Positional Tracking Module

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	KeyFrame
	Represents a keyframe in the tracking system. More...
class	PositionalTrackingStatus
	Lists the different status of positional tracking. More...
class	GNSSData
	Class containing GNSS data to be used for positional tracking as prior. More...
class	FusedPositionalTrackingStatus
	Class containing the overall position fusion status. 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...
enum class	GNSS_STATUS
	Class representing the status of the of GNSS signal. More...
enum class	GNSS_MODE
	Class representing the mode of GNSS signal. More...
enum class	GNSS_FUSION_STATUS
	Class containing the current GNSS fusion status. More...

Enumeration Type Documentation

POSITIONAL_TRACKING_MODE

enum 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.

AREA_EXPORTING_STATE

enum AREA_EXPORTING_STATE

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.

REFERENCE_FRAME

enum REFERENCE_FRAME

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).

POSITIONAL_TRACKING_STATE

enum POSITIONAL_TRACKING_STATE

strong

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.

ODOMETRY_STATUS

enum ODOMETRY_STATUS

strong

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

SPATIAL_MEMORY_STATUS

enum SPATIAL_MEMORY_STATUS

strong

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

POSITIONAL_TRACKING_FUSION_STATUS

enum POSITIONAL_TRACKING_FUSION_STATUS

strong

Report the status of the positional tracking fusion.

Enumerator
VISUAL_INERTIAL
VISUAL
INERTIAL
GNSS
VISUAL_INERTIAL_GNSS
VISUAL_GNSS
INERTIAL_GNSS
UNAVAILABLE
LAST

GNSS_STATUS

enum GNSS_STATUS

strong

Class representing the status of the of GNSS signal.

Enumerator
UNKNOWN	No GNSS fix data is available.
SINGLE	Single Point Positioning.
DGNSS	Differential GNSS.
PPS	Precise Positioning Service.
RTK_FLOAT	Real Time Kinematic Float.
RTK_FIX	Real Time Kinematic Fixed.
LAST

GNSS_MODE

enum GNSS_MODE

strong

Class representing the mode of GNSS signal.

Enumerator
UNKNOWN	No GNSS fix data is available.
NO_FIX	No GNSS fix is available.
FIX_2D	2D GNSS fix, providing latitude and longitude coordinates but without altitude information.
FIX_3D	3D GNSS fix, providing latitude, longitude, and altitude coordinates.
LAST

GNSS_FUSION_STATUS

enum GNSS_FUSION_STATUS

strong

Class containing the current GNSS fusion status.

Enumerator
OK	The GNSS fusion module is calibrated and working successfully.
OFF	The GNSS fusion module is not enabled.
CALIBRATION_IN_PROGRESS	Calibration of the GNSS/VIO fusion module is in progress.
RECALIBRATION_IN_PROGRESS	Re-alignment of GNSS/VIO data is in progress, leading to potentially inaccurate global position.
LAST