PositionalTrackingParameters Class Reference

Parameters for positional tracking initialization. More...

Functions
	PositionalTrackingParameters (Transform init_position_=Transform(), bool enable_memory_=true, bool enable_pose_smoothing_=false, String area_path_=String(), bool set_floor_as_origin_=false, bool enable_imu_fusion_=true, bool set_as_static_=false, float depth_min_range=-1.f, bool set_gravity_as_origin_=true)
	Default constructor. Sets all parameters to their default and optimized values. More...
bool	save (String filename)
	Saves the current set of parameters into a file. More...
bool	load (String filename)
	Loads the values of the parameters contained in a file. More...
bool	operator== (const PositionalTrackingParameters &param1) const
bool	operator!= (const PositionalTrackingParameters &param1) const

Attributes
Transform	initial_world_transform
bool	enable_area_memory
bool	enable_pose_smoothing
bool	set_floor_as_origin
String	area_file_path
bool	enable_imu_fusion
bool	set_as_static
float	depth_min_range
	This setting allows you to change the minimum depth used by the SDK for Positional Tracking. It may be useful for example if any steady objects are in front of the camera and may perturbed the positional tracking algorithm. default : -1 which means no minimum depth. More...
bool	set_gravity_as_origin
	This setting allows you to override 2 of the 3 rotations from initial_world_transform using the IMU gravity default : true. More...

Detailed Description

Parameters for positional tracking initialization.

A default constructor is enabled and set to its default parameters.
You can customize it to fit your application and then save it to create a preset that can be loaded for further executions.

Note

Parameters can be user adjusted.

Constructor and Destructor

PositionalTrackingParameters()

PositionalTrackingParameters	(	Transform	init_position_ = Transform(),
		bool	enable_memory_ = true,
		bool	enable_pose_smoothing_ = false,
		String	area_path_ = String(),
		bool	set_floor_as_origin_ = false,
		bool	enable_imu_fusion_ = true,
		bool	set_as_static_ = false,
		float	depth_min_range = -1.f,
		bool	set_gravity_as_origin_ = true
	)

Default constructor. Sets all parameters to their default and optimized values.

Functions

save()

bool save

(

String

filename

)

Saves the current set of parameters into a file.

Parameters

filename

: the name of the file which will be created to store the parameters (extension '.yml' will be added if not set).

Returns

true if the file was successfully saved, otherwise false.

Warning

For security reason, the file must not exist. In case a file already exists, Function will return false and existing file will not be updated.

load()

bool load

(

String

filename

)

Loads the values of the parameters contained in a file.

Parameters

filename

the path to the file from which the parameters will be loaded.

Returns

true if the file was successfully loaded, otherwise false.

operator==()

bool operator==

(

const PositionalTrackingParameters &

param1

)

const

Comparison operator ==

Parameters

PositionalTrackingParameters

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const PositionalTrackingParameters &

param1

)

const

Comparison operator !=

Parameters

PositionalTrackingParameters

to compare

Returns

true if the two struct are different

Variables

initial_world_transform

Transform initial_world_transform

Position of the camera in the world frame when the camera is started. By default, it should be identity.
Use this Transform to place the camera frame in the world frame.
default: Identity matrix.

Note

The camera frame (which defines the reference frame for the camera) is by default positioned at the world frame when tracking is started.

enable_area_memory

bool enable_area_memory

This mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space.
default: true

Warning

: This mode requires more resources to run, but greatly improves tracking accuracy. We recommend leaving it on by default.

enable_pose_smoothing

bool enable_pose_smoothing

This mode enables smooth pose correction for small drift correction.
default: false

set_floor_as_origin

bool set_floor_as_origin

This mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
default: false

Note

This launches floor plane detection in the background until a suitable floor plane is found. The tracking is in POSITIONAL_TRACKING_STATE::SEARCHING state.

Warning

This features work best with the ZED-M since it needs an IMU to classify the floor. The ZED needs to look at the floor during initialization for optimum results.

area_file_path

String area_file_path

Area localization file that describes the surroundings, saved from a previous tracking session.
default: (empty)

Note

Loading an area file will start a search phase, during which the camera will try to position itself in the previously learned area.

Warning

The area file describes a specific location. If you are using an area file describing a different location, the tracking function will continuously search for a position and may not find a correct one.

The '.area' file can only be used with the same depth mode (MODE) as the one used during area recording.

enable_imu_fusion

bool enable_imu_fusion

This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used.
default: true

Note

This setting has no impact on the tracking of a ZED camera; only the ZED Mini uses a built-in IMU.

set_as_static

bool set_as_static

This setting allows you define the camera as static. If true, it will not move in the environment. This allows you to set its position using initial_world_transform.
All SDK functionalities requiring positional tracking will be enabled without additional computation
Camera::getPosition() will return the value set as initial_world_transform for the PATH, and identity as the POSE.

depth_min_range

float depth_min_range

This setting allows you to change the minimum depth used by the SDK for Positional Tracking. It may be useful for example if any steady objects are in front of the camera and may perturbed the positional tracking algorithm. default : -1 which means no minimum depth.

set_gravity_as_origin

bool set_gravity_as_origin

This setting allows you to override 2 of the 3 rotations from initial_world_transform using the IMU gravity default : true.