Contains positional tracking data which gives the position and orientation of the ZED in 3D space. More...
General Functions  
Pose ()  
Default constructor which creates an empty Pose (identity). More...  
Pose (const Pose &pose)  
Pose constructor with deep copy. More...  
Pose (const Transform &pose_data, unsigned long long timestamp=0, int confidence=0)  
Pose constructor with deep copy. More...  
~Pose ()  
Pose destructor. More...  
Translation  getTranslation () 
Returns the translation from the pose. More...  
Orientation  getOrientation () 
Returns the orientation from the pose. More...  
Rotation  getRotationMatrix () 
Returns the rotation (3x3) from the pose. More...  
Rotation  getRotation () 
Returns the rotation (3x3) from the pose. More...  
float3  getRotationVector () 
Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose. More...  
float3  getEulerAngles (bool radian=true) 
Convert the Rotation of the Transform as Euler angles. More...  
Attributes  
Transform  pose_data 
sl::timeStamp  timestamp 
int  pose_confidence 
float  pose_covariance [36] 
6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) More...  
bool  valid 
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.
Pose constructor with deep copy.
Translation getTranslation  (  ) 
Returns the translation from the pose.
Orientation getOrientation  (  ) 
Returns the orientation from the pose.
Rotation getRotationMatrix  (  ) 
Returns the rotation (3x3) from the pose.

inline 
Returns the rotation (3x3) from the pose.
float3 getRotationVector  (  ) 
Returns the rotation (3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula) from the pose.
float3 getEulerAngles  (  bool  radian = true  ) 
Transform pose_data 
4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well.
sl::timeStamp timestamp 
Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization.
int pose_confidence 
Confidence/Quality of the pose estimation for the target frame.
A confidence metric of the tracking [0100], 0 means that the tracking is lost, 100 means that the tracking can be fully trusted.
float pose_covariance[36] 
6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values)
bool valid 
boolean that indicates if tracking is activated or not. You should check that first if something wrong.