Pose Class Reference

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

Functions

def init_pose (self, Pose pose)
 Deep copy from another Pose  . More...
 
def init_transform (self, Transform pose_data, timestamp=0, confidence=0)
 Inits Pose from pose data    . More...
 
def get_translation (self, py_translation=Translation())
 Returns the translation from the pose. More...
 
def get_orientation (self, py_orientation=Orientation())
 Returns the orientation from the pose. More...
 
def get_rotation_matrix (self, py_rotation=Rotation())
 Returns the rotation (3x3) from the pose. More...
 
def get_rotation_vector (self)
 Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose. More...
 
def get_euler_angles (self, radian=True)
 Converts the Rotation of the Transform as Euler angles. More...
 
def valid (self)
 boolean that indicates if tracking is activated or not. More...
 
def timestamp (self)
 Timestamp of the pose. More...
 
def pose_data (self, pose_data=Transform())
  Gets the 4x4 Matrix which contains the rotation (3x3) and the translation. More...
 
def pose_confidence (self)
 Confidence/Quality of the pose estimation for the target frame. More...
 
def pose_covariance (self)
 6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) (numpy array)   More...
 

Detailed Description

 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.

Functions

◆ init_pose()

def init_pose (   self,
Pose  pose 
)

Deep copy from another Pose  .

Parameters
pose: the Pose to copy

◆ init_transform()

def init_transform (   self,
Transform  pose_data,
  timestamp = 0,
  confidence = 0 
)

Inits Pose from pose data    .

Parameters
pose_data: Transform containing pose data to copy  
timestamp: pose timestamp  
confidence: pose confidence

◆ get_translation()

def get_translation (   self,
  py_translation = Translation() 
)

Returns the translation from the pose.

 

Parameters
py_translation: Translation to be returned. It creates one by default.  
Returns
The (3x1) translation vector

◆ get_orientation()

def get_orientation (   self,
  py_orientation = Orientation() 
)

Returns the orientation from the pose.

 

Parameters
py_orientation: Orientation to be returned. It creates one by default.  
Returns
The (3x1) orientation vector

◆ get_rotation_matrix()

def get_rotation_matrix (   self,
  py_rotation = Rotation() 
)

Returns the rotation (3x3) from the pose.

 

Parameters
py_rotation: Rotation to be returned. It creates one by default.  
Returns
The (3x3) rotation matrix  
Warning
The given Rotation contains a copy of the Transform values. Not references.

◆ get_rotation_vector()

def get_rotation_vector (   self)

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

 

Returns
The (3x1) rotation vector (numpy array)

◆ get_euler_angles()

def get_euler_angles (   self,
  radian = True 
)

Converts the Rotation of the Transform as Euler angles.

 

Parameters
radian: True if the angle in is radian, False if it is in degree. Default : True.  
Returns
The Euler angles, as a float3 representing the rotations arround the X, Y and Z axes. (numpy array)

◆ valid()

def valid (   self)

boolean that indicates if tracking is activated or not.

You should check that first if something went wrong.

◆ timestamp()

◆ pose_data()

def pose_data (   self,
  pose_data = Transform() 
)

 Gets the 4x4 Matrix which contains the rotation (3x3) and the translation.

Orientation is extracted from this transform as well.  

Parameters
pose_data: Transform to be returned. It creates one by default.  
Returns
the pose data Transform

◆ pose_confidence()

def pose_confidence (   self)

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.

◆ pose_covariance()

def pose_covariance (   self)

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

Note
Computed only if PositionalTrackingParameters.enable_spatial_memory is disabled.