Pose Class Reference

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

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...
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
	4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well. More...
sl::Timestamp	timestamp
	Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization. More...
int	pose_confidence
	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. More...
float	pose_covariance [36]
	6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) More...
bool	valid
	Boolean that indicates if tracking is activated or not. You should check that first if something wrong. More...
float	twist [6]
	Twist of the camera available in reference camera, this expresses velocity in free space, broken into its linear and angular parts. More...
float	twist_covariance [36]
	Row-major representation of the 6x6 twist covariance matrix of the camera, this expresses the uncertainty of the twist. 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.

Constructor and Destructor

Pose() [1/3]

Pose

(

)

Default constructor which creates an empty Pose (identity).

Pose() [2/3]

Pose

(

const Pose &

pose

)

Pose constructor with deep copy.

Pose() [3/3]

Pose	(	const Transform &	pose_data,
		unsigned long long	timestamp = 0,
		int	confidence = 0
	)

Pose constructor with deep copy.

~Pose()

~Pose

(

)

Pose destructor.

Functions

getTranslation()

Translation getTranslation

(

)

Returns the translation from the pose.

Returns

The (3x1) translation vector.

getOrientation()

Orientation getOrientation

(

)

Returns the orientation from the pose.

Returns

The (4x1) orientation vector.

getRotationMatrix()

Rotation getRotationMatrix

(

)

Returns the rotation (3x3) from the pose.

Returns

The (3x3) rotation matrix.

getRotationVector()

float3 getRotationVector

(

)

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

Returns

The (3x1) rotation vector.

getEulerAngles()

float3 getEulerAngles

(

bool

radian = true

)

Convert the Rotation of the Transform as Euler angles.

Parameters

radian

: Define if the angle in is radian or degree. default : true.

Returns

The Euler angles, as a float3 representing the rotations around the X, Y and Z axes. (YZX convention)

Variables

pose_data

Transform pose_data

4x4 Matrix which contains the rotation (3x3) and the translation. Orientation is extracted from this transform as well.

timestamp

sl::Timestamp timestamp

Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization.

pose_confidence

int pose_confidence

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

float pose_covariance[36]

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

valid

bool valid

Boolean that indicates if tracking is activated or not. You should check that first if something wrong.

twist

float twist[6]

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[36]

Row-major representation of the 6x6 twist covariance matrix of the camera, this expresses the uncertainty of the twist.