PositionReading

A single position reading from the RealSense T265 tracking camera. More...

Collaboration diagram for PositionReading:

Public Member Functions
	PositionReading ()
	Constructs a default (empty) position reading.
	PositionReading (Vertex< 3, fltp08 > position, Ray< 3, fltp08 > velocity, Ray< 3, fltp08 > acceleration, uint01 tracker_confidence, uint01 mapper_confidence, fltp08 time)
	Constructs a position reading with all fields.
fltp08	confidence () const
	Computes a confidence score based on tracker confidence and motion magnitude.
Vertex< 3, fltp08 >	positionAt (fltp08 t)
	Extrapolates the position at a given time using velocity and acceleration.

Public Attributes
Ray< 3, fltp08 >	acceleration
	The 3D acceleration of the sensor.
uint01	mapper_confidence
	Pose map confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High.
Vertex< 3, fltp08 >	position
	The 3D position of the sensor.
fltp08	time
	The timestamp of this reading in milliseconds.
uint01	tracker_confidence
	Pose confidence 0x0 - Failed, 0x1 - Low, 0x2 - Medium, 0x3 - High.
Ray< 3, fltp08 >	velocity
	The 3D velocity of the sensor.

Detailed Description

A single position reading from the RealSense T265 tracking camera.

Stores position, velocity, acceleration, and confidence values along with the timestamp for interpolating location at arbitrary times.

Definition at line 14 of file RealSensePositionSensor.h.

Constructor & Destructor Documentation

PositionReading()

PositionReading::PositionReading ( Vertex< 3, fltp08 > position, Ray< 3, fltp08 > velocity, Ray< 3, fltp08 > acceleration, uint01 tracker_confidence, uint01 mapper_confidence, fltp08 time )

inline

Constructs a position reading with all fields.

Parameters

[in]	position	The 3D position.
[in]	velocity	The 3D velocity.
[in]	acceleration	The 3D acceleration.
[in]	tracker_confidence	Tracking confidence (0-3).
[in]	mapper_confidence	Map confidence (0-3).
[in]	time	The timestamp of this reading.

Definition at line 27 of file RealSensePositionSensor.h.

References acceleration, mapper_confidence, position, time, tracker_confidence, and velocity.

Member Function Documentation

confidence()

fltp08 PositionReading::confidence ( ) const

inline

Computes a confidence score based on tracker confidence and motion magnitude.

Returns

The computed confidence value.

Definition at line 50 of file RealSensePositionSensor.h.

References acceleration, cast(), tracker_confidence, and velocity.

positionAt()

Vertex< 3, fltp08 > PositionReading::positionAt ( fltp08 t )

inline

Extrapolates the position at a given time using velocity and acceleration.

Parameters

[in]

t

The target time.

Returns

The extrapolated 3D position.

Definition at line 42 of file RealSensePositionSensor.h.

References acceleration, position, time, and velocity.

Referenced by RealSensePositionSensor::locationAt().

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The documentation for this struct was generated from the following file:

• RealSenseInterface/Headers/RealSensePositionSensor.h