Detailed Description

Pose information along with a quality indicator for VISLAM.

Parameters

poseQuality	Quality of the pose (no pose is provided if MV_TRACKING_STATE_INITIALIZING or MV_TRACKING_STATE_FAILED). If the IMU measurement range or bandwidth is exceeded, MV_TRACKING_STATE_LOW_QUALITY is returned. In normal operation, poseQuality should correspond to MV_TRACKING_STATE_HIGH_QUALITY.
bodyPose	Body pose estimate in rotation-translation matrix form \([ R_{sb} \| T_{sb} ]\). \(T_{sb}\) is the estimate of the translation of the origin of the body (b) or accelerometer frame relative to the spatial (s) frame in the spatial frame (meters). The spatial frame corresponds to the body frame at initialization. \(R_{sb}\) is the estimate of the corresponding rotation matrix.
gravityCameraPose	Gravity-aligned pose of camera estimate in rotation-translation matrix form \([ R_{cs'} \| T_{cs'} ]\). \(T_{cs'}\) is the estimate of the translation of the origin of the camera frame (c) relative to the gravity aligned spatial (s') frame in the camera frame (meters). The gravity aligned spatial frame corresponds to the body frame at initialization rotated to compensate for pitch and roll. \(R_{cs'}\) is the estimate of the corresponding rotation matrix.
errCovPose	Error covariance matrix for bodyPose estimate.
timeAlignment	Camera IMU time misalignment estimate (seconds).
velocity	Velocity estimate, \(v_{sb}\), of origin of accelerometer (b=body) in spatial frame (m/s). The spatial frame corresponds to the body frame at initialization.
errCovVelocity	Error covariance for velocity estimate \(v_{sb}\) ((m/s)^2).
angularVelocity	Angular velocity estimate in body (accelerometer) frame (rad/s).
gravity	Gravity vector estimate in spatial frame (m/s^2). The spatial frame corresponds to the body frame at initialization.
errCovGravity	Error covariance for gravity estimate in spatial frame ((m/s^2)^2).
wBias	Gyro bias estimate (rad/s).
aBias	Accelerometer bias estimate (m/s^2).
Rbg	Accelerometer gyro rotation matrix estimate (b = body = accelerometer, g = gyro).
aAccInv	Inverse of accelerometer scale and non-orthogonality estimate.
aGyrInv	Inverse of gyro scale and non-orthogonality estimate.
tbc	Accelerometer-camera translation misalignment vector estimate (meters). \(t_{bc}\) is the estimate of the translation of the origin of the camera (c) frame relative to that of the body (b) or accelerometer frame in the body frame.
Rbc	Accelerometer-camera rotational misalignment matrix estimate. Can be used together with tbc to rotate vector in camera frame \(x_c\) to IMU frame \(x_{imu}\) via \([R_{bc}\|t_{bc}]x_c = x_{imu}\).
errorCode	Error code (includes reasons for reset) bit: 0: Reset: covariances not positive-definite 1: Reset: IMU exceeded range 2: Reset: IMU bandwidth too low 3: Reset: not stationary at initialization 4: Reset: no features for x seconds 5: Reset: insufficient constraints from features 6: Reset: failed to add new features 7: Reset: exceeded instant velocity uncertainty 8: Reset: exceeded velocity uncertainty over window 10: Dropped IMU samples 11: Intrinsic camera calibration questionable 12: Insufficient number of good features to initialize 13: Dropped camera frame 14: Dropped GPS velocity sample 15: Sensor measurements with uninitialized time stamps or uninitialized uncertainty (set to 0) If a reset occurs, the last "good" pose will be used after initialization. To reset the pose, call mvVISLAM_Reset( mvVISLAM* pObj, bool resetPose ) with resetPose set to true.
time	Time stamp of pose in nanoseconds in system time.