Classes
class	PositionalTrackingParameters
	Structure containing a set of parameters for the positional tracking module initialization. More...

class	Rotation
	Class representing a rotation for the positional tracking module. More...

class	Translation
	Class representing a translation for the positional tracking module. More...

class	Orientation
	Class representing an orientation/quaternion for the positional tracking module. More...

class	Transform
	Class representing a transformation (translation and rotation) for the positional tracking module. More...

class	Pose
	Class containing positional tracking data giving the position and orientation of the camera in 3D space. More...

class	Landmark
	Represents a 3d landmark. More...

class	Landmark2D
	Represents the projection of a 3d landmark in the image. More...

class	PositionalTrackingStatus
	Lists the different status of positional tracking. More...

Enumerations
enum class	POSITIONAL_TRACKING_MODE
	Lists the mode of positional tracking that can be used. More...

enum class	AREA_EXPORTING_STATE
	Lists the different states of spatial memory area export. More...

enum class	REFERENCE_FRAME
	Lists possible types of position matrix used to store camera path and pose. More...

enum class	POSITIONAL_TRACKING_STATE
	Lists the different states of positional tracking. More...

enum class	ODOMETRY_STATUS
	Report the status of current odom tracking. More...

enum class	SPATIAL_MEMORY_STATUS
	Report the status of current map tracking. More...

enum class	POSITIONAL_TRACKING_FUSION_STATUS
	Report the status of the positional tracking fusion. More...

Enumeration Type Documentation

◆ POSITIONAL_TRACKING_MODE

strong

Lists the mode of positional tracking that can be used.

Enumerator
GEN_1	Default mode. Fast and stable mode. Requires depth computation. Less robust than GEN_3
GEN_2	Deprecated:
GEN_3	Fast and accurate, in both exploratory mode and mapped environments.\Note Can be used even if depth_mode is set to DEPTH_MODE::NONE.

strong

Lists the different states of spatial memory area export.

Enumerator
SUCCESS	The spatial memory file has been successfully created.
RUNNING	The spatial memory is currently being written.
NOT_STARTED	The spatial memory file exportation has not been called.
FILE_EMPTY	The spatial memory contains no data, the file is empty.
FILE_ERROR	The spatial memory file has not been written because of a wrong file name.
SPATIAL_MEMORY_DISABLED	The spatial memory learning is disabled. No file can be created.

strong

Lists possible types of position matrix used to store camera path and pose.

Enumerator
WORLD	The transform of sl::Pose will contain the motion with reference to the world frame (previously called PATH).
CAMERA	The transform of sl::Pose will contain the motion with reference to the previous camera frame (previously called POSE).

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Lists the different states of positional tracking.

Enumerator
SEARCHING	\warn DEPRECATED: This state is no longer in use.
OK	The positional tracking is functioning normally.
OFF	The positional tracking is currently disabled.
FPS_TOO_LOW	The effective FPS is too low to provide accurate motion tracking results. Consider adjusting performance parameters (e.g., depth mode, camera resolution) to improve tracking quality.
SEARCHING_FLOOR_PLANE	The camera is currently searching for the floor plane to establish its position relative to it. The world reference frame will be set afterward.
UNAVAILABLE	The tracking module was unable to perform tracking from the previous frame to the current frame.

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Report the status of current odom tracking.

Enumerator
OK	The positional tracking module successfully tracked from the previous frame to the current frame.
UNAVAILABLE	The positional tracking module cannot track the current frame.
INSUFFICIENT_FEATURES	The positional tracking failed to track the current frame because it could not find enought features.
LAST

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Report the status of current map tracking.

Enumerator
OK	Deprecated: This state is no longer in use for GEN_3.
LOOP_CLOSED	Displayed whenever the system has found a loop closure, relocalized within the area map or corrected after a sudden localization loss.
SEARCHING	Deprecated: This state is no longer in use for GEN_3.
OFF	Displayed when the spatial memory is turned off.
INITIALIZING	Displayed until the cameras has acquired enough memory (Initial Area Mapping) or has found its first loop closure and is localized in the loaded area map (Lifelong Mapping/Localization). Users need to keep moving the camera for it to get updated.
KNOWN_MAP	Displayed when the camera is localized within the loaded area map.
MAP_UPDATE	Displayed when the robot is mapping (Initial Area Mapping) or when the robot is getting out of the area map bounds (Lifelong Mapping). Displayed as “Tracking” when in exploratory mode with SLAM engaged.
LOST	Displayed when localization cannot operate anymore (camera completely obstructed, sudden localization jumps after being localized) in Mapping/ Localization modes. It can also include the case where the camera jumps or is located out of map bounds in Localization mode. This should be an indicator for users to stop the robot.
LAST

strong

Report the status of the positional tracking fusion.