Clarification on Global Root in ZED SDK Body Tracking

[Takahori]

HI all,

I have a quick question regarding the global root that appears in ZED SDK body tracking.
Could you kindly explain how the global root orientation is calculated within the SDK?

• How is the global root calculated within the SDK?

• Is the global root referring to the pelvis joint?

• If we change the coordinate system, does the orientation of the global root axes also change?

• Are there any examples or documentation that explain this in detail?

If anyone has experience with this or can share some insights, I’d really appreciate it.

[Myzhar]

Hi @Takahori
Welcome to the Stereolabs community.

@Takahori

How is the global root calculated within the SDK?

This is information that we cannot expose.

@Takahori

Is the global root referring to the pelvis joint?

Yes, it is

@Takahori

If we change the coordinate system, does the orientation of the global root axes also change?

Yes, all the pose and rotations provides by the ZED SDK API reflect the Coordinate Frame configuration that you set in InitParameters.