Positional Tracking Module

Classes

class  PositionalTrackingParameters
 Structure containing a set of parameters for the positional tracking module initialization. More...
 
class  Rotation
 Class representing a rotation for the positional tracking module. More...
 
class  Translation
 Class representing a translation for the positional tracking module. More...
 
class  Orientation
 Class representing an orientation/quaternion for the positional tracking module. More...
 
class  Transform
 Class representing a transformation (translation and rotation) for the positional tracking module. More...
 
class  Pose
 Class containing positional tracking data giving the position and orientation of the camera in 3D space. More...
 

Enumerations

enum class  POSITIONAL_TRACKING_STATE
 Lists the different states of positional 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...
 

Enumeration Type Documentation

◆ POSITIONAL_TRACKING_STATE

Lists the different states of positional tracking.

Enumerator
SEARCHING 

\warn DEPRECATED: This state is no longer in use.

OK 

The positional tracking is functioning normally.

OFF 

The positional tracking is currently disabled.

FPS_TOO_LOW 

The effective FPS is too low to provide accurate motion tracking results. Consider adjusting performance parameters (e.g., depth mode, camera resolution) to improve tracking quality.

SEARCHING_FLOOR_PLANE 

The camera is currently searching for the floor plane to establish its position relative to it. The world reference frame will be set afterward.

UNAVAILABLE 

The tracking module was unable to perform tracking 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

LAST 

◆ POSITIONAL_TRACKING_FUSION_STATUS

Report the status of the positional tracking fusion.

Enumerator
VISUAL_INERTIAL 
VISUAL 
INERTIAL 
GNSS 
VISUAL_INERTIAL_GNSS 
VISUAL_GNSS 
INERTIAL_GNSS 
UNAVAILABLE 
LAST 

◆ POSITIONAL_TRACKING_MODE

Lists the mode of positional tracking that can be used.

Enumerator
GEN_1 

Default mode. Best compromise in performance.

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 PATH).

CAMERA 

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