GNSSData Class Reference

Class containing GNSS data to be used for positional tracking as prior. More...

Functions
	GNSSData ()
	Constructor. More...
void	setCoordinates (double latitude, double longitude, double altitude, bool in_radian=true)
	Sets the sl::LatLng coordinates of sl::GNSSData. More...
void	getCoordinates (double &latitude, double &longitude, double &altitude, bool in_radian=true)
	Gets the sl::LatLng coordinates of the sl::GNSSData. More...

Attributes
sl::Timestamp	ts
	Timestamp of the GNSS position (must be aligned with the camera time reference). More...
std::array< double, 9 >	position_covariance = {0.1 * 0.1, 0, 0, 0, 0.1 * 0.1, 0, 0, 0, 0.1 * 0.1}
	Covariance of the position in meter (must be expressed in the ENU coordinate system). More...
double	longitude_std
	Longitude standard deviation. More...
double	latitude_std
	Latitude standard deviation. More...
double	altitude_std
	Altitude standard deviation. More...
GNSS_STATUS	gnss_status = sl::GNSS_STATUS::UNKNOWN
	Represents the current status of GNSS. More...
GNSS_MODE	gnss_mode = sl::GNSS_MODE::UNKNOWN
	Represents the current mode of GNSS. More...

Protected Attributes
double	longitude
	Longitude coordinate. More...
double	latitude
	Latitude coordinate. More...
double	altitude
	Altitude coordinate. More...

Detailed Description

Class containing GNSS data to be used for positional tracking as prior.

Constructor and Destructor

GNSSData()

GNSSData

(

)

Constructor.

Functions

setCoordinates()

void setCoordinates	(	double	latitude,
		double	longitude,
		double	altitude,
		bool	in_radian = true
	)

Sets the sl::LatLng coordinates of sl::GNSSData.

The sl::LatLng coordinates could be expressed in degrees or radians.

Parameters

latitude	Latitude coordinate.
longitude	Longitude coordinate.
altitude	Altitude coordinate.
in_radian	If the inputs are expressed in radians or in degrees.

getCoordinates()

void getCoordinates	(	double &	latitude,
		double &	longitude,
		double &	altitude,
		bool	in_radian = true
	)

Gets the sl::LatLng coordinates of the sl::GNSSData.

The sl::LatLng coordinates could be expressed in degrees or radians.

Parameters

latitude	Latitude coordinate.
longitude	Longitude coordinate.
altitude	Altitude coordinate.
in_radian	Should the output be expressed in radians or degrees.

Variables

ts

sl::Timestamp ts

Timestamp of the GNSS position (must be aligned with the camera time reference).

position_covariance

std::array<double, 9> position_covariance = {0.1 * 0.1, 0, 0, 0, 0.1 * 0.1, 0, 0, 0, 0.1 * 0.1}

Covariance of the position in meter (must be expressed in the ENU coordinate system).

For eph, epv GNSS sensors, set it as follow: {eph*eph, 0, 0, 0, eph*eph, 0, 0, 0, epv*epv}.

longitude_std

double longitude_std

Longitude standard deviation.

latitude_std

double latitude_std

Latitude standard deviation.

altitude_std

double altitude_std

Altitude standard deviation.

gnss_status

GNSS_STATUS gnss_status = sl::GNSS_STATUS::UNKNOWN

Represents the current status of GNSS.

gnss_mode

GNSS_MODE gnss_mode = sl::GNSS_MODE::UNKNOWN

Represents the current mode of GNSS.

longitude

double longitude

protected

Longitude coordinate.

latitude

double latitude

protected

Latitude coordinate.

altitude

double altitude

protected

Altitude coordinate.