Struct PoseFrame

pub struct PoseFrame { /* private fields */ }

Holds information describing the motion and position of a device at a point in time.

Implementations

impl PoseFrame

pub fn translation(&self) -> [f32; 3]

X, Y, Z values of translation, in meters (relative to initial position)

pub fn velocity(&self) -> [f32; 3]

X, Y, Z values of velocity, in meters/sec

pub fn acceleration(&self) -> [f32; 3]

X, Y, Z values of acceleration, in meters/sec^2

pub fn rotation(&self) -> [f32; 4]

Qi, Qj, Qk, Qr components of rotation as represented in quaternion rotation (relative to initial position)

pub fn angular_velocity(&self) -> [f32; 3]

X, Y, Z values of angular velocity, in radians/sec

pub fn angular_acceleration(&self) -> [f32; 3]

X, Y, Z values of angular acceleration, in radians/sec^2

pub fn tracker_confidence(&self) -> Confidence

Pose confidence from Confidence::Failed to Confidence::High

pub fn mapper_confidence(&self) -> Confidence

Pose map confidence from Confidence::Failed to Confidence::High

Trait Implementations

impl Debug for PoseFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Drop for PoseFrame

fn drop(&mut self)

Drop the raw pointer stored with this struct whenever it goes out of scope.

impl FrameCategory for PoseFrame

fn extension() -> Rs2Extension

Identifies the corresponding Rs2Extension for the type implementing this trait.

fn kind() -> Rs2StreamKind

Identifies the stream kind corresponding to a given type implementing this trait.

fn has_correct_kind(&self) -> bool

Predicate for checking if the RS2 frame’s stream has the same kind as the frame category.

impl FrameEx for PoseFrame

fn stream_profile(&self) -> &StreamProfile

Get the stream profile associated with the frame.

fn sensor(&self) -> Result<Sensor>

Get the sensor associated with the frame.

fn timestamp(&self) -> f64

Get the frame timestamp.

fn timestamp_domain(&self) -> Rs2TimestampDomain

Get the RealSense timestamp domain for the current timestamp.

fn frame_number(&self) -> u64

Get the frame number.

fn metadata(&self, metadata_kind: Rs2FrameMetadata) -> Option<c_longlong>

Get frame metadata.

fn supports_metadata(&self, metadata_kind: Rs2FrameMetadata) -> bool

Test whether the metadata arguemnt is supported by the frame.

unsafe fn get_owned_raw(self) -> NonNull<rs2_frame>

Get (and own) the underlying frame pointer for this frame.

impl TryFrom<NonNull<rs2_frame>> for PoseFrame

fn try_from(frame_ptr: NonNull<rs2_frame>) -> Result<Self, Self::Error>

Attempt to construct a PoseFrame from the raw pointer to rs2_frame

All members of the PoseFrame struct are validated and populated during this call.

Errors

There are a number of errors that may occur if the data in the rs2_frame is not valid, all of type FrameConstructionError.

• CouldNotGetTimestamp
• CouldNotGetTimestampDomain
• CouldNotGetFrameStreamProfile
• CouldNotGetData

See FrameConstructionError documentation for more details.

type Error = Error

The type returned in the event of a conversion error.

impl Send for PoseFrame