Holds the options used for calibrating GNSS / VIO. More...
Functions | |
| GNSSCalibrationParameters (float targetYawUncertainty_=0.1f, bool enableTranslationUncertaintyTarget_=false, float targetTranslationUncertainty_=0.01f, bool enableReinitialization_=true, float gnssVioReinitThreshold_=5, bool enableRollingCalibration_=true, Vector3 gnssAntennaPosition_=default(Vector3)) | |
Attributes | |
| float | targetYawUncertainty = 0.1f |
| This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. More... | |
| bool | enableTranslationUncertaintyTarget = false |
| When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter. More... | |
| float | targetTranslationUncertainty = 10e-2f |
| This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. More... | |
| bool | enableReinitialization = true |
| This parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios. More... | |
| float | gnssVioReinitThreshold = 5 |
| This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. More... | |
| bool | enableRollingCalibration = true |
| If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position. More... | |
| Vector3 | gnssAntennaPosition = Vector3.Zero |
| Define a transform between the GNSS antenna and the camera system for the VIO / GNSS calibration. Default value is [0,0,0], this position can be refined by the calibration if enabled More... | |
Holds the options used for calibrating GNSS / VIO.
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inline |
| float targetYawUncertainty = 0.1f |
This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian.
Default: 0.1 radians
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableTranslationUncertaintyTarget = false |
When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter.
Default: false
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| float targetTranslationUncertainty = 10e-2f |
This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes.
Default: 10e-2 (10 centimeters)
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableReinitialization = true |
This parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios.
Default: true
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| float gnssVioReinitThreshold = 5 |
This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond out of the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered.
Default: 5
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableRollingCalibration = true |
If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position.
Default: true
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| Vector3 gnssAntennaPosition = Vector3.Zero |
Define a transform between the GNSS antenna and the camera system for the VIO / GNSS calibration. Default value is [0,0,0], this position can be refined by the calibration if enabled
Referenced by GNSSCalibrationParameters.GNSSCalibrationParameters(), and Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().