Class containing a set of parameters for the positional tracking module initialization. More...

Attributes
Quaternion	initialWorldRotation = Quaternion.Identity
	Rotation of the camera in the world frame when the camera is started. More...

Vector3	initialWorldPosition = Vector3.Zero
	Position of the camera in the world frame when the camera is started. More...

bool	enableAreaMemory = true
	Whether the camera can remember its surroundings. More...

bool	enablePoseSmothing = false
	Whether to enable smooth pose correction for small drift correction. More...

bool	setFloorAsOrigin = false
	Initializes the tracking to be aligned with the floor plane to better position the camera in space. More...

bool	setAsStatic = false
	Whether to define the camera as static. More...

bool	enableIMUFusion = true
	Whether to enable the IMU fusion. More...

float	depthMinRange = -1f
	Minimum depth used by the ZED SDK for positional tracking. More...

bool	setGravityAsOrigin = true
	Whether to override 2 of the 3 components from initialWorldRotation using the IMU gravity. More...

string	areaFilePath = ""
	Path of an area localization file that describes the surroundings (saved from a previous tracking session). More...

sl.POSITIONAL_TRACKING_MODE	mode = sl.POSITIONAL_TRACKING_MODE.GEN_1
	Positional tracking mode used. More...

Detailed Description

Class containing a set of parameters for the positional tracking module initialization.

The default constructor sets all parameters to their default settings.

Note: Parameters can be user adjusted.

Variables

◆ initialWorldRotation

Quaternion initialWorldRotation = Quaternion.Identity

Rotation of the camera in the world frame when the camera is started.

◆ initialWorldPosition

Vector3 initialWorldPosition = Vector3.Zero

Position of the camera in the world frame when the camera is started.

◆ enableAreaMemory

bool enableAreaMemory = true

Whether the camera can remember its surroundings.

This helps correct positional tracking drift and can be helpful for positioning different cameras relative to one other in space.

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

◆ enablePoseSmothing

bool enablePoseSmothing = false

Whether to enable smooth pose correction for small drift correction.

◆ setFloorAsOrigin

bool setFloorAsOrigin = false

Initializes the tracking to be aligned with the floor plane to better position the camera in space.

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

Warning: This features does not work with sl.MODEL.ZED since it needs an IMU to classify the floor.; The camera needs to look at the floor during initialization for optimum results.

◆ setAsStatic

bool setAsStatic = false

Whether to define the camera as static.

If true, it will not move in the environment. This allows you to set its position using initialWorldPosition and initialWorldRotation.
All ZED SDK functionalities requiring positional tracking will be enabled without additional computation.
sl.Camera.GetPosition() will return the values set as initialWorldPosition and initialWorldRotation.

◆ enableIMUFusion

bool enableIMUFusion = true

Whether to enable the IMU fusion.

When set to false, only the optical odometry will be used.

Note: This setting has no impact on the tracking of a camera.; sl.MODEL.ZED does not have an IMU.

◆ depthMinRange

float depthMinRange = -1f

Minimum depth used by the ZED SDK for positional tracking.

It may be useful for example if any steady objects are in front of the camera and may perturb the positional tracking algorithm.
Default: -1 (no minimum depth)

◆ setGravityAsOrigin

bool setGravityAsOrigin = true

Whether to override 2 of the 3 components from initialWorldRotation using the IMU gravity.

Note: This parameter does nothing on sl.ZED.MODEL since it does not have an IMU.

◆ areaFilePath

string areaFilePath = ""

Path of an area localization file that describes the surroundings (saved from a previous tracking session).

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 (sl.DEPTH_MODE) as the one used during area recording.

◆ mode

sl.POSITIONAL_TRACKING_MODE mode = sl.POSITIONAL_TRACKING_MODE.GEN_1

Positional tracking mode used.

Can be used to improve accuracy in some types of scene at the cost of longer runtime.

Attributes