DLL-friendly version of GNSSCalibrationParameters (found in ZEDCommon.cs). More...
Functions | |
| sl_GNSSCalibrationParameters (GNSSCalibrationParameters gnssCalibrationParameters) | |
Attributes | |
| float | targetYawUncertainty |
| 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. By default, the threshold is set at 0.1 radians. More... | |
| bool | enableTranslationUncertaintyTarget |
| 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. By default, it is set to false. More... | |
| float | targetTranslationUncertainty |
| This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO terminates. By default, the threshold is set at 10 centimeters (10e-2). More... | |
| bool | enableReinitialization |
| This initialization 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. By default, it is set to true. More... | |
| float | gnssVioReinitThreshold |
| This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. By default, it is set to 5. More... | |
| bool | enableRollingCalibration |
| 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. By default, it is set to true. More... | |
| Vector3 | gnssAntennaPosition |
| 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... | |
DLL-friendly version of GNSSCalibrationParameters (found in ZEDCommon.cs).
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inline |
| float targetYawUncertainty |
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. By default, the threshold is set at 0.1 radians.
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableTranslationUncertaintyTarget |
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. By default, it is set to false.
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| float targetTranslationUncertainty |
This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO terminates. By default, the threshold is set at 10 centimeters (10e-2).
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableReinitialization |
This initialization 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. By default, it is set to true.
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| float gnssVioReinitThreshold |
This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. By default, it is set to 5.
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| bool enableRollingCalibration |
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. By default, it is set to true.
Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().
| Vector3 gnssAntennaPosition |
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 Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().