Positional Tracking Module

Classes
class	PositionalTrackingParameters
	Class containing a set of parameters for the positional tracking module initialization. More...
struct	Pose
	Structure containing positional tracking data giving the position and orientation of the camera in 3D space. More...
struct	RegionOfInterestParameters
	Structure containing a set of parameters for the region of interest. More...
struct	PositionalTrackingStatus
	Lists the different status of positional tracking. More...

Enumerations
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	POSITIONAL_TRACKING_MODE
	Lists the mode of positional tracking that can be used. More...
enum class	REFERENCE_FRAME
	Lists possible types of position matrix used to store camera path and pose. More...
enum class	TRACKING_FRAME
	Part of the ZED (left/right sensor, center) that's considered its center for tracking purposes. More...

Enumeration Type Documentation

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 working normally.
OFF	The positional tracking is not enabled.
FPS_TOO_LOW	The effective FPS is too low to give proper results for motion tracking. Consider using performance parameters (sl.DEPTH_MODE.PERFORMANCE, low camera resolution (sl.RESOLUTION.VGA / sl.RESOLUTION.HDSVGA or sl.RESOLUTION.HD720).
SEARCHING_FLOOR_PLANE	The camera is searching for the floor plane to locate itself with respect to it. The sl.REFERENCE_FRAME.WORLD 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 failed to track from the previous frame to the current frame.

SPATIAL_MEMORY_STATUS

enum SPATIAL_MEMORY_STATUS

strong

Report the status of current map tracking.

Enumerator
OK	The positional tracking module is operating normally.
LOOP_CLOSED	The positional tracking module detected a loop and corrected its position.
SEARCHING	The positional tracking module is searching for recognizable areas in the global map to relocate.
OFF	Spatial memory is disabled.

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

POSITIONAL_TRACKING_MODE

enum POSITIONAL_TRACKING_MODE

strong

Lists the mode of positional tracking that can be used.

Enumerator
GEN_1	Default mode. Best compromise in performance and accuracy.
GEN_2	Next generation of positional tracking, allow better accuracy.

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

TRACKING_FRAME

enum TRACKING_FRAME

strong

Part of the ZED (left/right sensor, center) that's considered its center for tracking purposes.

Enumerator
LEFT_EYE	Camera's center is at the left sensor.
CENTER_EYE	Camera's center is in the camera's physical center, between the sensors.
RIGHT_EYE	Camera's center is at the right sensor.