When calling getPosition with sl::REFERENCE_FRAME::CAMERA, how to determine the exact timestamp of the “previous” pose?
I know the returned Pose has an associated timestamp, which let me call T. The returned pose is then “the pose of the camera at time T, w.r.t. the camera pose at time T-1”.
The question is: how to get T-1? I can imagine the simple answer to be “the timestamp fo the previous frame”, but given the closed source nature of the SDK, I’d like to get a feedback if possible from the devs.
As you may imagine, I would like to know this to understand how to process such “delta pose” in a localisation filter, by knowing the two time instants associated with such delta.