Pose Class Reference

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 ()
	Returns the sl::Translation corresponding to the current sl::Pose. More...
Orientation	getOrientation ()
	Returns the sl::Orientation corresponding to the current sl::Pose. More...
Rotation	getRotationMatrix ()
	Returns the sl::Rotation corresponding to the current sl::Pose. More...
float3	getRotationVector ()
	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)
	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...

Detailed Description

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 and Destructor

Pose() [1/3]

Pose

(

)

Default constructor.

Creates an empty sl::Pose (identity).

Pose() [2/3]

Pose

(

const Pose &

pose

)

Copy constructor (deep copy).

Pose() [3/3]

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

Constructor.

Initializes the transform of the sl::Pose with a sl::Transform (deep copy).

~Pose()

~Pose

(

)

Default destructor.

Functions

getTranslation()

Translation getTranslation

(

)

Returns the sl::Translation corresponding to the current sl::Pose.

Returns

sl::Translation created from the sl::Pose values.

getOrientation()

Orientation getOrientation

(

)

Returns the sl::Orientation corresponding to the current sl::Pose.

Returns

sl::Orientation created from the sl::Pose values.

getRotationMatrix()

Rotation getRotationMatrix

(

)

Returns the sl::Rotation corresponding to the current sl::Pose.

Returns

sl::Rotation created from the sl::Pose values.

getRotationVector()

float3 getRotationVector

(

)

Returns the 3x1 rotation vector (obtained from 3x3 rotation matrix using Rodrigues formula) corresponding to the current sl::Pose.

Returns

Rotation vector created from the sl::Pose values.

getEulerAngles()

float3 getEulerAngles

(

bool

radian = true

)

Converts the rotation component of the sl::Pose into Euler angles.

Parameters

radian

: Whether the angle will be returned in radian or degree.

Returns

Euler angles created from the sl::Pose values as a sl::float3 representing the rotations around the X, Y and Z axes using YZX convention.

Variables

pose_data

Transform pose_data

sl::Transform containing the rotation and translation data of the sl::Pose.

timestamp

sl::Timestamp timestamp

sl::Timestamp of the sl::Pose.

This timestamp should be compared with the camera timestamp for synchronization.

pose_confidence

int pose_confidence

Confidence/quality of the pose estimation for the target frame.

A confidence metric of the tracking [0-100] with:

• 0: tracking is lost
• 100: tracking can be fully trusted

pose_covariance

float pose_covariance[36]

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

valid

bool valid

Whether the tracking is activated or not.

Note

You should check that first if something is wrong.

twist

float twist[6]

Twist of the camera available in reference camera.

This expresses velocity in free space, broken into its linear and angular parts.

twist_covariance

float twist_covariance[36]

Row-major representation of the 6x6 twist covariance matrix of the camera.

This expresses the uncertainty of the twist.