Pose Struct Reference

Structure containing positional tracking data giving the position and orientation of the camera in 3D space. More...

Attributes

bool valid
 Whether the tracking is activated or not. More...
 
ulong timestamp
 Timestamp of the sl.Pose. More...
 
Quaternion rotation
 Orientation component of the sl.Pose. More...
 
Vector3 translation
 Translation component of the sl.Pose. More...
 
int pose_confidence
 Confidence/quality of the pose estimation for the target frame. More...
 
float[] pose_covariance
 6x6 pose covariance matrix of translation (the first 3 values) and rotation in so3 (the last 3 values). More...
 
float[] twist
 Twist of the camera available in reference camera. More...
 
float[] twist_covariance
 Row-major representation of the 6x6 twist covariance matrix of the camera. More...
 

Detailed Description

Structure 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.

Variables

◆ valid

bool valid

Whether the tracking is activated or not.

Note
You should check that first if something is wrong.

◆ timestamp

ulong timestamp

Timestamp of the sl.Pose.

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

◆ rotation

Quaternion rotation

Orientation component of the sl.Pose.

◆ translation

Vector3 translation

Translation component of the sl.Pose.

◆ 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

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

◆ twist

float [] twist

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

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

This expresses the uncertainty of the twist.