{
  "copyright": [
    "Copyright (C) 2019-2021 Swift Navigation Inc.",
    "Contact: https://support.swiftnav.com",
    "",
    "This source is subject to the license found in the file 'LICENSE' which must",
    "be distributed together with this source. All other rights reserved.",
    "",
    "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,",
    "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED",
    "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE."
  ],
  "$schema": "http://json-schema.org/draft-06/schema#",
  "$id": "#MsgPoseRelative",
  "title":"MsgPoseRelative",
  "description":"This solution message reports the relative pose of a sensor between two time instances. The relative pose comprises of a rotation and a translation which relates the sensor (e.g. camera) frame at a given time (first keyframe) to the sensor frame at another time (second keyframe). The relative translations is a 3x1 vector described in the first keyframe. Relative rotation is described by a quaternion from second keyframe to the first keyframe.\n",
  "type": "object",
  "properties": {
    "tow": {"type": "integer"},
    "sensor_id": {"type": "integer"},
    "timestamp_1": {"type": "integer"},
    "timestamp_2": {"type": "integer"},
    "trans": {"type": "array", "items": {"type": "integer"}},
    "w": {"type": "integer"},
    "x": {"type": "integer"},
    "y": {"type": "integer"},
    "z": {"type": "integer"},
    "cov_r_x_x": {"type": "number"},
    "cov_r_x_y": {"type": "number"},
    "cov_r_x_z": {"type": "number"},
    "cov_r_y_y": {"type": "number"},
    "cov_r_y_z": {"type": "number"},
    "cov_r_z_z": {"type": "number"},
    "cov_c_x_x": {"type": "number"},
    "cov_c_x_y": {"type": "number"},
    "cov_c_x_z": {"type": "number"},
    "cov_c_y_y": {"type": "number"},
    "cov_c_y_z": {"type": "number"},
    "cov_c_z_z": {"type": "number"},
    "flags": {"type": "integer"}
  },
  "required": [
    "tow",
    "sensor_id",
    "timestamp_1",
    "timestamp_2",
    "trans",
    "w",
    "x",
    "y",
    "z",
    "cov_r_x_x",
    "cov_r_x_y",
    "cov_r_x_z",
    "cov_r_y_y",
    "cov_r_y_z",
    "cov_r_z_z",
    "cov_c_x_x",
    "cov_c_x_y",
    "cov_c_x_z",
    "cov_c_y_y",
    "cov_c_y_z",
    "cov_c_z_z",
    "flags"
  ]
}