giving the position and orientation of the camera in 3D space. More...
Functions | |
Pose () | |
Default constructor. More... | |
Pose (const Pose &pose) | |
Copy constructor (deep copy). More... | |
Pose (const Transform &pose_data, unsigned long long timestamp=0, int confidence=0) | |
Constructor. More... | |
~Pose () | |
Default destructor. More... | |
Translation | getTranslation () const |
Returns the sl::Translation corresponding to the current sl::Pose. More... | |
Orientation | getOrientation () const |
Returns the sl::Orientation corresponding to the current sl::Pose. More... | |
Rotation | getRotationMatrix () const |
Returns the sl::Rotation corresponding to the current sl::Pose. More... | |
float3 | getRotationVector () const |
Returns the 3x1 rotation vector (obtained from 3x3 rotation matrix using Rodrigues formula) corresponding to the current sl::Pose. More... | |
float3 | getEulerAngles (bool radian=true) const |
Converts the rotation component of the sl::Pose into Euler angles. More... | |
Attributes | |
Transform | pose_data |
sl::Transform containing the rotation and translation data of the sl::Pose. More... | |
sl::Timestamp | timestamp |
sl::Timestamp of the sl::Pose. More... | |
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). More... | |
bool | valid |
Whether the tracking is activated or not. More... | |
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... | |
Class 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.
Constructor.
Initializes the transform of the sl::Pose with a sl::Transform (deep copy).
~Pose | ( | ) |
Default destructor.
Translation getTranslation | ( | ) | const |
Returns the sl::Translation corresponding to the current sl::Pose.
Orientation getOrientation | ( | ) | const |
Returns the sl::Orientation corresponding to the current sl::Pose.
Rotation getRotationMatrix | ( | ) | const |
Returns the sl::Rotation corresponding to the current sl::Pose.
float3 getRotationVector | ( | ) | const |
float3 getEulerAngles | ( | bool | radian = true | ) | const |
Transform pose_data |
sl::Transform containing the rotation and translation data of the sl::Pose.
sl::Timestamp timestamp |
sl::Timestamp of the sl::Pose.
This timestamp should be compared with the camera timestamp for synchronization.
int pose_confidence |
Confidence/quality of the pose estimation for the target frame.
A confidence metric of the tracking [0-100] with:
float pose_covariance[36] |
6x6 pose covariance matrix of translation (the first 3 values) and rotation in so3 (the last 3 values).
bool valid |
Whether the tracking is activated or not.
float twist[6] |
Twist of the camera available in reference camera.
This expresses velocity in free space, broken into its linear and angular parts.
float twist_covariance[36] |
Row-major representation of the 6x6 twist covariance matrix of the camera.
This expresses the uncertainty of the twist.