Contains positional tracking data which gives the position and orientation of the ZED in 3D space. More...
Functions | |
| def | init_pose (self, Pose pose) |
| Deep copy from another Pose. More... | |
| def | init_transform (self, Transform pose_data, timestamp=0, confidence=0) |
| Inits Pose from pose data. More... | |
| def | get_translation (self, py_translation=Translation()) |
| Returns the translation from the pose. More... | |
| def | get_orientation (self, py_orientation=Orientation()) |
| Returns the orientation from the pose. More... | |
| def | get_rotation_matrix (self, py_rotation=Rotation()) |
| Returns the rotation (3x3) from the pose. More... | |
| def | get_rotation_vector (self) |
| Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose. More... | |
| def | get_euler_angles (self, radian=True) |
| Converts the Rotation of the Transform as Euler angles. More... | |
| def | valid (self) |
| boolean that indicates if tracking is activated or not. More... | |
| def | timestamp (self) |
| Timestamp of the pose. More... | |
| def | pose_data (self, pose_data=Transform()) |
| Gets the 4x4 Matrix which contains the rotation (3x3) and the translation. More... | |
| def | pose_confidence (self) |
| Confidence/Quality of the pose estimation for the target frame. More... | |
| def | pose_covariance (self) |
| 6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) (numpy array) More... | |
Contains positional tracking data which gives the position and orientation of the ZED in 3D space.
Different representations of position and orientation can be retrieved, along with timestamp and pose confidence.
| def init_transform | ( | self, | |
| Transform | pose_data, | ||
timestamp = 0, |
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confidence = 0 |
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| def get_translation | ( | self, | |
py_translation = Translation() |
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Returns the translation from the pose.
| py_translation | : Translation to be returned. It creates one by default. |
| def get_orientation | ( | self, | |
py_orientation = Orientation() |
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| ) |
Returns the orientation from the pose.
| py_orientation | : Orientation to be returned. It creates one by default. |
| def get_rotation_matrix | ( | self, | |
py_rotation = Rotation() |
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| ) |
| def get_rotation_vector | ( | self | ) |
Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose.
| def get_euler_angles | ( | self, | |
radian = True |
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| def valid | ( | self | ) |
boolean that indicates if tracking is activated or not.
You should check that first if something went wrong.
| def timestamp | ( | self | ) |
Timestamp of the pose.
This timestamp should be compared with the camera timestamp for synchronization.
Referenced by Timestamp.data_ns(), Timestamp.get_microseconds(), Timestamp.get_milliseconds(), Timestamp.get_nanoseconds(), Timestamp.get_seconds(), Timestamp.set_microseconds(), Timestamp.set_milliseconds(), Timestamp.set_nanoseconds(), and Timestamp.set_seconds().
| def pose_data | ( | self, | |
pose_data = Transform() |
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| ) |
Gets the 4x4 Matrix which contains the rotation (3x3) and the translation.
Orientation is extracted from this transform as well.
| pose_data | : Transform to be returned. It creates one by default. |
| def pose_confidence | ( | self | ) |
Confidence/Quality of the pose estimation for the target frame.
A confidence metric of the tracking [0-100], 0 means that the tracking is lost, 100 means that the tracking can be fully trusted.
| def pose_covariance | ( | self | ) |
6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) (numpy array)
