Holds the options used for calibrating GNSS / VIO. More...
Attributes | |
| float | target_yaw_uncertainty = 0.1 |
| 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 | enable_translation_uncertainty_target = 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 | target_translation_uncertainty = 10e-2 |
| This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes. More... | |
| bool | enable_reinitialization = 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 | gnss_vio_reinit_threshold = 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 | enable_rolling_calibration = 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... | |
| sl::float3 | gnss_antenna_position |
| 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.
| float target_yaw_uncertainty = 0.1 |
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
| bool enable_translation_uncertainty_target = 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.
| float target_translation_uncertainty = 10e-2 |
This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO concludes.
Default: 10e-2 (10 centimeters)
| bool enable_reinitialization = 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.
| float gnss_vio_reinit_threshold = 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.
| bool enable_rolling_calibration = 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.
| sl::float3 gnss_antenna_position |
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.