/// <summary>
/// Get the current position of the camera with an optionnal transformation of the camera frame/motion tracking frame.
///
/// </summary>
/// <param name="rotation">the quaternion will be filled with the current rotation of the camera depending on the reference</param>
/// <param name="position">the vector will be filled with the current position of the camera depending on the reference</param>
/// <param name="targetQuaternion"></param>
/// <param name="targetTranslation"></param>
/// <param name="mat_type"></param>
/// <returns></returns>
public TRACKING_FRAME_STATE GetPosition(ref Quaternion rotation, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, REFERENCE_FRAME mat_type = REFERENCE_FRAME.WORLD)
{
AssertCameraIsReady();
return (TRACKING_FRAME_STATE)dllz_get_position_at_target_frame(ref rotation, ref translation, ref targetQuaternion, ref targetTranslation, (int)mat_type);
}
/// <summary>
/// Grab a new image, rectifies it and computes the
/// disparity map and optionally the depth map.
/// The grabbing function is typically called in the main loop.
/// </summary>
/// <param name="sensingMode">defines the type of disparity map, more info : SENSING_MODE definition</param>
/// <returns>the function returns false if no problem was encountered,
/// true otherwise.</returns>
public sl.ERROR_CODE Grab(SENSING_MODE sensingMode = SENSING_MODE.FILL, bool computeDepth = true, REFERENCE_FRAME referenceFrame = REFERENCE_FRAME.CAMERA)
{
AssertCameraIsReady();
sl.ERROR_CODE error = sl.ERROR_CODE.FAILURE;
error = (sl.ERROR_CODE)dllz_grab((int)sensingMode, Convert.ToInt32(computeDepth), (int)referenceFrame);
return error;
}
/// <summary>
/// Gets the position of the camera and the current state of the Tracker
/// </summary>
/// <param name="rotation">the quaternion will be filled with the current rotation of the camera depending on the reference</param>
/// <param name="position">the vector will be filled with the current position of the camera depending on the reference</param>
/// <param name="referenceType">The reference type will fill the quaternion and vector with either the diffrences between the last pose(CAMERA) or the cumul of poses (WORLD)</param>
/// <returns>A tracking frame state</returns>
public TRACKING_FRAME_STATE GetPosition(ref Quaternion rotation, ref Vector3 position, REFERENCE_FRAME referenceType = REFERENCE_FRAME.WORLD)
{
AssertCameraIsReady();
return (TRACKING_FRAME_STATE)dllz_get_position(ref rotation, ref position, (int)referenceType);
}
