Pose Class Reference

Contains positional tracking data which gives the position and orientation of the ZED in 3D space. More...

## Functions | |

Pose () | |

Default constructor which creates an empty Pose (identity). More... | |

Pose (const Pose &pose) | |

Pose constructor with deep copy. More... | |

Pose (const Transform &pose_data, unsigned long long timestamp=0, int confidence=0) | |

Pose constructor with deep copy. More... | |

~Pose () | |

Pose destructor. More... | |

Translation | getTranslation () |

Returns the translation from the pose. More... | |

Orientation | getOrientation () |

Returns the orientation from the pose. More... | |

Rotation | getRotationMatrix () |

Returns the rotation (3x3) from the pose. More... | |

float3 | getRotationVector () |

Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose. More... | |

float3 | getEulerAngles (bool radian=true) |

Convert the Rotation of the Transform as Euler angles. More... | |

## Attributes | |

Transform | pose_data |

4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well. More... | |

sl::Timestamp | timestamp |

Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization. More... | |

int | pose_confidence |

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. More... | |

float | pose_covariance [36] |

6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) More... | |

bool | valid |

Boolean that indicates if tracking is activated or not. You should check that first if something wrong. More... | |

float | twist [6] |

Twist of the camera available in reference camera, this expresses velocity in free space, broken into its linear and angular parts. More... | |

float | twist_covariance [36] |

Row-major representation of the 6x6 twist covariance matrix of the camera, this expresses the uncertainty of the twist. 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.

Pose constructor with deep copy.

Translation getTranslation | ( | ) |

Returns the translation from the pose.

- Returns
- The (3x1) translation vector.

Orientation getOrientation | ( | ) |

Returns the orientation from the pose.

- Returns
- The (4x1) orientation vector.

Rotation getRotationMatrix | ( | ) |

Returns the rotation (3x3) from the pose.

- Returns
- The (3x3) rotation matrix.

float3 getRotationVector | ( | ) |

Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose.

- Returns
- The (3x1) rotation vector.

float3 getEulerAngles | ( | bool | radian = `true` | ) |

Transform pose_data |

4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well.

sl::Timestamp timestamp |

Timestamp of the 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], 0 means that the tracking is lost, 100 means that the tracking can be fully trusted.

float pose_covariance[36] |

6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values)

bool valid |

Boolean that indicates if tracking is activated or not. You should check that first if something wrong.

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.