Class containing GNSS data to be used for positional tracking as prior. More...
Functions | |
void | setCoordinates (double latitude, double longitude, double altitude, bool is_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... | |
Class containing GNSS data to be used for positional tracking as prior.
void setCoordinates | ( | double | latitude, |
double | longitude, | ||
double | altitude, | ||
bool | is_radian = true |
||
) |
Sets the sl::LatLng coordinates of sl::GNSSData.
The sl::LatLng coordinates could be expressed in degrees or radians.
latitude | Latitude coordinate. |
longitude | Longitude coordinate. |
altitude | Altitude coordinate. |
is_radian | If the inputs are expressed in radians or in degrees. |
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.
latitude | Latitude coordinate. |
longitude | Longitude coordinate. |
altitude | Altitude coordinate. |
is_radian | Should the output be expressed in radians or degrees. |
Timestamp of the GNSS position (must be aligned with the camera time reference).
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}
.
double longitude_std |
Longitude standard deviation.
double latitude_std |
Latitude standard deviation.
double altitude_std |
Altitude standard deviation.
GNSS_STATUS gnss_status = sl::GNSS_STATUS::UNKNOWN |
Represents the current status of GNSS.
GNSS_MODE gnss_mode = sl::GNSS_MODE::UNKNOWN |
Represents the current mode of GNSS.
|
protected |
Longitude coordinate.
|
protected |
Latitude coordinate.
|
protected |
Altitude coordinate.